Legged Robot Landing Point and Pressure Control for Disturbance Stability
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional legged robotic apparatuses struggle with stabilization against unknown disturbances due to inadequate control of the center of gravity and delayed response times in switching between control tasks.
Innovation Solution
An information processing device that calculates the change in landing point and center of pressure positions to improve stabilization, allowing real-time control of the robotic apparatus's attitude and movement based on these calculations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If only the stance leg or swing leg is controlled to return the upper body to the original position, then the control mechanism is simple, but the resistance to disturbance is insufficient
Solution Approach 1:
The patent implements feedback control by calculating the deviation between the actual center of gravity position and the desired center of gravity position, then using this deviation information to adjust the landing point and center of pressure. This closed-loop feedback mechanism enables the robot to actively compensate for disturbances rather than relying on simple reactive leg control, thereby improving disturbance resistance while maintaining reasonable system complexity.
Solution Approach 2:
The patent introduces the center of pressure as an intermediary control variable that mediates between the center of gravity position and the leg landing points. By controlling the center of pressure through adjusted landing points, the system creates an indirect control pathway that improves stability against disturbances without requiring direct complex control of each leg, thus resolving the contradiction between reliability and device complexity.
2Reliability
If switching between parallel control tasks is implemented, then both control tasks can be performed, but the response time to disturbance is delayed
Solution Approach 1:
The patent merges the disturbance stabilization control and the planned task control into a unified control framework. Instead of switching between parallel control tasks, the system calculates the required landing point and center of pressure adjustments that simultaneously satisfy both stabilization requirements and planned task requirements. This integrated approach eliminates the time delay associated with task switching while maintaining the ability to perform both control functions.
Solution Approach 2:
The patent performs preliminary calculation of the center of gravity deviation and required compensation before executing the control action. By pre-calculating the necessary landing point and center of pressure adjustments based on current sensor data, the system prepares the optimal control response in advance, enabling immediate execution when disturbance occurs and thereby reducing the effective response time while maintaining high stabilization performance.
Data Source
AI summary
An information processing device (100) includes a calculation unit (113) that calculates an amount of change in a landing point of a landing point position to which a current swing leg of a robotic apparatus (1) including one or more legs to land next from a planned landing point position, and an amount of change in the center of pressure of a position of the center of pressure to be generated by a current ground contact leg of the robotic apparatus (1) from a position of a target center of pressure, and a drive control unit (114) that controls an attitude and movement of the robotic apparatus (1), based on at least one of the amount of change in the landing point or the amount of change in the center of pressure, calculated by the calculation unit (113).