Legged Robot Footstep Planning Using Contact Force Constraints
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Solution Overview
Problem
Existing legged robot control methods fail to effectively determine motion control parameters based on the environment, leading to reduced adaptability and efficiency in navigating diverse terrains.
Innovation Solution
A method that determines candidate landing points and a target center of mass position change parameter for each foot of a legged robot, using a correlation between center of mass position change, candidate landing points, and foot contact force, under constraint conditions to optimize step order and landing points, thereby improving motion control parameters' consistency with the environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional center of mass trajectory control is used, then the control method is simple, but the adaptability to environment and operation is poor
Solution Approach 1:
The system performs preliminary determination of candidate landing points and their correspondence relationships with center of mass position changes before actual motion execution. This advance planning enables the robot to adapt to environmental conditions while maintaining structured control, resolving the contradiction between adaptability and control simplicity.
Solution Approach 2:
The control method dynamically determines motion control parameters based on the correspondence relationship between candidate landing points and center of mass position changes, rather than using fixed trajectories. This dynamic adaptation to environmental conditions improves versatility while maintaining manageable control complexity through systematic parameter determination.
2Productivity
If fixed motion control parameters are used, then the control is straightforward, but the efficiency in navigating diverse terrains is reduced
Solution Approach 1:
The system pre-determines multiple candidate landing points and establishes their correspondence with center of mass position changes before navigation. This preliminary preparation enables efficient navigation across diverse terrains by having ready-to-use motion control parameters for various landing scenarios, improving productivity without excessive complexity.
Solution Approach 2:
The method determines motion control parameters based on the specific correspondence relationship between candidate landing points and center of mass position changes, allowing parameter adaptation to different terrain conditions. This parameter flexibility improves navigation efficiency while maintaining systematic control through structured parameter determination.
3Manufacturing precision
If candidate landing points are determined without considering foot contact force, then the calculation is simpler, but the motion control accuracy is reduced
Solution Approach 1:
The system preliminarily determines the correspondence relationship between candidate landing points, center of mass position changes, and foot contact forces before motion execution. This advance calculation of correlation enables precise motion control by accounting for contact force effects, improving manufacturing precision while managing complexity through systematic relationship establishment.
Data Source
AI summary
A method for controlling motion of a legged robot includes determining one or more candidate landing points for each foot of the robot. The method further includes determining a first correlation between a center of mass position change parameter, candidate landing points, and foot contact force. The method further includes determining, under a constraint condition set and based on the first correlation, a target center of mass position change parameter, a target step order, and a target landing point for each foot selected among the one or more candidate landing points for the respective foot, the constraint condition set constraining a step order. The method further includes controlling, according to the target center of mass position change parameter, the target step order, and the target landing point for each foot, motion of the legged robot in the preset period.