Robot Waist Motion Data Generation for Dynamic Gait Transitions

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Solution Overview

Problem

Existing motion data generation systems for robots limit the robot's performance by relying solely on subject motion data, preventing the demonstration of the robot's full capabilities, especially in transitions between stance and swing phases.

Innovation Solution

A motion data generation system that includes a subject motion data acquisition unit, a manually generated motion data acquisition unit, and a robot motion control unit, which determines the leg state of the robot to generate appropriate waist motion data, using manually generated data during swing phases and captured data during stance phases, and combines these for smooth transitions.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If motion data is generated solely from subject motion capture, then the system is simple to operate, but the robot cannot demonstrate its full performance capabilities

Engineering Contradiction:

Improverobot performance demonstrationVSAvoidmotion data generation system

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent combines captured waist motion data from subject motion capture with manually generated lower body motion data to create composite motion data. This merging allows the robot to achieve motions that exceed the limitations of pure subject-based capture while maintaining system manageability through modular data integration.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The system dynamically selects and switches between captured waist motion data and manually generated lower body motion data based on the robot's current state (swing phase vs. stance phase). This dynamic approach enables the robot to demonstrate full performance capabilities by adapting the motion data source to the specific operational context.

Inventive Principle:

Principle #15Dynamics

2Stability of the object's composition

If captured waist motion data is used during swing phase, then the motion reflects natural subject movement, but the robot loses balance and cannot maintain stability

Engineering Contradiction:

Improverobot balanceVSAvoidmotion data generation

Core Design Contradiction:

Stability of the object's compositionVSEase of operation

Solution Approach 1:

The system dynamically switches the source of waist motion data based on the robot's gait phase. During swing phase, manually generated data is used to maintain balance; during stance phase, captured data is used for natural movement. This dynamic adaptation resolves the contradiction between stability and ease of operation.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The gait cycle is segmented into distinct phases (swing and stance), with different motion data generation strategies applied to each phase. This segmentation allows the system to optimize for balance during swing phase while maintaining natural movement during stance phase, avoiding the need to choose a single approach for the entire cycle.

Inventive Principle:

Principle #1Segmentation

3Reliability

If manually generated waist motion data is used during stance phase, then the robot maintains balance, but the motion becomes unnatural and limited

Engineering Contradiction:

Improvebalance maintenanceVSAvoidmotion naturalness

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The system dynamically adapts the motion data source to the robot's current gait phase, using manually generated data during swing phase for balance and captured data during stance phase for naturalness. This dynamic switching resolves the contradiction between reliability and adaptability.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

Different qualities of motion data are applied to different phases of the gait cycle: manually generated data with high reliability for swing phase, and captured data with high naturalness for stance phase. This local optimization allows each phase to use the most appropriate data type for its specific requirements.

Inventive Principle:

Principle #3Local quality

4Stability of the object's composition

If composite motion data is used during transition periods, then unnatural waist motion is suppressed, but the system complexity increases

Engineering Contradiction:

Improvewaist motion smoothnessVSAvoidmotion data processing

Core Design Contradiction:

Stability of the object's compositionVSDevice complexity

Solution Approach 1:

The system prepares composite motion data in advance for transition periods between swing and stance phases. By pre-planning the blending of captured and manually generated data during transitions, the system suppresses unnatural waist motion without requiring complex real-time processing, thus managing system complexity.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS12179349B2Motion data generation system, motion data generation method, and motion data generation program of robot

Publication Date: 2024.12.31 TOYOTA JIDOSHA KK

AI summary

A motion data generation system of a robot including an upper body, a waist, and a lower body is provided. The motion data generation system includes a subject motion data acquisition unit that acquires upper body motion data captured from motion of the upper body of a subject and captured waist motion data captured from motion of the waist of the subject, a manually generated motion data acquisition unit that acquires lower body motion data and manually generated waist motion data, the lower body motion data and the manually generated waist motion data being generated through manual input by a user, and a robot motion control unit. The robot motion control unit includes a leg state determination unit and a waist motion data generation unit.