Two-Legged Robot Gait Planning for Double-Support Stability
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Solution Overview
Problem
Current motion control methods for two-legged robots based on the Linear Inverted Pendulum Model with Double Support Phase (D-LIP) primarily focus on the center-of-mass state during Single Support Phase (SSP), leading to poor walking stability as they do not account for the robot's entire gait cycle, including both support phases.
Innovation Solution
A motion control method that acquires gait parameters and inputs them into a preset gait planning model to determine gait trajectory parameters for both Double Support Phase (DSP) and SSP, including center-of-mass position and movement speed, to stabilize the robot's movement by considering both phases.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the robot is controlled to walk only based on the center-of-mass state in the Single Support Phase (SSP), then the control method is simple, but the walking stability is poor
Solution Approach 1:
The gait cycle is segmented into two distinct phases: Single Support Phase (SSP) and Double Support Phase (DSP). The patent applies different control strategies for each phase, using D-LIP model for SSP and a new D-LIP-based model for DSP. This segmentation allows the system to optimize control for each specific phase while maintaining overall simplicity, resolving the contradiction between control simplicity and walking stability.
2Stability of the object's composition
If the robot controls walking based on both DSP and SSP center-of-mass states, then the walking stability is improved, but the control complexity increases
Solution Approach 1:
The patent implements dynamic switching between different control models based on the current gait phase. During SSP, the D-LIP model is applied, while during DSP, the newly proposed D-LIP-based model is activated. This dynamic adaptation allows the system to maintain optimal control performance for each phase without requiring a completely complex unified model, thus improving stability while controlling complexity.
Solution Approach 2:
The control approach changes key parameters based on the gait phase: in SSP, control is based on center-of-mass position and velocity under single support conditions, while in DSP, the model incorporates dual support constraints and different center-of-mass dynamics. These parameter adjustments allow the system to adapt to phase-specific requirements, improving overall stability without requiring entirely new control architecture.
Data Source
AI summary
A method of controlling the motion of a two-legged robot includes: acquiring gait parameters of the two-legged robot; inputting the gait parameters to a preset gait planning model; determining gait trajectory parameters of the two-legged robot based on the gait parameters through the preset gait planning model, in which the gait trajectory parameters include a center-of-mass state corresponding to a double support phase and a center-of-mass state corresponding to a single support phase, and the center-of-mass state includes a center-of-mass position and a center-of-mass movement speed; and controlling the two-legged robot to move according to the gait trajectory parameters.