Legged Robot Swing Height Mapping for Obstacle-Clearing Steps
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Solution Overview
Problem
Legged robotic devices face challenges in efficiently adjusting their step height to navigate varying terrain without unnecessary energy expenditure, as they often high-step to avoid obstacles, which can be inefficient and may result in tripping if the step height is not adequately calculated.
Innovation Solution
A control system that processes sensor data to create a topographical map of the environment, identifies a scan patch encompassing the step path, determines a high point within this patch, and adjusts the swing height of the robotic device's foot to clear obstacles while minimizing energy consumption by only high-stepping as necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robotic device increases swing height to clear obstacles, then the ability to navigate complex terrain is improved, but energy consumption increases
Solution Approach 1:
The system dynamically changes the swing height parameter based on real-time terrain assessment. By processing sensor data to identify obstacles and calculating minimum required clearance heights, the system adjusts swing height only when and to the extent necessary for obstacle clearance, rather than maintaining a consistently high swing height. This resolves the contradiction by making the parameter adaptive to actual terrain conditions.
Solution Approach 2:
The swing height is made dynamic rather than static, allowing the robotic device to transition between normal walking height and elevated swing height based on detected terrain features. The system continuously monitors the environment and adjusts swing height in real-time, enabling energy-efficient navigation by maintaining low swing height on flat terrain and increasing only when obstacles require clearance.
2Reliability
If the robotic device maintains high swing height to avoid obstacles, then the risk of tripping is reduced, but energy expenditure increases unnecessarily
Solution Approach 1:
The system performs preliminary terrain assessment using sensors before executing steps. By processing sensor data to create a topographical map and identifying obstacles in advance, the system can calculate the exact swing height needed for safe clearance. This preliminary action allows the robot to maintain low energy expenditure by using minimal necessary swing height while still ensuring trip-free navigation.
Solution Approach 2:
The system uses sensor feedback to continuously monitor terrain conditions and adjust swing height accordingly. By processing real-time sensor data about obstacles and terrain features, the system determines the precise swing height required for safe obstacle clearance, avoiding both excessive energy expenditure from unnecessarily high swings and tripping from insufficient clearance.
3Use of energy by moving object
If the robotic device processes sensor data to determine precise swing height, then energy efficiency is improved, but computational complexity increases
Solution Approach 1:
The computational task is segmented into discrete processing steps: sensor data acquisition, topographical map creation, obstacle identification within scan patches, high point determination, and swing height calculation. This segmentation allows the complex computational task to be broken down into manageable modules that can be executed efficiently, reducing overall computational complexity while maintaining energy efficiency benefits.
Solution Approach 2:
The system processes terrain data locally by identifying scan patches around the robot's current position and focus area, rather than processing entire terrain maps. By concentrating computational resources on relevant local regions where obstacles may affect swing height, the system reduces overall computational complexity while still achieving energy-efficient swing height determination for safe navigation.
Data Source
AI summary
An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) processing the sensor data into a topographical map that includes a two-dimensional matrix of discrete cells, the discrete cells indicating sample heights of respective portions of the environment, (iii) determining, for a first foot of the robotic device, a first step path extending from a first lift-off location to a first touch-down location, (iv) identifying, within the topographical map, a first scan patch of cells that encompass the first step path, (v) determining a first high point among the first scan patch of cells; and (vi) during the first step, directing the robotic device to lift the first foot to a first swing height that is higher than the determined first high point.