Robot Motion Mode Switching for Speed and Stability on Complex Terrain
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Solution Overview
Problem
Wheeled-legged mobile robots exhibit low traveling speed and poor stability, limiting their application in complex terrain environments, and existing motion control methods lack desirable adaptability.
Innovation Solution
A motion control method that includes obtaining environment information and motion parameters, determining the environment type, switching motion modes, and configuring target motion parameters to adapt to different terrains, using sensors like inertial, distance, and tactile sensors, and neural networks for mode switching.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a wheeled-legged mobile robot is used to enable flexible movement and adapt to complex terrain, then environment adaptability is improved, but traveling speed decreases and stability deteriorates
Solution Approach 1:
The robot dynamically switches between wheeled mode and legged mode based on real-time environment assessment. The control system evaluates terrain characteristics and robot state, then transitions to the appropriate motion mode: wheeled mode for flat surfaces (high speed) and legged mode for complex terrain (high adaptability), resolving the speed-adaptability contradiction through temporal dynamics
2Adaptability or versatility
If a wheeled-legged mobile robot is used to enable flexible movement and adapt to complex terrain, then environment adaptability is improved, but stability deteriorates
Solution Approach 1:
The robot employs dynamic mode switching with stability consideration. The control system monitors robot state and terrain, transitioning to legged mode when stability is compromised on complex terrain, and to wheeled mode on stable flat surfaces. This dynamic adaptation resolves the stability-adaptability contradiction by maintaining optimal stability in each mode
Solution Approach 2:
The robot uses sensor feedback (inertial sensors, distance sensors, tactile sensors) to continuously monitor its state and environment. This feedback loop enables real-time detection of stability issues and triggers appropriate mode switching or control adjustments, ensuring stability is maintained while adapting to complex terrains
3Adaptability or versatility
If motion mode switching is implemented to improve environment adaptability, then adaptability is improved, but device complexity increases
Solution Approach 1:
The control system is segmented into modular components: environment perception module (sensors), terrain classification module, mode decision module, and execution module. This segmentation allows independent optimization of each function and simplifies the overall complex system by creating manageable, reusable modules for motion mode switching
Data Source
AI summary
A motion control method for a robot includes obtaining environment information of a current environment of the robot and a current motion parameter of a joint of the robot; determining an environment type of the current environment; determining a current posture of the robot based on the current motion parameter of the joint; determining position information of the robot in the current environment; switching a current motion mode of the robot to a target motion mode corresponding to the environment type in response to the current posture and the position information satisfying a motion mode switching condition; and configuring a target motion parameter for the joint of the robot based on the target motion mode corresponding to the environment type, the target motion parameter being configured for switching a part of the robot in contact with a ground to a ground contact part in the target motion mode.