Legged Robot Jump Control Using Precomputed Trajectories
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Solution Overview
Problem
Current methods for controlling the jump of legged robots are limited by joint rotation speed and force torque, resulting in suboptimal jump performance, and existing control algorithms are not suitable for legged robots, complicating real-time calculations.
Innovation Solution
A motion control method for legged robots that involves obtaining a jump parameter including expected velocity and height, using a preset action library to retrieve a corresponding jump trajectory, and controlling the robot to reach the expected velocity before jumping, utilizing a trajectory optimization algorithm to optimize jump actions and reduce calculation time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If joint rotation speed and force torque are increased to improve jump performance, then jump height and velocity are improved, but device complexity and mechanical stress increase
Solution Approach 1:
The robot performs a run-up phase before jumping to accumulate kinetic energy. This preliminary action allows the robot to achieve higher jump velocities without requiring the joints to generate extremely high forces during the jump itself, thereby reducing mechanical stress and complexity constraints
Solution Approach 2:
The jump process is divided into distinct phases (run-up, take-off, flight, landing) with periodic leg movements. This periodic action optimizes the timing of force application, allowing the robot to achieve efficient jumps without requiring continuously high joint torques
2Manufacturing precision
If trajectory optimization algorithm is used to optimize jump actions, then jump performance is improved, but calculation time increases
Solution Approach 1:
The trajectory optimization is performed in advance to generate a library of pre-optimized jump trajectories for various jump parameters. During actual operation, the robot only needs to retrieve and execute the appropriate pre-computed trajectory, significantly reducing real-time calculation time while maintaining high precision
Solution Approach 2:
The system uses parameterized jump trajectories where key parameters (jump height, distance, take-off angle) can be adjusted. By changing these parameters rather than re-optimizing the entire trajectory, the system achieves adaptability with minimal computation
Data Source
AI summary
The present disclosure provides a motion control method and apparatus, a robot and a non-transitory storage medium. The method includes: obtaining a jump parameter of the robot, the jump parameter including an expected velocity and an expected jump height before take-off of the robot; obtaining a jump trajectory corresponding to the jump parameter in a preset action library, the action library including a jump trajectory that is marked with a corresponding jump parameter; and controlling the robot to reach the expected velocity, and controlling the robot to jump according to the jump trajectory.