Humanoid Robot Step Length Control for Disturbance Recovery
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Humanoid robots face instability due to external and internal disturbances, such as external forces and mechanical changes, which disrupt their balanced state, leading to challenges in maintaining stability during movement.
Innovation Solution
A robot control apparatus that includes a processor, communication unit, and storage, which calculates the required step length using a swinging leg capture point algorithm to restore balance by determining the torso deflection posture parameter, lower limb parameters, and leg swing frequency, allowing the humanoid robot to adjust its step length and maintain stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If humanoid robots operate in normal conditions, then their movement control is simple, but they cannot maintain balance under external and internal disturbances
Solution Approach 1:
The control system dynamically adjusts the swing leg capture point and step length based on real-time torso deflection posture parameters. The system transitions from static pre-programmed movements to dynamic adaptive control, allowing the robot to maintain balance under disturbances by continuously modifying movement parameters based on current state feedback.
Solution Approach 2:
The system implements feedback control by detecting torso deflection posture parameters in real-time and using this information to calculate and adjust the swing leg capture point and step length. This closed-loop control enables the robot to respond to disturbances by comparing actual posture with desired posture and making corrective adjustments.
2Adaptability or versatility
If the robot uses fixed step length for movement, then the control is simple, but it cannot adapt to disturbances and maintain stability
Solution Approach 1:
The system changes the step length parameter dynamically based on detected torso deflection posture parameters. Instead of using a fixed step length, the controller calculates the required step length adjustment based on the magnitude and direction of disturbances, allowing the robot to adapt its gait parameters in real-time to maintain stability under varying conditions.
Solution Approach 2:
The step length is transformed from a static parameter to a dynamic one that adjusts continuously based on robot state. The system calculates the optimal step length based on real-time feedback from posture sensors, enabling adaptive response to disturbances while maintaining natural walking patterns.
3Reliability
If the robot increases control algorithms to maintain balance, then balance stability improves, but the computational complexity and processing time increase
Solution Approach 1:
The patent extracts and focuses on the critical balance control function by specifically calculating only the swing leg capture point and step length adjustments needed for balance recovery. Rather than implementing comprehensive full-body control algorithms, the system isolates and optimizes the specific control actions most effective for balance maintenance, reducing unnecessary computational overhead.
Solution Approach 2:
The system applies partial control action by focusing computational resources on adjusting only the swing leg parameters (capture point and step length) rather than controlling all robot joints. This targeted approach provides sufficient balance correction with minimal computation, as the swing leg adjustments are the most effective single action for restoring balance after disturbances.
Data Source
AI summary
A robot step length control method, a robot controller, and a computer-readable storage medium are provided. The method includes: if it detects that a humanoid robot is not in a balanced state at a current time, it correspondingly obtains a torso deflection posture parameter, a lower limb parameter and a leg swing frequency of the legs of the humanoid robot at the current time; and it calculates, using a swinging leg capture point algorithm, a calculated step length for maintaining a stable state of the humanoid robot that meets a posture balance requirement of the robot at the current time based on the torso deflection posture parameter, the lower limb parameter, and the leg swing frequency, so that the humanoid robot can be restored to the balanced state after moving with the calculated step length, thereby improving the anti-interference ability of the robot.