Legged Robot Force Balancing During Whole-Body Manipulation
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Solution Overview
Problem
Existing robots require static balance before operating end-effectors, limiting their ability to perform tasks dynamically and resembling 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 for whole body manipulation and task performance without interrupting gait.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot uses static balance before operating end-effectors, then the robot can maintain stable balance, but the robot cannot perform tasks dynamically and cannot resemble human-like motion
Solution Approach 1:
The patent applies dynamics by transitioning from static balance to dynamic balance control. The lower body control system continuously adjusts leg positions and forces during motion to maintain balance while the upper body performs tasks. This enables the robot to dynamically adapt its balance state while operating end-effectors, resembling human-like motion where balance is maintained through continuous adjustment rather than static positioning.
2Productivity
If the robot establishes static balance before task operation, then the robot can maintain balance, but the robot must interrupt gait to perform tasks
Solution Approach 1:
The patent implements continuity of useful action by enabling the robot to perform tasks with end-effectors without interrupting its gait. The lower body control system maintains dynamic balance during continuous locomotion, allowing the upper body to operate end-effectors simultaneously. This eliminates the time loss associated with stopping to establish static balance, thereby improving productivity through uninterrupted task performance.
3Adaptability or versatility
If the robot operates end-effectors while moving, then the robot can perform tasks continuously, but the robot loses balance without dynamic control mechanisms
Solution Approach 1:
The patent applies feedback through the lower body control system that continuously monitors the robot's state and adjusts leg forces and positions to maintain dynamic balance. The control system receives information about upper body movements and end-effector operations, and dynamically adjusts lower body actions to compensate for changes in the center of mass and maintain balance during simultaneous locomotion and task performance.
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.