Walking Robot Path Planning Using Leg Height Difference Costs
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Solution Overview
Problem
Walking robots face challenges in maintaining stable posture and travel speed due to the high computational load required for analyzing landing surface shapes, leading to decreased travel speed and increased instability on uneven surfaces.
Innovation Solution
A moving apparatus with a path planning unit that calculates a path cost for each candidate path using a cost calculation algorithm, prioritizing paths with lower costs for more stable travel, thereby determining the best path for stable and efficient movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If repetitive calculation using three-dimensional point group data is performed to calculate the landing position of each leg, then the stability of robot posture is improved, but the travel speed of the robot decreases due to large calculation load
Solution Approach 1:
The patent segments the calculation process by dividing the travel path into multiple candidate paths and evaluating each path separately using cost calculation. Instead of performing repetitive comprehensive calculations for landing positions, the system calculates path costs for multiple candidate paths in parallel, selecting the optimal path without repeated detailed analysis of each landing position.
Solution Approach 2:
The patent performs preliminary action by pre-calculating path costs for multiple candidate paths before actual movement. The cost calculation algorithm evaluates stability metrics for each candidate path in advance, allowing the robot to select the optimal path without performing repetitive calculations during execution, thus improving travel speed while maintaining posture stability.
2Reliability
If the amount of calculation for analyzing the landing surface shape of each leg is increased to ensure stable walking, then the reliability of stable walking is improved, but the productivity of the robot decreases due to decreased traveling speed
Solution Approach 1:
The patent applies partial action by calculating path costs for multiple candidate paths rather than performing exhaustive analysis of all possible landing positions. The cost calculation algorithm evaluates sufficient metrics to ensure stable walking without over-calculating, achieving reliable stable walking while maintaining acceptable traveling speed.
Solution Approach 2:
The patent changes parameters by using a cost calculation algorithm that evaluates multiple candidate paths based on stability metrics. Instead of increasing calculation depth for single path analysis, the system increases the number of candidate paths evaluated with optimized cost calculation, achieving reliable stable walking through parameter optimization rather than excessive computation.
3Stability of the object's composition
If sensors and environmental map generation are used to determine movement paths for stable walking, then the stability of robot traveling is improved, but the device complexity increases due to additional sensors and processing requirements
Solution Approach 1:
The patent applies universality by using the existing environmental map and sensor data for multiple purposes: path planning, cost calculation, and stability evaluation. The same sensor inputs and map data serve both navigation and stability assessment functions, avoiding additional sensors or processing systems while maintaining stable traveling.
Solution Approach 2:
The patent implements self-service by using the robot's own sensor data and environmental map to perform cost calculation for multiple candidate paths. The system leverages existing internal resources (sensors, processors, map data) to evaluate path stability without requiring external assistance or additional complex subsystems, achieving stable traveling through efficient use of existing capabilities.
Data Source
AI summary
To provide an apparatus and a method that efficiently determines a best path on which a moving apparatus such as a walking robot can travel safely. The apparatus includes a path planning unit that determines a travel path of the moving apparatus such as a walking robot, and the path planning unit is configured to calculate a path cost for each of a plurality of path candidates by applying a cost calculation algorithm in which a path that enables more stable traveling has a lower cost and to determine the path candidate having the path cost that has been calculated to be the lowest cost as the travel path that is best. The path planning unit sets a plurality of sampling points in a path, calculates a cost corresponding to each sampling point by applying the cost calculation algorithm in which the cost becomes higher as the difference between landing heights of the left and right legs at each sampling point becomes larger, and calculates an addition value of the costs of the sampling points as the path cost.