Robotic Ground Plane Estimation for Uneven Terrain Balance
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Solution Overview
Problem
Robotic devices operating on uneven terrains face challenges in maintaining balance and forward progress due to the difficulty in accurately estimating the slope and shape of the ground surface, which existing technologies have not adequately addressed.
Innovation Solution
A method and system that determine the orientation of a robotic device with respect to a gravity-aligned reference frame and the location of contact points with the ground surface, using a combination of inertial measurement units, sensors, and non-contact sensors to estimate a flat-plane approximation of the ground surface, allowing for adjustments in position and orientation to maintain balance and progress.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If robotic devices use simple ground estimation methods, then device complexity is reduced, but measurement precision of ground plane estimation deteriorates
Solution Approach 1:
The system segments the ground estimation problem into multiple independent measurement components: inertial measurement units for orientation, contact sensors for foot position, and non-contact sensors for additional ground points. Each sensor type independently contributes to the overall ground plane estimation, allowing the system to maintain low complexity while achieving high precision through distributed measurement.
Solution Approach 2:
The system employs multi-functional sensing where inertial measurement units serve dual purposes for both robot balance control and ground plane estimation. Contact points detected during normal locomotion are universally utilized for both navigation and ground shape analysis, eliminating the need for dedicated estimation hardware and reducing overall system complexity.
2Measurement precision
If robotic devices use multiple sensors for ground plane estimation, then measurement precision improves, but device complexity increases
Solution Approach 1:
The system merges multiple sensor data streams into a unified ground plane estimation process. Inertial measurement data, contact sensor readings, and non-contact sensor information are combined through a single computational framework that estimates the ground plane using all available contact and non-contact points, achieving high precision without proportionally increasing system complexity.
Solution Approach 2:
The robotic device utilizes its own locomotion actions to generate measurement data. During normal walking or running, the contact points made by feet with the ground automatically provide ground plane information without requiring separate measurement actions. The device's own movement serves the dual purpose of progression and ground estimation.
3Stability of the object's composition
If robotic devices accurately estimate ground slope, then stability and balance improve, but difficulty of detecting and measuring ground shape increases
Solution Approach 1:
The system performs preliminary ground plane estimation using available contact points before the robotic device needs to adjust its balance or movement. By continuously estimating the ground plane in advance during normal operation, the system prepares stability corrections proactively rather than reactively, reducing the computational difficulty when actual balance adjustments are needed.
Solution Approach 2:
The system implements continuous feedback loops where ground plane estimation results immediately inform balance control adjustments. The estimated ground slope and orientation feed back to the control system, which adjusts the robotic device's posture and movement in real-time, creating a closed-loop system that maintains stability through continuous measurement and correction.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables robotic devices to effectively navigate inclined terrains by accurately estimating the ground plane, improving balance and forward movement capabilities.
Implementation Method 1
determining an orientation of a body of a robotic device with respect to a gravity aligned reference frame
Implementation Method 2
determining the location of one or more contact points between the robotic device and a ground surface
Data Source
AI summary
A method for estimating a ground plane includes receiving a pose of a robotic device with respect to a gravity aligned reference frame, receiving one or more locations of one or more corresponding contact points between the robotic device and a ground surface, and determining a ground plane estimation of the ground surface based on the orientation of the robotic device with respect to the gravity aligned reference frame and the one or more locations of one or more corresponding contact points between the robotic device and the ground surface. The ground plane estimation includes a ground surface contour approximation. The method further includes determining a distance between a body of the robotic device and the determined ground plane estimation and causing adjustment of the pose of the robotic device with respect to the ground surface based on the determined distance and the determined ground plane estimation.