Robot Step-Frequency Control for Smooth Speed Transitions
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Solution Overview
Problem
Existing robot control systems struggle to automatically adjust step frequency in response to changing speed requirements, leading to instability and discontinuity in walking motion.
Innovation Solution
A robot control method and apparatus that adjusts step frequency based on target speed information and current state, using conditions such as leg support, speed difference, and average speed to determine when to switch frequencies, ensuring stability and continuity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Use of energy by moving object
If the robot walks at low step frequency, then energy consumption is reduced and noise is reduced, but walking speed cannot reach high speeds
Solution Approach 1:
The patent implements dynamic step frequency adjustment by continuously monitoring target speed information and current robot state, automatically transitioning between different step frequencies to optimize both energy efficiency and walking speed performance
2Speed
If the robot walks at high step frequency, then walking speed can reach high speeds, but energy consumption increases and noise increases
Solution Approach 1:
The system dynamically adjusts step frequency based on real-time speed requirements, using high step frequency only when high walking speed is needed, and switching to low step frequency when energy efficiency is prioritized
Solution Approach 2:
The patent changes the step frequency parameter according to target speed information and current robot state, selecting from multiple discrete step frequency values to achieve optimal balance between speed and energy consumption
3Adaptability or versatility
If the robot automatically adjusts step frequency during walking, then speed adaptability is improved, but walking stability may be compromised due to frequent adjustments
Solution Approach 1:
The patent determines target step frequency in advance based on target speed information before executing the adjustment, and only implements the change when the robot is in a stable supporting state, preventing disruptions during critical walking phases
Solution Approach 2:
The system continuously monitors current robot state including leg support status and current speed, using this feedback to determine the appropriate moment for step frequency adjustment and to verify stability before and after transitions
4Loss of time
If the robot switches step frequency at any moment, then response speed to speed changes is improved, but walking continuity is disrupted causing abrupt movements
Solution Approach 1:
The patent prepares the target step frequency in advance based on speed requirements but delays the actual switching action until the robot reaches a suitable moment when all legs are in supporting state, ensuring smooth transition without abrupt movements
Solution Approach 2:
The system ensures continuous stable walking by only permitting step frequency transitions when the robot is in a stable supporting state, maintaining the continuity of the walking motion while still achieving timely speed adjustments
Data Source
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AI summary
A robot control method includes: acquiring (S101, S201, S901) target speed information of a robot at a next moment during walking of the robot; and adjusting (S102) a step frequency of the robot according to the target speed information and a current state of the robot.