Legged Robot Lateral Step Control With Inverted Pendulum Planning
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Solution Overview
Problem
Existing legged robots, particularly quadrupedal robots, face instability in locomotion due to inaccurate foot placement calculations when subjected to lateral disturbances, especially in complex terrains, leading to unstable motion.
Innovation Solution
A legged robot control method that utilizes a preset inverted pendulum model to determine torso locomotion trajectories and foot placements based on obtained locomotion data, including amplitude and direction, to stabilize lateral step locomotion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If existing foot placement calculation methods are used, then the robot can perform basic locomotion, but the stability deteriorates under lateral disturbances
Solution Approach 1:
The patent implements feedback by continuously monitoring the robot's actual posture and comparing it with the planned trajectory, then adjusting foot placement calculations based on the deviation. This closed-loop control ensures accurate foot placement even under lateral disturbances, resolving the contradiction between reliability and measurement precision.
Solution Approach 2:
The patent performs preliminary calculation of the center of mass trajectory and foot placement positions before executing locomotion. By pre-planning the motion path and anticipating required foot placements, the system can maintain stability under disturbances without real-time calculation delays, improving both reliability and placement accuracy.
2Measurement precision
If complex trajectory calculation methods are used, then locomotion accuracy improves, but computational complexity increases
Solution Approach 1:
The patent segments the locomotion control into modular components: center of mass trajectory planning, foot placement calculation, and trajectory tracking. Each module handles a specific aspect of control independently, reducing overall system complexity while maintaining high accuracy through coordinated operation of these simplified sub-systems.
Solution Approach 2:
The patent introduces the center of mass trajectory as an intermediary between high-level motion commands and low-level foot placement control. This intermediate representation simplifies the control problem by decoupling torso motion from leg motion, allowing accurate foot placement calculation without requiring complex full-body dynamics simulation.
Data Source
AI summary
Legged robot control method and apparatus, a medium and a legged robot. The method includes: obtaining locomotion data of the legged robot; determining-a torso motion trajectory and foot placement of the legged robot according to the locomotion data and a preset inverted pendulum model corresponding to the legged robot; and controlling the legged robot to perform lateral step locomotion based on the torso motion trajectory, so that feet of the legged robot are moved to the foot placement.