Legged Robot Maneuver Sequencing Under Joint Constraint Conflicts
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Solution Overview
Problem
Current methods for programming robot movements are time-consuming and require hardcoding, limiting the ability to rapidly author and modify robot behavior, and often fail to account for environmental and physical constraints, leading to potential damage or failure during execution.
Innovation Solution
A method and system that allow users to generate movement routines through a maneuver script, combining and sequencing preprogrammed maneuvers without hardcoding, using a user interface to create and customize movements for legged robots, and determining joint commands based on cost-associated maneuvers to ensure compatibility and feasibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional hardcoding methods are used to program robot movements, then precise control can be achieved, but the programming process becomes time-consuming and complex
Solution Approach 1:
The patent uses pre-programmed maneuver templates that can be copied and reused multiple times. Instead of writing custom code for each movement, users select from a library of predefined maneuvers (e.g., walk, run, jump) and combine them through a user interface. This copying approach maintains control precision while dramatically reducing programming time.
Solution Approach 2:
The patent segments complex robot movements into discrete, manageable maneuvers. Each maneuver is an independent, pre-programmed unit that can be selected and combined. This segmentation allows users to build complex behaviors by assembling simple building blocks, reducing the time and complexity of programming while maintaining precise control over each segment.
2Adaptability or versatility
If manual programming is used to create movement routines, then customization is possible, but the ease of operation decreases due to extensive coding requirements
Solution Approach 1:
The patent introduces a user interface as an intermediary between the user and the robot's control system. This interface provides a visual, intuitive way to select and combine maneuvers without requiring users to write code. The intermediary layer maintains full customization capability while dramatically improving ease of operation by abstracting away the complexity of programming.
Solution Approach 2:
The patent creates a universal maneuver library that can be applied to various robot behaviors and tasks. The same set of pre-programmed maneuvers can be combined in different ways to achieve diverse movement routines, providing both customization and ease of use through a unified, multi-functional system.
3Adaptability or versatility
If complex movement routines are programmed without considering constraints, then flexibility is improved, but reliability decreases due to potential damage or failure
Solution Approach 1:
The patent performs preliminary validation and constraint checking during the maneuver selection and combination phase, before actual execution. The system automatically checks whether selected maneuvers are compatible with environmental and physical constraints, preventing unsafe or impossible movements from being programmed. This preliminary action ensures reliability while maintaining movement flexibility.
Solution Approach 2:
The patent incorporates feedback mechanisms that provide information about constraint compliance during maneuver selection. The system monitors whether combined maneuvers satisfy environmental and physical constraints, and provides feedback to guide users toward safe and feasible movement routines. This feedback loop maintains both flexibility and reliability by enabling users to create complex routines within safe boundaries.
Data Source
AI summary
The disclosure provides a method for generating a joint command. The method includes receiving a maneuver script including a plurality of maneuvers for a legged robot to perform where each maneuver is associated with a cost. The method further includes identifying that two or more maneuvers of the plurality of maneuvers of the maneuver script occur at the same time instance. The method also includes determining a combined maneuver for the legged robot to perform at the time instance based on the two or more maneuvers and the costs associated with the two or more maneuvers. The method additionally includes generating a joint command to control motion of the legged robot at the time instance where the joint command commands a set of joints of the legged robot. Here, the set of joints correspond to the combined maneuver.