Quadruped Turning Trajectory Planning for Stable Rapid Maneuvers
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Solution Overview
Problem
Low-cost spider-type quadruped robots face challenges in maintaining stable body posture during rapid turning movements due to limited degrees of freedom in each leg's joints, leading to slippage and instability.
Innovation Solution
A method and device for planning robot turning trajectories using a robot control device with a trajectory planning module that calculates desired displacements for each support leg in a floating base coordinate system, ensuring smooth and rapid turning while maintaining body stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If traditional turning motion control is used for spider-type quadruped robots, then the robot can perform turning movements, but the body posture becomes unstable during rapid turning due to limited degrees of freedom in leg joints
Solution Approach 1:
The patent applies dynamics by making the coordinate system floating and adaptive rather than fixed. The floating base coordinate system dynamically adjusts to the robot's body posture, allowing the turning trajectory planning to adapt in real-time to changes in body orientation and position. This dynamic coordination enables rapid turning while maintaining stability by continuously optimizing the relationship between leg movements and body posture.
Solution Approach 2:
The patent changes the parameter representation by using a floating base coordinate system instead of a fixed world coordinate system. This parameter transformation allows the turning trajectory to be defined relative to the robot's current body state, enabling the system to achieve rapid turning at any posture while maintaining stability through adaptive parameter adjustment during motion.
2Speed
If the robot performs rapid turning movements, then the turning speed increases, but slippage occurs due to the limited degrees of freedom in each leg's joints
Solution Approach 1:
The dynamic floating base coordinate system enables the trajectory planning to adapt to the robot's actual body posture during rapid turning. By continuously updating the coordinate transformation based on current body orientation, the system can generate reliable turning trajectories that account for the limited degrees of freedom in each leg, preventing slippage while maintaining high turning speeds.
Solution Approach 2:
The patent performs preliminary action by pre-defining the turning trajectory in the floating base coordinate system before execution. The trajectory is planned considering the robot's current posture and the constraints of its leg joints, allowing the control system to anticipate and compensate for potential slippage before it occurs, thereby ensuring reliable motion during rapid turning.
3Ease of operation
If fixed coordinate system trajectory planning is used, then the control implementation is simple, but it cannot adapt to changes in robot body posture during motion
Solution Approach 1:
The patent replaces the fixed coordinate system with a dynamic floating base coordinate system that automatically adapts to changes in robot body posture. This dynamic approach maintains ease of operation by using systematic coordinate transformations while significantly improving posture adaptability, allowing the same trajectory planning method to work effectively across various body orientations and positions.
Solution Approach 2:
The floating base coordinate system provides universality by enabling the turning trajectory planning to work across multiple body postures and motion states. A single trajectory planning algorithm in the floating coordinate system can adapt to various initial postures and turning conditions, making the control system versatile without requiring separate control strategies for different scenarios.
Data Source
AI summary
A method for trajectory planning of a turning motion of a spider-type quadruped robot includes: acquiring a desired turning angle of the spider-type quadruped robot in a floating base coordinate system during a current gait cycle; calculating a desired displacement for each support leg of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle based on the desired turning angle; and performing discrete trajectory planning in the floating base coordinate system based on the desired displacements of the support legs, to obtain a desired turning motion trajectory for each of the support legs of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle.