Legged Robot Dynamic Balance for Whole-Body Manipulation
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Solution Overview
Problem
Conventional robots require static balance before operating end-effectors, limiting their ability to perform tasks while moving and restricting whole-body manipulation, which does not resemble human-like motion.
Innovation Solution
A robot system with a control system that dynamically balances its legs to maintain balance while operating end-effectors, allowing simultaneous movement and task performance by coordinating lower body control with upper body operations through reaction forces and virtual link kinematics.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the robot uses static balance to operate end-effectors, then the robot can maintain stability, but the robot cannot perform tasks while moving and whole-body manipulation is restricted
Solution Approach 1:
The patent transitions from static balance to dynamic balance by introducing time-varying control of leg forces and moments. The lower body control system continuously adjusts reaction forces and moments based on real-time state information, enabling the robot to maintain balance while moving and performing whole-body manipulation tasks that resemble human-like motion.
Solution Approach 2:
The patent merges the control of leg operations with end-effector operations through a unified whole-body control framework. The lower body control system coordinates leg reactions with upper body end-effector tasks, allowing simultaneous movement and task performance rather than treating them as separate functions.
2Productivity
If the robot operates end-effectors while moving, then task performance during movement is enabled, but balance control becomes more complex
Solution Approach 1:
The control system is segmented into distinct functional modules: an upper body control system for end-effector operations and a lower body control system for balance maintenance. This modular architecture manages complexity by dividing the control tasks while maintaining coordination between modules through shared state information and force/moment balancing.
Solution Approach 2:
The lower body control system uses feedback from the robot's dynamic state (forces, moments, positions) to continuously adjust leg reactions. This closed-loop control enables automatic adaptation to changing task requirements and environmental conditions, maintaining balance during continuous movement and operation without requiring complex manual intervention.
3Stability of the object's composition
If the robot interrupts gait to perform tasks, then balance can be maintained, but operational continuity is reduced
Solution Approach 1:
The patent enables continuous gait and task execution by maintaining dynamic balance throughout the entire motion cycle. The lower body control system continuously adjusts leg reactions to counteract forces and moments generated by end-effector operations, allowing the robot to perform tasks without interrupting its locomotion gait, thereby eliminating idle time between movement and task execution.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables the robot to maintain balance and perform tasks with end-effectors during movement, resembling human-like motion by dynamically controlling reaction forces and balancing moments, allowing for continuous operation without interrupting gait.
Implementation Method 1
When the legs contact a surface (e.g., ground surface), the legs apply forces to the surface and experience reaction forces from the surface
Implementation Method 2
The robot can dynamically control the legs so that the reaction forces allow the robot to maintain a balance that supports the operation of the end-effectors
Data Source
AI summary
A robot system includes: an upper body section including one or more end-effectors; a lower body section including one or more legs; and an intermediate body section coupling the upper and lower body sections. An upper body control system operates at least one of the end-effectors. The intermediate body section experiences a first intermediate body linear force and/or moment based on an end-effector force acting on the at least one end-effector. A lower body control system operates the one or more legs. The one or more legs experience respective surface reaction forces. The intermediate body section experiences a second intermediate body linear force and/or moment based on the surface reaction forces. The lower body control system operates the one or more legs so that the second intermediate body linear force balances the first intermediate linear force and the second intermediate body moment balances the first intermediate body moment.