Humanoid Robot Centroid Estimation Using Recursive Jacobians
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Solution Overview
Problem
Current methods for estimating the total centroid state of humanoid robots are inaccurate and computationally inefficient, particularly due to the complexity of their degrees of freedom and structure, leading to errors in balance and gait control.
Innovation Solution
A total centroid state estimation method using cross-product calculations to analytically solve the Jacobian matrix and its derivative in a recursive manner, reducing calculation errors and improving efficiency for position, velocity, and acceleration estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the total centroid is equated to the waist position for simplification, then the calculation complexity is reduced, but the measurement precision deteriorates
Solution Approach 1:
The patent replaces direct mechanical measurement of the total centroid with a computational approach using Jacobian matrices. Instead of physically measuring the centroid position, the system calculates it through mathematical transformation of joint positions and link parameters, achieving both computational efficiency and measurement accuracy.
Solution Approach 2:
The patent introduces the Jacobian matrix as an intermediary computational tool that connects joint space measurements to Cartesian space centroid calculations. This intermediary enables accurate centroid estimation without direct measurement, resolving the contradiction between simplicity and precision.
2Device complexity
If traditional centroid estimation methods are used for humanoid robots with multiple degrees of freedom, then the device complexity is reduced, but the measurement precision and reliability deteriorate
Solution Approach 1:
The patent segments the humanoid robot into multiple links and joints, calculating the centroid contribution of each segment separately. By dividing the complex multi-body system into manageable segments and summing their individual contributions, the system achieves accurate total centroid estimation while maintaining computational feasibility.
Solution Approach 2:
The patent transforms the problem from direct centroid measurement to parameter-based calculation using joint positions, link masses, and link geometry parameters. This parameter transformation enables reliable centroid estimation that adapts to the robot's dynamic configuration changes during movement.
3Ease of operation
If approximate centroid control methods are used, then the ease of operation is improved, but the manufacturing precision and control accuracy deteriorate
Solution Approach 1:
The patent replaces approximate mechanical centroid assumptions with precise computational mechanics using Jacobian transformations. This substitution maintains ease of operation through algorithmic implementation while achieving the precision required for accurate gait and balance control.
Data Source
AI summary
A total centroid state estimation method as well as a humanoid robot and a computer readable storage medium using the same are provided. The method includes: obtaining a motion state of each real joint of the humanoid robot and a motion state of its floating base, where the floating base is equivalent to a plurality of sequent-connected virtual joints; calculating a joint position, a centroid position, and a rotation matrix of each link in the world coordinate system in sequence using the chain rule of homogeneous multiplication according to the position of the joint corresponding to the link to solve a Jacobian matrix of the centroid of the link; solving a total centroid Jacobian matrix based on the Jacobian matrix of the centroid of each link and the total mass; and calculating the total centroid velocity based on the total centroid Jacobian matrix and other parameters.