Robot Stair Mapping With Movement Limits for Precise Foot Placement
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Solution Overview
Problem
Robots face challenges in traversing environments with obstacles like stairs due to poor sensor data and the need for precise leg movement and foot placement, which can lead to missteps and potential damage.
Innovation Solution
A method for generating enhanced stair maps by merging sensor data with movement limitations to control robot navigation, including stair models and ground height maps, and implementing obstacle avoidance systems to ensure safe traversal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot uses sensor data to generate ground height maps and stair models for navigation, then the robot's ability to traverse complex terrains is improved, but the precision and reliability of stair detection and foot placement may deteriorate due to poor sensor data quality
Solution Approach 1:
The patent merges multiple data sources including sensor data, pre-existing stair models, and movement limitations to create an enhanced stair map. This combination compensates for poor sensor data quality by integrating multiple information sources, thereby improving both adaptability to complex terrains and measurement precision of stair detection
Solution Approach 2:
The enhanced stair map serves as an intermediary data structure that processes and reconciles information from sensor data, pre-existing models, and movement constraints. This intermediary layer filters and refines raw sensor data to improve detection precision while maintaining the ability to handle complex terrains
2Manufacturing precision
If the robot generates detailed enhanced stair maps with movement limitations, then foot placement accuracy is improved, but the computational complexity and processing time increase
Solution Approach 1:
The patent pre-computes movement limitations and integrates them into the enhanced stair map before real-time navigation. By performing these computational tasks in advance, the system reduces real-time processing requirements while maintaining high foot placement accuracy through pre-analyzed movement constraints
Solution Approach 2:
The system applies different levels of computational detail to different regions of the environment. Enhanced stair maps with detailed movement limitations are generated only for stair regions where precise foot placement is critical, while other areas use simpler ground height maps, thereby reducing overall computational complexity while maintaining accuracy where needed
3Reliability
If the robot constrains movements based on enhanced stair maps to prevent collisions, then safety is improved, but the robot's mobility and traversal speed are reduced
Solution Approach 1:
The robot dynamically adjusts movement constraints based on the enhanced stair map and real-time sensor data. Movement limitations are applied adaptively - strictly enforced in hazardous regions identified by the enhanced stair map, and relaxed in safe regions - thereby maintaining safety while preserving traversal speed where constraints are not needed
Solution Approach 2:
The navigation space is segmented into different regions with different constraint levels based on the enhanced stair map. Critical stair edges and hazardous areas are identified and segmented as no-step zones, while safe areas allow more flexible movement. This segmentation enables the robot to maintain safety in critical zones while moving efficiently in safe zones
Data Source
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Figure 2A
AI summary
A method of stair tracking for modeled and perceived terrain includes receiving sensor data (134) about an environment (10) of a robot (100). The method also includes generating a set of maps (182) based on voxels corresponding to the received sensor data. The set of maps includes a ground height map and a map of movement limitations for the robot. The map of movement limitations identifies illegal regions within the environment that the robot should avoid entering. The method further includes generating a stair model (202) for a set of stairs (20) within the environment based on the sensor data, merging the stair model and the map of movement limitations to generate an enhanced stair map, and controlling the robot based on the enhanced stair map or the ground height map to traverse the environment.