Quadruped Robot Motion Control via Center-of-Mass Trajectories
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Solution Overview
Problem
Current quadruped robots are primarily limited to crawling on four legs due to a lack of research on motion control, which restricts their versatility and capability to perform more complex motions.
Innovation Solution
A robot motion control method that involves obtaining a center-of-mass reference trajectory, optimizing an objective function to generate center-of-mass control information, and then using this information to generate joint control information, allowing the robot to execute target motions such as transitioning from a four-legged to a two-wheeled state.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If quadruped robots focus on body structure design, then structural stability is improved, but motion capability remains limited to crawling
Solution Approach 1:
The patent implements dynamic motion control that enables the quadruped robot to transition between different motion modes (crawling, jumping, rolling) by dynamically adjusting joint control information based on center-of-mass trajectories, transforming a statically stable structure into a dynamically versatile system
Solution Approach 2:
The patent changes the control parameters from simple crawling patterns to complex center-of-mass trajectories with optimization objectives, enabling the robot to achieve diverse motions including jumping and rolling by modifying the motion control parameters while maintaining the same body structure
2Ease of operation
If quadruped robots are designed for simple crawling, then ease of operation is improved, but productivity is limited
Solution Approach 1:
The patent pre-calculates optimal center-of-mass reference trajectories and uses optimization algorithms to determine the best control information before execution, allowing the robot to perform complex motions like jumping and rolling with simplified real-time control
Solution Approach 2:
The patent introduces center-of-mass control information as an intermediary between the high-level motion commands and the low-level joint control, simplifying the control architecture while enabling diverse motions through optimized center-of-mass trajectories
Data Source
AI summary
This disclosure is related to a robot motion control method and apparatus. The method includes: obtaining a center-of-mass reference trajectory used for guiding the robot to execute a target motion; obtaining, based on optimization of an objective function, center-of-mass control information for controlling the robot to follow the center-of-mass reference trajectory to move; generating joint control information according to the center-of-mass control information and a structure matrix of the robot; and controlling the robot to execute the target motion based on the joint control information.