Wheel-Foot Composite Robot Whole-Body Motion Coordination
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Solution Overview
Problem
Robots with multiple degrees of freedom face challenges in simultaneously executing multiple motion tasks due to kinematic and dynamic limitations, leading to poor whole-body motion control and reduced operational accuracy.
Innovation Solution
A motion control method and apparatus for a wheel-foot composite robot that coordinates the first motion task of the robot body, second motion task of the front leg mechanisms, and third motion task of the rear rollers by determining and controlling these tasks based on a to-be-performed task, using a PD control law and convex optimization to achieve whole-body motion control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple motion tasks are simultaneously planned for a robot with multiple degrees of freedom, then the robot can execute complex whole-body tasks, but the robot's kinematic and dynamic limitations cause poor whole-body motion control effects and reduced operational accuracy
Solution Approach 1:
The patent segments the complex whole-body control problem into multiple independent motion tasks, each corresponding to a specific degree of freedom or functional module. By dividing the control objectives into separate task components, the system can optimize each segment independently while maintaining overall coordination, thus resolving the conflict between executing complex tasks and maintaining operational accuracy.
2Adaptability or versatility
If multiple motion tasks are simultaneously planned for a robot with multiple degrees of freedom, then the robot can execute complex whole-body tasks, but the kinematic and dynamic limitations result in conflicts between motion tasks
Solution Approach 1:
The patent implements a feedback mechanism that continuously monitors the execution status of multiple motion tasks and dynamically adjusts task priorities and parameters. By incorporating real-time feedback on robot state and task performance, the system can detect and resolve conflicts between competing motion tasks, ensuring reliable coordinated execution despite kinematic and dynamic constraints.
Data Source
AI summary
The disclosure provides a motion control method and apparatus of a robot, a robot and a storage medium, wherein the robot is a wheel-foot composite robot, the wheel-foot composite robot comprises a robot body and four motion mechanisms arranged on the robot body, the four motion mechanisms comprise two rear rollers and two front leg mechanisms, and the method comprises: obtaining a to-be-performed task of the wheel-foot composite robot; determining a first motion task of a robot body, a second motion task of the two front leg mechanisms and a third motion task of the two rear rollers based on the to-be-performed task; and controlling the whole-body motion of the wheel-foot composite robot based on the first motion task, the second motion task and the third motion task.