Humanoid Robot End-Portion Control Under Walking Interference
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Solution Overview
Problem
Humanoid robots face challenges in maintaining stability of end-portions, such as a cup of hot tea, due to vibrations and structural deformations caused by changes in foot position during movement, affecting control of the robot's arms.
Innovation Solution
A method involving motion sensors at joints and the torso to detect and filter interference information, determining a first posture excluding interference, and using closed-loop control to adjust the robot's gait and maintain stability of the end-portions by comparing actual and expected postures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the humanoid robot walks to complete delivery tasks, then the robot's mobility and task completion capability are improved, but the position changes of supporting feet cause great impact, vibration and structural deformation of the arm, seriously affecting end-portion control
Solution Approach 1:
The control system is segmented into multiple independent modules: gait generation module, interference information detection module (using sensors at joints and torso), posture calculation module, and end-portion control module. Each module handles specific functions independently, allowing the robot to maintain end-portion stability while executing complex walking and delivery tasks simultaneously.
Solution Approach 2:
The system implements feedback control by continuously detecting actual joint angles and torso posture via sensors, comparing them with expected values, calculating interference information from the differences, and using this feedback to adjust arm and end-portion positions in real-time, thereby maintaining stability despite walking-induced disturbances.
2Measurement precision
If motion sensors are added at joints and torso to detect interference information, then the accuracy of posture determination is improved, but the device complexity increases
Solution Approach 1:
The sensors mounted at joints and torso serve multiple functions: they detect joint angles for gait generation, measure torso posture for interference calculation, and provide feedback for both arm control and end-portion stabilization. This multi-functionality reduces the need for separate sensor systems, thereby limiting the increase in device complexity while maintaining high measurement precision.
Data Source
AI summary
The present disclosure provides a method for controlling end-portions of a robot. The method includes obtaining joint information of a robot by at least one sensor and determining a first posture of an end-portion of the robot in accordance with the joint information, obtaining end-portion information of the robot by the sensor and obtaining the second posture of the end-portion of the robot including the interference information in accordance with the end-portion information of the robot and the first posture of the end-portion of the robot, and conducting a closed-loop control on the robot in accordance with an error between the second posture of the end-portion of the robot and a predetermined expected posture of the end-portion of the robot.