Movement control method for underactuated system robot and underactuated system robot

Patent metadata

Field	Value
Publication number	US-12583099-B2
Application number	US-202318350339-A
Country	US
Kind code	B2
Filing date	Jul 11, 2023
Priority date	Jan 7, 2022
Publication date	Mar 24, 2026
Grant date	Mar 24, 2026

Abstract

A underactuated system robot includes a vehicle wheel portion and a base portion coupled to the vehicle wheel portion. A loaded object is placed on the base portion. The method includes: determining status information of a loaded object on a base portion; and controlling at least one of the base portion and a vehicle wheel portion to move according to the status information, so as to prevent the loaded object from falling from the base portion. In the embodiments, the base portion and/or the vehicle wheel portion can be controlled to move according to the status information of the loaded object on the base portion, to prevent the loaded object from falling from the base portion, thereby improving the stability of the underactuated system robot.

First claim

What is claimed is:

1 . A movement control method, the method being performed by at least one controller of an underactuated system robot, the underactuated system robot comprising a vehicle wheel portion and a base portion placed with a loaded object and coupled to the vehicle wheel portion, the method comprising:
acquiring position information of the loaded object on the base portion; performing contact position coordinate transformation according to the position information to determine status information of the loaded object on the base portion; and controlling at least one of the base portion or the vehicle wheel portion to move according to the status information to prevent the loaded object from falling from the base portion.

2 . The method according to claim 1 , wherein the vehicle wheel portion comprises a leg portion and a wheel portion, and controlling at least one of the base portion or the vehicle wheel portion to move according to the status information comprises:
controlling the wheel portion to move and the base portion to move inclinedly according to the status information, such that movement of the base portion and movement of the wheel portion interacting with each other through stretching/retraction of the leg portion to maintain body balance of the underactuated system robot and prevent the loaded object from falling from the base portion.

3 . The method according to claim 2 , wherein controlling the wheel portion to move and the base portion to move inclinedly according to the status information comprises:
controlling the wheel portion to move and the base portion to move inclinedly according to the status information when at least one of the loaded object or the underactuated system robot is subject to external interference.

4 . The method according to claim 3 , wherein controlling the wheel portion to move and the base portion to move inclinedly according to the status information when at least one of the loaded object or the underactuated system robot is subject to external interference comprises controlling the wheel portion to move and the base portion to move inclinedly according to the status information at least when:
a center of the loaded object is subject to the external interference; a part of the loaded object other than the center is subject to the external interference; a center of mass of the loaded object is subject to the external interference; a circumferential side of the center of mass of the loaded object is subject to the external interference; the base portion is subject to the external interference; or the vehicle wheel portion is subject to external interference.

5 . The method according to claim 2 , wherein controlling the vehicle wheel portion to move and the base portion to move inclinedly according to the status information comprises at least one of:
controlling the vehicle wheel portion to move forward in a first direction according to the status information when the loaded object moves on the base portion in the first direction; or controlling a first side of the base portion to lift and a second side of the base portion to fall according to the status information when the loaded object moves in the first direction, the first side is relatively closer to a space pointed by the first direction than the second side; or controlling the wheel portion to move forward in the first direction and controlling the first side of the base portion to lift and the second side of the base portion away from the first direction to fall according to the status information when the loaded object moves in the first direction.

6 . The method according to claim 1 , wherein controlling at least one of the base portion or the vehicle wheel portion to move according to the status information comprises:
determining an inclination angle acceleration reference value of the base portion according to the status information; and controlling the at least one of the base portion or the vehicle wheel portion to move according to the inclination angle acceleration reference value and a whole-body dynamics model of the underactuated system robot.

7 . The method according to claim 6 , wherein:
the status information comprises a displacement of a contact point of the loaded object on the base portion in a target direction relative to a center of mass of the underactuated system robot on the base portion and a movement speed of the contact point on the base portion in the target direction; and determining an inclination angle acceleration reference value of the base portion according to the status information comprises determining a first inclination angle acceleration reference value of the base portion by using a difference between the displacement and a preset displacement and a difference between the movement speed and a preset movement speed as inputs of a closed-loop proportional-integral-derivative (PID) controller.

8 . The method according to claim 6 , wherein the status information comprises a displacement of a contact point of the loaded object on the base portion in a target direction relative to a center of mass of the underactuated system robot on the base portion, a movement speed of the contact point on the base portion in the target direction, an inclination angle of the base portion, and an inclination angle speed of the base portion; and
determining an inclination angle acceleration reference value of the base portion according to the status information comprises: determining a second inclination angle acceleration reference value of the base portion by using a difference between the displacement and a preset displacement, a difference between the movement speed and a preset movement speed, a difference between the inclination angle and a preset inclination angle, and a difference between the inclination angle speed and a preset inclination angle speed as inputs of a closed-loop PID controller.

9 . The method according to claim 8 , wherein at least one of the preset displacement, the preset movement speed, the preset inclination angle, and the preset inclination angle speed is determined according to structural features of the underactuated system robot.

10 . The method according to claim 6 , wherein controlling the at least one of the base portion or the vehicle wheel portion to move according to the inclination angle acceleration reference value and a whole-body dynamics model of the underactuated system robot comprises:
determining torque information of at least one of the base portion or the vehicle wheel portion by using the inclination angle acceleration reference value and the whole-body dynamics model of the underactuated system robot as inputs of a closed-loop PID controller; and controlling the at least one of the base portion and the vehicle wheel portion to move according to the torque information.

11 . The method according to claim 10 , wherein determining torque information of at least one of the base portion or the vehicle wheel portion by using the inclination angle acceleration reference value and the whole-body dynamics model of the underactuated system robot as inputs of a PID controller comprises:
constructing the whole-body dynamics model based on a driving torque, a ground friction, and a closed-loop force of the underactuated system robot; and substituting the inclination angle acceleration reference value into the whole-body dynamics model to determine the torque information through the PID controller.

12 . The method according to claim 11 , wherein the whole-body dynamics model is constrained by a dynamics model constraint condition, the dynamics model constraint conditi

Assignees

• Tencent Tech Shenzhen Co Ltd

Inventors

• Wang Shuai
• Wang Haitao
• Dai Yuan
• Zhang Dongsheng
• Chen Ke
• Zhang Ruirui
• Wang Rui
• Zhang Jingfan
• Lai Jie
• Zheng Yu

Classifications

• B25J13/088

  with position, velocity or acceleration sensors · CPC title

• B25J9/1653

  parameters identification, estimation, stiffness, accuracy, error analysis · CPC title

• Y02T10/72

  Electric energy management in electromobility · CPC title

• B25J13/00

  Controls for manipulators (programme controls B25J9/16) · CPC title

• B25J19/00

  Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators (safety-devices in general F16P; protection against radiation in general G21F) · CPC title