Wheel-Legged Robot Somersault Control for Ravine Crossing
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Solution Overview
Problem
Existing robots, particularly wheel-legged robots, lack the capability to navigate obstacles such as ravines or rivers by performing somersault motions, as their motion control is limited to forward directions and does not account for obstacles that cannot be avoided.
Innovation Solution
A method and apparatus for controlling a robot to perform somersault motions by controlling joints and wheel torques based on whole-body dynamics and constraint equations, enabling the robot to jump over or cross obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robot control is limited to forward motion only, then the control system remains simple, but the robot cannot overcome obstacles such as ravines or rivers
Solution Approach 1:
The patent implements dynamic motion control by dividing the somersault process into distinct phases (takeoff, flight, landing) with different control strategies for each phase. The controller dynamically adjusts joint torques and wheel forces based on the current phase and real-time state feedback, enabling the robot to perform complex somersault motions while maintaining manageable control complexity through phased approach
Solution Approach 2:
The motion control is segmented into multiple independent phases: takeoff phase with specific torque control, flight phase with trajectory optimization, and landing phase with impact absorption. Each phase has dedicated control parameters and constraint equations, allowing the complex obstacle-crossing task to be broken down into manageable segments that can be controlled independently
2Adaptability or versatility
If the robot performs somersault motion to cross obstacles, then obstacle crossing capability is improved, but energy consumption increases
Solution Approach 1:
The patent optimizes energy consumption by dynamically adjusting control parameters including joint torque magnitudes, wheel force applications, and center of mass trajectory. The constraint equations enforce energy-efficient motion patterns by limiting unnecessary movements and optimizing the timing of actuator activations during each phase of the somersault
Solution Approach 2:
The controller performs preliminary planning of the somersault trajectory and pre-calculates optimal torque profiles before execution. By determining the required motion parameters in advance based on obstacle characteristics, the system can execute the somersault with minimal energy waste from real-time adjustments or corrective movements
3Stability of the object's composition
If the robot uses whole-body dynamics and constraint equations for somersault control, then motion stability is improved, but computational complexity increases
Solution Approach 1:
The patent employs dynamic whole-body control that continuously updates joint torques and wheel forces based on real-time state feedback during each phase of the somersault. The constraint equations are evaluated dynamically to maintain stability while the phased approach keeps computational load manageable by focusing calculations on the current phase rather than the entire motion sequence
Data Source
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Figure 2A~2B
Figure 3A
AI summary
A method for controlling a robot to perform a somersault motion. The robot comprises a wheel-leg portion and a base portion connected to the wheel-leg portion. The wheel-leg portion comprises at least one joint. The method comprises: receiving a motion instruction; and controlling the moment of force of the at least one joint according to the motion instruction, such that the robot performs a somersault motion, wherein at a take-off stage of the somersault motion, the center of mass of the wheel-leg portion is lower than the center of mass of the base portion; at a flying stage of the somersault motion, there is a moment when the center of mass of the wheel-leg portion is higher than the center of mass of the base portion; at a landing stage of the somersault motion, the center mass of the wheel-leg portion is lower than the center of mass of the base portion. Also disclosed are a robot and a device for controlling a somersault motion of the robot.