Robotic Foot Swing-Height Control for Obstacle-Clearing Steps
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Solution Overview
Problem
Legged robotic devices face challenges in efficiently navigating varied terrains due to the need to adjust step paths and swing heights to avoid obstacles, which can increase energy consumption and reduce efficiency.
Innovation Solution
The implementation involves a control system that processes sensor data to create a topographical map, identifies a scan patch encompassing the step path, determines a high point within this patch, and adjusts the swing height of the robotic device's foot to clear obstacles effectively while minimizing unnecessary energy expenditure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robotic device increases swing height to clear obstacles, then the ability to navigate varied terrain is improved, but energy consumption increases
Solution Approach 1:
The robotic device dynamically adjusts swing height based on real-time terrain assessment. The control system continuously monitors environmental data and modifies leg swing parameters accordingly, transitioning from fixed to variable swing heights. This allows the robot to use minimal energy on flat terrain while increasing swing height only when obstacles are detected, resolving the contradiction between adaptability and energy consumption.
Solution Approach 2:
The system changes the swing height parameter based on terrain conditions. By processing sensor data to identify obstacles and calculating required clearance heights, the control system adjusts the swing height parameter dynamically. This parameter adaptation enables the robot to clear obstacles when necessary while maintaining energy efficiency during normal locomotion on level ground.
2Reliability
If the robotic device continuously adjusts swing height to avoid all obstacles, then the risk of tripping is reduced, but energy efficiency decreases
Solution Approach 1:
The control system applies partial action by adjusting swing height only when and where necessary. Rather than continuously increasing swing height for all potential obstacles, the system processes sensor data to identify actual threats and applies swing height adjustments selectively. This partial adjustment maintains reliability by clearing real obstacles while avoiding unnecessary energy expenditure from excessive swing height modifications.
Solution Approach 2:
The system uses feedback from sensor data to make informed decisions about swing height adjustments. The control system continuously receives environmental data, processes it to identify obstacles, and adjusts swing height based on this feedback. This closed-loop approach ensures that energy-consuming swing height adjustments are made only when the feedback indicates actual obstacles requiring clearance, maintaining both reliability and energy efficiency.
Data Source
AI summary
An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) processing the sensor data into a topographical map that includes a two-dimensional matrix of discrete cells, the discrete cells indicating sample heights of respective portions of the environment, (iii) determining, for a first foot of the robotic device, a first step path extending from a first lift-off location to a first touch-down location, (iv) identifying, within the topographical map, a first scan patch of cells that encompass the first step path, (v) determining a first high point among the first scan patch of cells; and (vi) during the first step, directing the robotic device to lift the first foot to a first swing height that is higher than the determined first high point.