Wheel-Legged Robot Balance Control With Multi-Link Torque Coordination
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Solution Overview
Problem
Wheel-legged robots face challenges in maintaining balance due to poor attitude change flexibility and inadequate robustness under various disturbances, limiting their ability to adjust to different environments and obstacles.
Innovation Solution
A balance control method and apparatus that abstracts the wheel-legged robot into a multi-level inverted pendulum model, allowing for the adjustment of multiple links to change the robot's attitude, enhancing its ability to quickly adjust to a balanced state and improve robustness by controlling the rotation torques of multiple joints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the leg mechanisms and torso mechanism are regarded as a whole to calculate rotation torque, then the balance ability is improved, but the attitude change flexibility remains poor
Solution Approach 1:
The patent segments the leg mechanism into multiple independent links (first link, second link, third link) that can be controlled independently. Each link has its own rotating joint that can adjust the attitude of the robot separately, providing fine-grained control over the robot's posture and attitude changes while maintaining balance.
Solution Approach 2:
The patent implements dynamic control by continuously adjusting the rotation torques of multiple rotating joints based on real-time state quantities. The controller dynamically modifies the attitude of each link independently, enabling flexible adaptation to various disturbances and environments while maintaining balance through coordinated motion of multiple segments.
2Adaptability or versatility
If multiple rotating joints are controlled independently to change attitude, then the attitude change flexibility is improved, but the control complexity increases
Solution Approach 1:
The patent employs feedback control by continuously acquiring state quantities (position, velocity, acceleration) of the robot and using this information to adjust the rotation torques of the rotating joints. The controller receives feedback from sensors and dynamically modifies control signals to maintain balance and achieve desired attitudes, simplifying the control of multiple joints through closed-loop regulation.
3Ease of operation
If the robot uses fixed balance control strategy, then the control simplicity is maintained, but the robustness under various disturbances is insufficient
Solution Approach 1:
The patent implements dynamic balance control by continuously adjusting the rotation torques of multiple rotating joints based on real-time state quantities and desired attitudes. This dynamic control strategy adapts to various disturbances and environments, improving robustness while maintaining reasonable control simplicity through systematic torque calculation and coordinated joint control.
Data Source
AI summary
A balance control method for a wheel-legged robot is provided. The robot includes a moving wheel, n links, and n rotating joints, the moving wheel being connected to a first link through a first rotating joint of the n rotating joints, and the n links being connected in series through n−1 rotating joints other than the first rotating joint, n being a positive integer greater than 1. The method includes: acquiring a state quantity of the wheel-legged robot at a first moment; determining dynamics model parameters according to a dynamics equation of the wheel-legged robot and the state quantity at the first moment; establishing a sliding surface according to the state quantity at the first moment; calculating rotation torques of the n rotating joints according to the sliding surface and the dynamics model parameters; and controlling the rotating joints according to the rotation torques of the n rotating joints.