Legged Robot Centroid Control Using Foot Force Feedback
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Solution Overview
Problem
Existing legged robot motion control technologies struggle to generate a centroid motion track that accurately adapts to the real motion environment, leading to difficulties in completing controlled motion.
Innovation Solution
A method that involves acquiring centroid state data for the spatial path start and end points, determining a target landing point for the robot's foot, establishing a change relationship between the centroid position change coefficient and the foot contact force, and selecting a target centroid position change coefficient under constraint conditions to control the robot's motion effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a centroid motion track is determined using the motion equation of a legged robot, then the centroid position can be calculated, but the adaptability to the real motion environment is poor
Solution Approach 1:
The patent applies feedback by establishing a change relationship between centroid position change coefficient and foot contact force, and selecting the coefficient under constraint conditions based on actual motion state. This feedback mechanism allows the system to adjust the centroid position dynamically according to real environmental conditions, improving adaptability while maintaining accuracy through constrained optimization.
Solution Approach 2:
The patent transforms the static centroid position calculation into a dynamic selection process. By determining the centroid position change coefficient based on the change relationship with foot contact force and selecting it under constraint conditions, the system adapts the centroid motion track dynamically to match real motion environment, resolving the contradiction between adaptability and accuracy.
2Adaptability or versatility
If the centroid position is generated with high adaptability to real environment, then the robot can complete motion better, but the complexity of control increases
Solution Approach 1:
The patent changes the parameter selection approach by introducing a centroid position change coefficient that is selected based on a change relationship with foot contact force under constraint conditions. This parameter-based approach simplifies the control complexity while achieving high adaptability, as it transforms a complex motion planning problem into a parameter optimization problem with clear constraints.
Data Source
AI summary
A legged robot motion control method includes: acquiring centroid state data of a spatial path start point and a spatial path end point of a motion path; determining a target landing point of afoot of the legged robot in the motion path based on the spatial path start point and the spatial path end point; determining a change relationship between a centroid position change coefficient and a foot contact force based on the centroid state data; selecting, under constraint of a constraint condition set, a target centroid position change coefficient that meets the change relationship; the constraint condition set including a spatial landing point constraint condition; determining a target motion control parameter according to the target centroid position change coefficient and the target landing point of the foot; and controlling, based on the target motion control parameter, the legged robot to perform motion according to the motion path.