Robot Stair Climbing Pose Control Using Gravity and Edge Vectors
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Solution Overview
Problem
Current robot climbing control methods fail to effectively adapt to stair climbing scenarios, especially when identification information is missing, leading to ineffective control of humanoid robots during stair navigation.
Innovation Solution
A method involving the calculation of a gravity direction vector and edge direction vector to determine the robot's position parameters relative to stairs, using a combination of accelerometer, gyroscope data, and image processing techniques to adjust the robot's pose for successful stair climbing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot uses identification information extraction to determine rotation matrixes, then the control accuracy is improved, but the method fails when identification information is missed in the scene
Solution Approach 1:
The patent introduces an intermediary method (gravity direction vector and edge direction vector calculation) to bridge the gap when direct identification information extraction fails. Instead of relying solely on identification markers, the system uses physical principles (gravity) and geometric features (edges) as mediators to infer robot pose and coordinate transformations, ensuring continuous operation even when traditional identification methods fail.
2Adaptability or versatility
If the robot calculates rotation matrixes in real-time during movement, then the adaptability to dynamic scenarios is improved, but the computational complexity increases
Solution Approach 1:
The patent extracts and utilizes only the essential physical quantities needed for real-time calculation (acceleration from accelerometer, angular velocity from gyroscope, and edge directions from images) rather than processing complete scene understanding. This selective extraction of critical information reduces computational burden while maintaining real-time adaptability to dynamic movement scenarios.
Solution Approach 2:
The patent replaces complex mechanical pose estimation systems with sensor-based measurements (accelerometer and gyroscope) combined with simple image processing. Instead of using complex mechanical encoders or detailed force-torque sensors, the system substitutes these with more straightforward inertial sensors and visual edge detection, reducing overall system complexity while achieving real-time performance.
3Reliability
If the robot uses multiple sensors (accelerometer, gyroscope, camera) for pose determination, then the measurement reliability is improved, but the device complexity increases
Solution Approach 1:
The patent makes the sensor system multi-functional by using the same accelerometer and gyroscope for both navigation control and stair climbing pose determination. The camera serves dual purposes for general scene understanding and specific edge detection for gravity/edge vector calculation. This universal usage of sensors across multiple functions reduces the need for additional specialized sensors, thereby limiting the increase in device complexity while maintaining high measurement reliability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables effective control of robots to climb stairs by accurately determining position parameters and adjusting poses, ensuring successful navigation even when identification information is absent.
Implementation Method 1
obtain a gravity direction vector in a gravity direction in a camera coordinate system of a robot
Implementation Method 2
obtain a first camera pose through an accelerometer of the robot
Implementation Method 3
obtain a second camera pose through a gyroscope of the robot
Data Source
AI summary
A robot climbing control method is disclosed. A gravity direction vector in a gravity direction in a camera coordinate system of a robot is obtained. A stair edge of stairs in a scene image is obtained and an edge direction vector of the stair edge in the camera coordinate system is determined. A position parameter of the robot relative to the stairs is determined according to the gravity direction vector and the edge direction vector. Poses of the robot are adjusted according to the position parameter to control the robot to climb the stairs.