Wheeled-Legged Robot Torque Control for Dynamic Stair Climbing
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Solution Overview
Problem
Existing wheeled-legged robot control methods for staircase ascending are inefficient and lack accuracy, as they rely on heuristic methods that restrict the center of gravity within the stance area, limiting the robot's movement efficiency.
Innovation Solution
A control method and apparatus that utilize a pre-defined operation task to alternately swing first and second robotic leg groups, guided by a joint torque set derived from a dynamic model, allowing the center of gravity to exceed the stance area and improve movement efficiency and accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the projection of the center of gravity is controlled to move slowly in the stance area through heuristic method, then the robot can achieve static staircase ascending with stability, but the staircase ascending efficiency is not high
Solution Approach 1:
The patent transitions from static balance control to dynamic balance control. The controller allows the projection of the center of gravity to move outside the stance area during locomotion, enabling dynamic balanced movement. This is achieved by calculating joint torques based on a dynamic model that accounts for the robot's motion state, allowing the robot to maintain stability while moving more efficiently up stairs.
Solution Approach 2:
The patent changes the control parameter from constraining the center of gravity projection within the stance area to allowing it to move outside the stance area. By modifying this key parameter and using dynamic model-based torque calculation, the robot achieves both stability and improved productivity in staircase ascending.
2Stability of the object's composition
If the center of gravity projection is restricted within the stance area, then static balance is maintained, but movement speed and efficiency are limited
Solution Approach 1:
The patent implements dynamic balance control by allowing the center of gravity projection to move outside the stance area. The controller calculates appropriate joint torques based on the dynamic model to maintain balance during motion, enabling faster movement speeds while preserving stability through active torque regulation.
3Ease of operation
If heuristic control method is used for staircase ascending, then the control implementation is simple, but the control accuracy and movement efficiency are insufficient
Solution Approach 1:
The patent replaces the heuristic control method with a dynamic model-based control approach. Instead of using simple empirical rules, the system uses a mathematical dynamic model to calculate joint torques, significantly improving control accuracy and movement efficiency while maintaining implementation feasibility through standardized control algorithms.
Data Source
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AI summary
A robot control method and apparatus, a device, and a storage medium, relating to the technical field of artificial intelligence. The method comprises: for a robot having a first mechanical leg group and a second mechanical leg group, acquiring an expected operation space task of the robot on a supporting surface, the expected operation space task being used to guide the robot to alternately swing the first mechanical leg group and the second mechanical leg group so as to move on the supporting surface (601); according to the expected operation space task and a whole-body dynamics model of the robot, acquiring an expected joint torque set corresponding to the expected operation space task, the expected joint torque set comprising expected joint torque used to control each part of the robot (602); and controlling the robot to move under the guidance of the expected operation space task according to the expected joint torque set (603). The control accuracy of the robot is improved by means of the whole-body dynamics model, and the movement efficiency of the robot is improved by means of the expected operation space task.