Legged Robot Gait Control With Adaptive Foot Landing Optimization
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Solution Overview
Problem
Existing methods for controlling the motion of legged robots often rely on fixed values for state data, leading to poor adaptability to environmental changes and inefficient motion control parameters.
Innovation Solution
A method and apparatus for controlling the motion of legged robots, which determines candidate landing points, calculates correlations between centroid position change parameters, step duty ratios, landing points, and foot contact forces, and optimizes target motion control parameters under constraint conditions to enhance adaptability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If fixed values are used for state data to calculate centroid motion trajectory, then the calculation process is simple, but the adaptability to environmental changes deteriorates
Solution Approach 1:
The patent applies dynamics by transforming the static fixed-value state data into dynamic adaptive parameters. The centroid position, velocity, and acceleration are calculated in real-time based on current state data, allowing the motion trajectory to adapt dynamically to environmental changes while maintaining computational efficiency through standardized calculation formulas.
Solution Approach 2:
The patent implements parameter changes by modifying the state data parameters from fixed values to variable parameters that reflect current environmental conditions. The centroid motion trajectory calculation uses updated parameters including position, velocity, and acceleration that change based on real-time state data, enabling adaptability without significantly increasing system complexity.
2Device complexity
If fixed motion control parameters are used, then the control system is simple, but the motion efficiency in varying environments deteriorates
Solution Approach 1:
The patent applies feedback by continuously monitoring the legged robot's state data (position, velocity, acceleration) and using this information to adjust motion control parameters in real-time. The feedback loop compares actual motion with desired trajectory and modifies control parameters accordingly, improving motion efficiency while maintaining reasonable system complexity through iterative optimization.
Solution Approach 2:
The patent implements preliminary action by pre-calculating optimal motion control parameters based on predicted environmental conditions and robot state. The system prepares adjusted parameters in advance before actual motion execution, allowing efficient adaptation to varying environments without requiring complex real-time control adjustments during motion.
Data Source
AI summary
A method for controlling motion of a legged robot includes: determining, according to state data of the legged robot at a start moment in a preset period, a candidate landing point of each foot in the preset period; determining, according to the state data at the start moment and the candidate landing point of each foot, a first correlation between a centroid position change parameter, a step duty ratio, a candidate landing point, and a foot contact force; determining, under a constraint of a constraint condition set, a target centroid position change parameter, a target step duty ratio, and a target landing point satisfying the first correlation; and controlling, according to the target centroid position change parameter, the target step duty ratio, and the target landing point, motion of the legged robot in the preset period.