Legged Robot Gait Control for Spinning Prevention
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Solution Overview
Problem
Existing gait generation devices for legged mobile robots struggle to prevent spinning and falling, especially on low-friction surfaces, due to excessive vertical component of the floor reaction force moment, and fail to maintain dynamic balance during running and walking.
Innovation Solution
A gait generating device that includes a permissible range setting for the vertical component of the floor reaction force moment and angular momentum changing rate, with a provisional motion determining and correcting mechanism to ensure the motion stays within these limits, thereby preventing spinning and maintaining dynamic balance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the vertical component of the floor reaction force moment is increased to improve running capability, then the robot can achieve better running performance, but the robot may spin and fall on low-friction surfaces
Solution Approach 1:
The gait generating device dynamically adjusts the vertical component of the floor reaction force moment based on real-time detection of actual vs. desired values. When spinning is detected (actual vertical component exceeds desired threshold), the system automatically reduces the moment to prevent falling, then restores it when safe, enabling adaptive running control on varying friction surfaces
Solution Approach 2:
The system implements continuous feedback monitoring of the vertical component of the floor reaction force moment by comparing actual values against desired values. This feedback loop detects spinning conditions and triggers corrective gait adjustments, allowing the robot to maintain running capability while preventing falls on low-friction surfaces
2Stability of the object's composition
If the gait generation focuses on smooth walking motion, then walking stability is improved, but the robot cannot run or move on slippery floors
Solution Approach 1:
The gait generating device serves multiple functions by generating both walking and running gaits through a unified control framework. The system adjusts the vertical component of the floor reaction force moment to produce appropriate gait patterns for different surfaces and speeds, enabling one device to perform multiple locomotion tasks
Solution Approach 2:
The system changes key parameters of the floor reaction force moment based on detected gait conditions. By adjusting the vertical component threshold and control parameters, the device transitions between walking and running modes, adapting to different friction conditions and speed requirements
3Reliability
If the vertical component of the floor reaction force moment is limited to prevent spinning, then spinning prevention is improved, but the robot cannot achieve smooth running motion
Solution Approach 1:
The system employs periodic restoration of the vertical component of the floor reaction force moment after suppression. When spinning is prevented by limiting the moment, the system periodically restores the moment to enable running motion, creating a rhythmic pattern that maintains both safety and running capability
Data Source
AI summary
A vertical component or the like of a floor reaction force moment to be applied to a robot 1 is defined as a restriction object amount, and the permissible range of the restriction object amount is set. A provisional motion of the robot that satisfies a predetermined dynamic balance condition is determined on a predetermined dynamic model, and if a restriction object amount determined by the provisional motion deviates from the permissible range, then the motion of a desired gait is determined by correcting the provisional motion by changing the angular momentum changing rate of the robot from the provisional motion while limiting the restriction object amount to the permissible range on the dynamic model.