Multi-Segmented Walking Robot Gait Control on Uneven Terrain
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Solution Overview
Problem
Existing multi-segmented walking robots face instability in controlling leg movements and joint adjustments when traversing uneven terrain, leading to unstable body positioning and inability to adapt to varying ground levels.
Innovation Solution
A method and system utilizing a central pattern generator (CPG) to generate motor signals, combined with foot contact and torque sensors, to adjust leg lifting height, stepping frequency, and phase, and minimize torque offset, enabling adaptive joint control for stable locomotion on complex terrains.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional walk control methods are used, then the robot can move on flat terrain, but the robot becomes unstable when encountering uneven terrain
Solution Approach 1:
The patent implements dynamic adjustment of leg joint offsets and body joint angles in real-time based on terrain detection. The control system continuously modifies the robot's gait parameters and joint positions to adapt to changing terrain conditions, transforming the robot from a static control system to a dynamically adaptive one that can maintain stability across diverse terrains.
Solution Approach 2:
The patent employs feedback mechanisms where foot contact sensors and body joint angle sensors provide real-time information about the robot's interaction with the terrain. This feedback is processed by the control system to automatically adjust leg joint offsets and body joint angles, creating a closed-loop control system that continuously optimizes walking stability based on actual terrain conditions.
2Adaptability or versatility
If the robot uses fixed joint positions, then the control system is simple, but the robot cannot bend its body along terrain curves
Solution Approach 1:
The patent divides the robot's control into modular segments, with independent control of leg joints and body joints. Each segment can be adjusted independently based on terrain requirements, allowing the body to bend along terrain curves while maintaining manageable control complexity through modular architecture.
Solution Approach 2:
The patent changes control parameters dynamically, specifically adjusting leg joint offsets and body joint angles based on detected terrain characteristics. This parameter-based approach allows the robot to adapt its body shape and joint positions to match terrain curves without requiring completely different control mechanisms for each terrain type.
3Adaptability or versatility
If the robot adjusts leg joint offsets dynamically, then the robot can adapt to terrain variations, but the control precision requirements increase
Solution Approach 1:
The patent implements self-service control where the robot automatically detects terrain conditions and adjusts its own joint offsets without external intervention. The control system uses sensor feedback to autonomously calculate and apply appropriate joint adjustments, reducing the need for high-precision manual calibration and enabling adaptive terrain navigation through self-regulation.
Data Source
AI summary
A method for controlling motion of a multi-segmented walking robot comprising the steps of: (A) generating walking pattern signals using a central pattern generator (CPG); (B) sending the generated walking pattern signals to a controller to generate motor commands to drive a plurality of joint motors of each leg of robot; (C) detecting motion feedback signals using a plurality of sensors; (D) processing the detected motion feedback signals to recognize the motion of robot; and (E) adapting the motion of robot, by a controller, based on the recognized motion of robot. Another aspect relates to a system for controlling motion of a multi-segmented walking robot comprising: a central pattern generator (CPG); a controller; a plurality of sensors; an artificial hormone system processing unit; and a torque processing unit.