Multi-Legged Robot Torso Control for Unstable Load Balancing
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing multi-legged robot technologies struggle to maintain load balance, particularly with unstable items, during fast movement, as they rely on maintaining an absolute horizontal torso position, which is insufficient for preventing items like balls or water bottles from falling.
Innovation Solution
A multi-legged robot load balancing method using a force sensor to calculate load position and velocity, combined with a full dynamics control model, adjusts the robot's posture to actively maintain balance through feedback control laws and joint torque adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the robot maintains an absolute horizontal torso position, then the control system is simple, but unstable loads (balls, water bottles) fall during fast movement
Solution Approach 1:
The patent implements active feedback control by detecting load state (position, velocity, acceleration) and dynamically adjusting torso posture based on detected information. The control system continuously monitors load stability and modifies robot posture in real-time to compensate for unstable load characteristics, transforming the passive horizontal maintenance into active adaptive balancing.
Solution Approach 2:
The patent transitions from static torso positioning to dynamic posture adjustment. The robot actively modifies its torso orientation and position during movement based on real-time load conditions, enabling the system to adapt to changing dynamics of unstable loads during fast motion rather than maintaining a fixed horizontal state.
2Reliability
If the robot actively detects and maintains load position, then load stability improves, but the control algorithm and device complexity increase
Solution Approach 1:
The control system performs self-adjustment by autonomously detecting load state and generating appropriate posture corrections without external intervention. The robot's control system serves itself by integrating sensing, processing, and actuation into a unified autonomous balancing mechanism that automatically responds to load disturbances.
Solution Approach 2:
The patent creates a universal control framework that handles diverse load types (stable and unstable objects) through a single integrated system. The same detection and control mechanism works for various load configurations and movement conditions, making the system versatile rather than requiring specialized solutions for different load scenarios.
3Speed
If the robot uses full dynamics control to adjust posture, then load balance is maintained during fast movement, but computational requirements and control complexity increase
Solution Approach 1:
The patent applies preliminary action by pre-calculating and storing dynamic models, inertia matrices, and control parameters that are computed offline or in advance. During real-time operation at high speeds, the system utilizes these pre-prepared computational resources rather than performing complex calculations from scratch, reducing online computational burden while maintaining full dynamics control capability.
Data Source
AI summary
A multi-legged robot load balancing method, a multi-legged robot, and a storage medium are provided. The method includes: calculating a current position and velocity of a load positioned on a torso according to a value measured by a force sensor; calculating, through a feedback control law, a desired posture of the torso required for keeping a balance of the load according to the current position and the current velocity of the load; determining an expected position of virtual joints according to the desired posture of the torso, and calculating, using a full dynamics control algorithm of the robot, a joint torque for each real joint of the robot according to the expected position; and transmitting the calculated joint torques to the corresponding real joints so that the torso is moved to reach the desired posture by moving the corresponding real joints.