Robot Leg-Length Gait Planning for Stable Jumping and Running
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing gait planning methods for humanoid robots are not applicable to motion scenarios like jumping and running, struggling to maintain stability during these actions.
Innovation Solution
A gait planning method that involves trajectory planning of leg lengths using a reference leg length, leg length variation range, and a preset recurrent excitation function, adapting the leg length changes to the motion process to enhance stability during jumping and running.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If existing gait planning methods are used, then the robot can walk stably, but the robot cannot maintain stability during jumping or running motions
Solution Approach 1:
The patent applies dynamics by making the leg length planning adaptable to different motion states. The system dynamically adjusts the leg length trajectory based on the current motion state (walking, running, or jumping) detected by the state machine, allowing the same gait planning framework to maintain stability across multiple motion scenarios rather than using a fixed gait pattern designed only for walking
Solution Approach 2:
The patent changes the parameter of leg length trajectory planning to accommodate different motion states. By modifying the leg length variation range and trajectory characteristics based on whether the robot is walking, running, or jumping, the system achieves stable performance across diverse motions. The state machine triggers different planning parameters corresponding to different motion states
2Reliability
If leg length trajectory is optimized for jumping and running, then stability improves, but the complexity of gait planning increases
Solution Approach 1:
The patent segments the gait planning system into distinct modules: a state machine for motion state recognition, a trajectory generation module for leg length planning, and an execution module. This segmentation allows each module to handle specific tasks independently, managing complexity by dividing the overall system into manageable functional components that can be developed and tuned separately
Solution Approach 2:
The patent creates a universal gait planning framework that handles multiple motion types (walking, running, jumping) through a single integrated system. The state machine and trajectory generation module work together to provide multi-functional capability, eliminating the need for separate control systems for each motion type and thereby managing complexity through consolidation rather than proliferation of components
Data Source
AI summary
A gait planning method and a robot using the same as well as a computer readable storage medium are provided. The method includes: determining a reference leg length l0 and a leg length variation range A of a robot; performing a trajectory planning on a length of at least one of the legs of the robot using; an equation including the reference leg length, the leg length variation range, and a preset recurrent excitation function of a time variable t. In this manner, the trajectory planning for the leg length of the robot during motion is performed according to the characteristics of motion scene such as robot jumping or running so that the change of the leg length of the robot is adapted to the motion process, which greatly improves the stability of the robot in the motion scene such as jumping or running.