Humanoid Robot Joint Decoupling for Kinematic-Dynamic Control
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Solution Overview
Problem
Current control frameworks for humanoid robots often use either kinematic or dynamic control methods exclusively, leading to conflicts and adverse effects on control performance, as they fail to consider the compatibility between the two methods.
Innovation Solution
A decoupling control method that decomposes tasks into kinematic and dynamic components, allowing for simultaneous realization of both control modes by classifying joints accordingly and using inverse kinematics and inverse dynamics to calculate joint torques, with a quadratic optimization problem to ensure accurate dynamic task execution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If only one control method (kinematic or dynamic) is used to control the whole body of the robot, then the control framework is simple, but the control performance is limited and cannot meet multiple task requirements simultaneously
Solution Approach 1:
The control framework is segmented into two independent modules: a kinematic control module for position control and a dynamic control module for force control. Each module handles specific task requirements independently, allowing the system to accommodate multiple control objectives without increasing overall framework complexity.
Solution Approach 2:
The control framework is designed to be universal by accepting multiple types of control tasks (both kinematic and dynamic tasks) through a unified architecture. The system can simultaneously process different control requirements and allocate them to appropriate modules, enhancing adaptability while maintaining structural simplicity.
2Adaptability or versatility
If both kinematic and dynamic control methods are used simultaneously without considering compatibility, then the control performance can be improved, but conflicts arise between the two methods adversely affecting control effect
Solution Approach 1:
By segmenting the control system into separate kinematic and dynamic control modules, the patent eliminates conflicts between the two methods. Each module operates independently on its designated tasks, preventing interference and ensuring reliable control execution for both position and force requirements.
Solution Approach 2:
Different control strategies are applied locally to different joints based on task requirements. Kinematic control is applied to joints requiring position accuracy, while dynamic control is applied to joints requiring force control, ensuring optimal performance and reliability for each specific control objective without mutual conflict.
3Measurement precision
If kinematic control is used for high position accuracy requirements, then position precision is improved, but force control requirements cannot be met
Solution Approach 1:
The control system is divided into separate kinematic and dynamic modules, allowing position accuracy to be optimized in the kinematic module while force control is simultaneously optimized in the dynamic module. This segmentation enables both position precision and force control to be satisfied without compromise.
Solution Approach 2:
Different control qualities are applied to different joints based on local requirements. Joints with high position accuracy requirements receive kinematic control, while joints with force control requirements receive dynamic control, ensuring both position precision and force control are achieved in their respective domains.
4Force
If dynamic control is used for force control requirements, then force control is improved, but position accuracy requirements cannot be met
Solution Approach 1:
The control framework segments force control tasks from position control tasks, allowing dynamic control to be applied to force-sensitive joints while kinematic control handles position-critical joints. This enables force control improvement without compromising position accuracy in other parts of the system.
Solution Approach 2:
Dynamic control with force control capabilities is applied locally to joints where force control is the priority, while kinematic control is applied to joints where position accuracy is the priority. This localized approach ensures both force control and position accuracy requirements are met in their respective domains.
Data Source
AI summary
A decoupling control method for a humanoid robot includes: decomposing tasks of the humanoid robot to obtain kinematic tasks and dynamic tasks, and classifying corresponding joints of the humanoid robot into kinematic task joints or dynamic task joints; solving desired positions and desired speeds of the kinematic task joints for performing the kinematic tasks according to desired positions and desired speeds of ends in the kinematic tasks using inverse kinematics; calculating torques of the kinematic task joints based on the desired positions and desired speeds of the kinematic task joints; and solving a pre-built optimization model of torques required for the dynamic task joints based on the calculated torques of the kinematic task joints, to obtain torques required by the dynamic task joints for performing the dynamic tasks.