Wheel-Legged Robot Somersault Control for Obstacle Crossing
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Solution Overview
Problem
Robots, particularly wheel-legged robots, lack a suitable motion mode to navigate obstacles such as holes, ditches, or rivers, as their forward motion cannot avoid these obstacles effectively.
Innovation Solution
A method and apparatus for controlling a robot to perform a somersault motion, adjusting the center of mass of the wheel-leg portion relative to the base portion through joint torque control, allowing the robot to jump over obstacles by performing a somersault.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot uses forward motion to navigate, then the motion control is simple and straightforward, but the robot cannot avoid obstacles such as holes, ditches, or rivers
Solution Approach 1:
The robot dynamically switches between different motion modes (forward motion, somersault motion, landing motion) based on obstacle detection. The control system adjusts the motion strategy in real-time, transitioning from simple forward motion to complex somersault motion when obstacles are detected, and back to forward motion after clearing the obstacle.
Solution Approach 2:
The robot changes its center of mass position parameters during the somersault motion. By adjusting the relative positions of the wheel-leg portion and base portion centers of mass across different phases (takeoff, flight, landing), the robot achieves the necessary rotational and translational motion to clear obstacles.
2Adaptability or versatility
If the robot performs somersault motion to cross obstacles, then the obstacle crossing capability is improved, but the control complexity increases
Solution Approach 1:
The somersault motion is segmented into three distinct phases: takeoff phase, flight phase, and landing phase. Each phase has specific control requirements and center of mass positioning strategies. This segmentation simplifies the control problem by breaking down the complex somersault motion into manageable stages with clear objectives for each.
Solution Approach 2:
The robot performs preliminary actions to prepare for the somersault motion, including detecting obstacles in advance, planning the motion trajectory, and positioning the center of mass appropriately before initiating the takeoff phase. This preliminary preparation reduces the complexity during the actual execution of the somersault.
3Stability of the object's composition
If the center of mass of the wheel-leg portion is kept low for stability, then the robot is more stable during forward motion, but the robot cannot perform effective somersault motion to clear obstacles
Solution Approach 1:
The robot dynamically adjusts its center of mass position based on the motion phase. During forward motion, the center of mass is positioned low for stability. During somersault motion, the center of mass position is adjusted relative to the base portion to enable effective rotation and clearing of obstacles. This dynamic adjustment resolves the contradiction between stability and somersault capability.
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 the robot to successfully navigate obstacles by performing a somersault motion, enhancing its motion ability and obstacle avoidance capabilities.
Implementation Method 1
controlling a torque of the at least one joint according to the motion instruction to allow the robot to perform the somersault motion
Implementation Method 2
in a takeoff phase of the somersault motion, a center of mass of the wheel-leg portion being lower than a center of mass of the base portion; in a flight phase of the somersault motion, there being a time at which the center of mass of the wheel-leg portion is higher than the center of mass of the base portion
Data Source
AI summary
A method for controlling a robot to perform a somersault motion enables the robot, when facing an obstacle such as a hole, ditch, or ravine, to cross the obstacle by performing a somersault motion. The robot includes a wheel-leg portion and a base portion connected via a joint. The robot receives a motion instruction and controls a torque of the joint to allow the robot to perform the somersault. During a takeoff phase of the somersault, a center of mass of the wheel-leg portion is lower than a center of mass of the base portion. During a flight phase, the center of mass of the wheel-leg portion is higher than the center of mass of the base portion at some point in time. During the landing phase, the center of mass of the wheel-leg portion is lower than the base portion. This can enable the robot to avoid obstacles.