Whole-Body Robot Control for Massive-Body Interaction
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Solution Overview
Problem
Robotic devices face challenges in navigating complex environments with unforeseen obstacles and external changes, requiring improved agility and dynamic whole-body control to manage interactions with massive bodies while optimizing computational resources.
Innovation Solution
The system determines robot movements and trajectories by accounting for physical interactions with massive bodies, using pre-computed trajectories and real-time information to generate feasible dynamics strategies, optimizing kinematic constraints, and leveraging the robot's entire body for balance and manipulation, with modules for generating reference trajectories and motion parameters.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If the robot uses pre-computed trajectories and template behaviors for movement, then computational resources are economized and response time is reduced, but the robot's ability to adapt to unforeseen obstacles and dynamic environmental changes is limited
Solution Approach 1:
The robot system dynamically selects and blends between pre-computed template behaviors and real-time generated trajectories based on environmental conditions. The behavior blending module creates smooth transitions between different movement modes, allowing the robot to maintain computational efficiency while adapting to unforeseen obstacles and dynamic changes in the environment.
2Reliability
If the robot accounts for coupled physical interactions with massive bodies during manipulation tasks, then manipulation accuracy and balance are improved, but computational complexity increases
Solution Approach 1:
The control system segments the manipulation task into distinct phases (approach, grasp, lift, transport, place) and applies simplified interaction models appropriate to each phase. This segmentation allows the robot to account for coupled physical interactions with massive bodies without requiring full dynamic simulation at all times, thereby reducing computational complexity while maintaining manipulation accuracy.
3Stability of the object's composition
If the robot leverages its entire body for balance and manipulation during interaction with massive bodies, then balance control is improved, but the complexity of coordinating multiple body parts increases
Solution Approach 1:
The robot merges balance control and manipulation tasks into a unified whole-body control framework. By coordinating multiple body parts simultaneously through integrated dynamics strategies, the system achieves improved balance control during manipulation of massive bodies without requiring separate control loops for each function, thereby managing coordination complexity through unification.
Data Source
AI summary
The invention includes systems and methods for determining movement of a robot. A computing system of the robot receives information comprising a reference behavior specification, a current state of the robot, and a characteristic of a massive body coupled to or expected to be coupled to the robot. The computing system determines, based on the information, a set of movement parameters for the robot, the set of movement parameters reflecting a goal trajectory for the robot. The computing system instructs the robot to move consistent with the set of movement parameters.