Humanoid Robot Whole-Body Motion Control for Joint Limit Avoidance
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Solution Overview
Problem
Humanoid robots face challenges in maintaining balance and operational performance due to limited joint motion space, leading to poor overall operation when their arms move in a large range.
Innovation Solution
A robot controller with a motion control method that calculates an inverse Jacobian matrix and uses preset position restriction conditions to optimize joint motion, expanding the operational space of the arms while maintaining leg balance, by combining whole-body generalized coordinate vectors and task space vectors within a null space of the inverse Jacobian matrix.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robotic arms move in a large range to expand operational space, then the arm operation space is improved, but the robot legs cannot maintain balance
Solution Approach 1:
The patent merges the control of arm movements and leg balance into a unified whole-body control system. By calculating the inverse Jacobian matrix of the whole-body generalized coordinate vector and combining task space vectors within the null space, the system coordinates arm and leg motions simultaneously, ensuring balance is maintained while expanding arm operational space.
Solution Approach 2:
The patent changes the control parameters from independent joint control to whole-body generalized coordinate control. By transforming the control space using the inverse Jacobian matrix and operating within the null space, the system achieves coordinated parameter adjustments that allow large arm movements while maintaining leg balance.
2Device complexity
If only arm movement control is considered, then the control system is simple, but the joint operation space is insufficient
Solution Approach 1:
The patent adds a new dimension to the control system by introducing whole-body generalized coordinates and null space operations. This dimensional expansion allows the system to simultaneously control multiple joints across different body parts (arms and legs), transforming the control approach from simple arm movement to comprehensive whole-body coordination.
3Stability of the object's composition
If the robot maintains strict balance, then leg stability is improved, but arm movement range is limited
Solution Approach 1:
The patent introduces the inverse Jacobian matrix and null space as intermediaries between arm movement commands and leg balance control. These mathematical tools act as mediators that translate arm movement requirements into coordinated whole-body motions, allowing large arm ranges while maintaining balance through automated compensation.
Data Source
AI summary
A motion control method, a robot controller, and a computer readable storage medium are provided. The method includes: calculating an inverse Jacobian matrix of a whole-body generalized coordinate vector at a current time relative to an actual task space vector of a humanoid robot; calculating a target generalized coordinate vector corresponding to a to-be-executed task space vector at a current moment by combining an actual task space vector and the to-be-executed task space vector into a null space of the inverse Jacobian matrix according to preset position constraint(s) corresponding to the whole-body generalized coordinate vector; and controlling a motion state of the humanoid robot according to the target generalized coordinate vector. In this manner, the motion of the humanoid robot is optimized as a whole to achieve the purpose of controlling the humanoid robot to avoid the limits of the motion of joints.