Robot Actuated Dynamic Walking Control Optimization
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Solution Overview
Problem
Existing walking robot control methods face challenges in achieving natural walking with high energy efficiency, as position-based ZMP control methods require high energy and stiffness, while torque-based actuated dynamic walking struggles with precise position control and forming desired walking patterns.
Innovation Solution
A control method that optimizes actuated dynamic walking by setting variables for target joint routes and control gains, calculating torque input values, and minimizing an objective function consisting of performance indices such as position error, force error, and walking style error, using forward dynamics calculations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If position-based ZMP control method is used, then precise position control is achieved, but high current is required resulting in low energy efficiency
Solution Approach 1:
The patent changes the control parameter from position-based to torque-based control. Instead of controlling joint positions to trace walking trajectories, the system controls joint torques to achieve actuated dynamic walking, thereby reducing energy consumption while maintaining walking stability
Solution Approach 2:
The patent replaces the position-based mechanical control system with a torque-based control system. The control method substitutes position tracking requirements with torque optimization, allowing the robot to walk naturally without requiring high servo gains and current
2Measurement precision
If position-based ZMP control method is used, then precise position control is achieved, but high stiffness of joints is required
Solution Approach 1:
The patent changes the control parameter from position to torque, allowing joints to operate with lower stiffness. The torque-based control method optimizes joint torques rather than enforcing rigid position tracking, enabling more natural and compliant joint behavior
3Use of energy by moving object
If torque-based actuated dynamic walking is used, then high energy efficiency is achieved, but precise position control cannot be achieved
Solution Approach 1:
The patent introduces feedback mechanisms in the torque-based control system. By continuously monitoring walking state and adjusting joint torques accordingly, the system achieves both energy efficiency and acceptable position control through dynamic torque optimization rather than rigid position tracking
4Use of energy by moving object
If torque-based actuated dynamic walking is used, then high energy efficiency is achieved, but difficulty in forming walking pattern with desired stride and velocity occurs
Solution Approach 1:
The patent applies preliminary action by pre-planning walking patterns in joint space before execution. The control system预先 defines desired walking patterns with specific stride and velocity characteristics, then optimizes torques to achieve these pre-planned patterns while maintaining energy efficiency
Data Source
AI summary
A robot, which performs natural walking similar to a human with high energy efficiency through optimization of actuated dynamic walking, and a control method thereof. The robot includes an input unit to which a walking command of the robot is input, and a control unit to control walking of the robot by calculating torque input values through control variables, obtaining a resultant motion of the robot through calculation of forward dynamics using the torque input values, and minimizing a value of an objective function set to consist of the sum total of a plurality of performance indices through adjustment of the control variables.