METHOD OF OPERATING AN IN-LINE LEGGED ROBOT VEHICLE

• US 20130238183A1
• Filed: 05/01/2013
• Published: 09/12/2013
• Est. Priority Date: 03/22/2010
• Status: Active Grant

• Current Assignee: John R. Goulding
• Original Assignee: John R. Goulding
• Inventors: Goulding, John R.
• Granted Patent: US 8,630,763 B2
• Time in Patent Office: Days
• US Class Current: 701/26
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 9/1633 compliant, force, torque control, e.g. combined with position control
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: B62D 57/00 Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track sledges B62B; motor sledges B62M
• CPC Class Codes: B62D 57/02 with ground-engaging propulsion means, e.g. walking members
• CPC Class Codes: B62D 57/024 specially adapted for moving on inclined or vertical surfaces endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0891 specially adapted for land vehicles
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A single track in-line legged vehicle is controlled to coordinate movement along a desired single-track trajectory by causing each in-line leg to selectively perform a stance-to-flight phase, a flight phase, a flight-to-stance phase, and a stance phase. During the stance-to-flight phase, reaction forces and torques between a foot and the ground are unloaded to lift the foot off the ground. During the flight phase, a foot moves in the same general direction and at a generally faster rate as a major direction of motion of the vehicle body. During the flight-to-stance phase, foot positioning is controlled to place a foot on the ground according to the desired single-track trajectory. During the stance phase, foot-to-ground interaction develops reaction forces and torques that are transferred from the foot through the corresponding in-line leg to propel, torque, and stabilize the body in the x, y, z, pitch, roll, and yaw axes.

Claims

1. A method of operating a single track legged vehicle having a body and at least three in-line legs aligned one behind the other, the method comprising:

controlling each in-line leg of the single track vehicle to coordinate movement of the in-line legs along a desired single-track trajectory where each in-line leg attaches at its proximal end to a frame of the body of the vehicle arranged substantially parallel to a major axis of the frame and the forward/backward direction of travel of the vehicle, each in-line leg has a foot at its distal end, and the in-line attachment of the legs to the body results in a center of gravity and a center of pressure that are directly in line with the legs when the legs are simply extended straight down from the body, resulting in inherent instability along an axis, the coordinated movement controlled by causing each in-line leg to selectively perform a stance-to-flight phase, a flight phase, a flight-to-stance phase, and a stance phase

wherein;

controlling, during the stance-to-flight phase of a corresponding in-line leg, including controlling foot movement that unloads reaction forces and torques between the foot of the corresponding in-line leg and the ground such that the foot of the corresponding in-line leg is lifted off the ground;

controlling, during the flight phase of the corresponding in-line leg, includes controlling leg movement that maintains an upright position of the body and that moves the foot of the corresponding in-line leg in the same general direction and at a generally faster rate as a major direction of motion of the body;

controlling, during the flight-to-stance phase of the corresponding in-line leg, includes controlling foot positioning that places the foot of the corresponding in-line leg on the ground according to the desired single-track trajectory wherein reaction forces and torques are developed between the foot and the ground; and

controlling, during the stance phase of the corresponding in-line leg, includes controlling foot force and torque such that foot-to-ground interaction develops reaction forces and torques that are transferred from the foot through the corresponding in-line leg to propel, torque, and stabilize the body in the x, y, z, pitch, roll, and yaw axes; and

transitioning each in-line leg between the stance to flight phase, the flight phase, the flight to stance phase and the stance phase to propel and torque the body along three axes according to the desired single-track trajectory.

2. The method of claim 1, further comprising:

receiving sensed data from at least one accelerometer mounted to the vehicle and at least one gyroscope mounted to the vehicle;

utilizing the sensed data to determine velocity, acceleration, attitude and gravitational forces; and

utilizing the determined velocity, acceleration, attitude and gravitational forces in the control of at least one of the flight-to-stance phase, flight phase, stance-to-flight phase and stance phase.

3. The method of claim 1, wherein:

controlling foot movement during the stance-to-flight phase comprises controlling at least one of;

foot position, movement, force, torque, extension velocity and acceleration, and retraction velocity and acceleration;

controlling leg movement during a flight phase comprises controlling at least one of;

in-line leg movement and foot trajectory;

controlling foot positioning during the flight-to-stance phase comprises controlling at least one of;

foot position, movement, force, torque, extension velocity and acceleration, and retraction velocity and acceleration; and

controlling foot force and torque during the stance phase comprises controlling at least one of;

foot position, movement, force, torque, extension velocity and acceleration, and refraction velocity and acceleration.

4. The method of claim 1, further comprising:

performing predictive control of the in-line legs to propel and torque the body along three axes according to the desired single-track trajectory by;

measuring frame speed and acceleration vectors, center of mass coordinates, and ground contact duration for each foot;

dynamically adjusting the length, force, and torque of the in-line legs to achieve a set of expected values according to the desired single-track trajectory;

continually determining deviations from the expected values; and

compensating for the deviations to achieve active balance of the legged vehicle.

5. The method of claim 1, further comprising:

decoupling positioning of the in-line legs along a length of the body from positioning of the in-line legs along the width of the body and parallel to the ground; and

controlling stability of balance of the vehicle over time in the roll direction.

6. The method of claim 1, further comprising performing for each in-line leg:

selecting a target walking pattern model from a plurality of walking pattern models, wherein each target walking pattern includes a clock-driven model of the stance and flight phases for each in-line leg;

computing the desired single-track trajectory for the body of the vehicle using at least one of a heuristic algorithm and a simulation algorithm; and

selecting a pattern of footholds from a set of reachable footholds that most closely correspond to the desired single-track trajectory, and which minimize dynamic momentum for lateral and roll axes; and

utilizing dynamic momentum to maintain the desired single-track trajectory during periods of single-leg support and double-leg support.

7. The method of claim 1, wherein controlling each in-line leg of the vehicle further comprises:

controlling each of the at least three in-line legs of the vehicle by continually sensing body attitude and roll angle throughout each of the stance to flight phase, the flight phase, the flight to stance phase and the stance phase.

8. The method of claim 1, wherein controlling each in-line leg of the vehicle comprises:

performing the flight to stance phase for a select in-line leg by;

accelerating the foot of the select in-line leg backward and along the curved single-track trajectory before contact with the ground, until the foot is generally stationary with respect to the ground, and then making contact with the ground to develop any ground reaction forces and torques; and

by;

performing the stance to flight phase for a select in-line leg by;

generally maintaining the foot stationary with respect to the ground while the foot is being unloaded of any ground reaction forces and torques;

to perform a desired single-track turn maneuver.

9. The method of claim 1, wherein controlling each in-line leg of the vehicle comprises:

controlling at least one in-line leg so as to position the foot of the controlled in-line leg to a select side of the projected center of gravity on to the ground to develop, during a stance phase, ground reaction forces that are generally normal to the major direction of motion and ground reaction torques in the pitch, roll, and/or yaw axis to maintain stability of balance along a desired single track trajectory.

10. The method of claim 9, wherein controlling each in-line leg of the vehicle comprises:

positioning the landing foot offset from the foot lifting off according to a pre-programmed strategy for stability of balance along the desired single-track trajectory.

11. The method of claim 1, wherein controlling each in-line leg of the vehicle comprises:

controlling the length of the in-line legs during an associated stance phase of each in-line leg so as to be different between feet of the in-line legs positioned on, to the right of, or to the left of the projected center of gravity of the body on to the ground to level the body attitude, within a working range of the in-line legs and their feet.

12. The method of claim 1, wherein controlling each in-line leg of the vehicle comprises:

controlling two of the in-line legs to transition from stance-to-flight and flight-to-stance phase in a generally make before break fashion such that both feet support the body, the landing foot is placed spatially apart from the foot lifting off, for stability of balance in the pitch axis along a desired single track trajectory.

13. The method of claim 1, further comprising:

defining, for each in-line leg, a corresponding spatial volume that limits possible in-line foot placement, each spatial volume constrained based upon pitch and roll movement at a hip joint that joins a corresponding in-line leg to the body, and based upon extension and retraction of the corresponding in-line leg by knee and ankle joints of the in-line leg; and

controlling each in-line leg according to a leg motion model to operate each in-line leg within its defined spatial volume such that pairs of feet corresponding to pairs of in-line legs have sufficient reach and movement range in length, width and height, relative to the body, to be placed in a bipedal stance, with respect to the major axis and major direction of motion and travel, the combined ground reaction forces between two feet during a stance phase so as to impart at least one of;

a torque to rotate the body in the pitch, roll, and/or yaw axis; and

a force to propel the body in at least one of the x, y, and z axes.

14. The method of claim 1, further comprising:

defining, for each in-line leg, a corresponding spatial volume that limits possible in-line foot placement, each spatial volume constrained based upon pitch and roll movement at a hip joint that joins a corresponding in-line leg to the body, and based upon extension and retraction of the corresponding in-line leg by knee and ankle joints of the in-line leg; and

controlling each in-line leg according to a leg motion model to operate each in-line leg within its defined spatial volume such that three feet corresponding to three in-line legs have sufficient reach and movement range in length, width and height, relative to the body, to be placed in a tripedal stance, with respect to the major axis and major direction of motion and travel, the combined ground reaction forces between three feet during a stance phase so as to impart at least one of;

a torque to rotate the body in the pitch, roll, and/or yaw axis; and

a force to propel the body in at least one of the x, y, and z axes.

15. The method of claim 1, further comprising receiving feedback and control signals from an operator interface system, in communication with the control system, wherein the operator interface feedback and control signals provide at least steering angle, throttle and braking control signals to the control system to enable the operator to control stability of balance in the roll axis of the vehicle.

16. The method of claim 1, wherein controlling each in-line leg of the vehicle comprises:

controlling the at least three in-line legs according to an elastic-mechanical and dynamical model to compute foot position of each in-line leg to maintain body stability along a desired single track trajectory.

17. The method of claim 16, wherein controlling each in-line leg of the vehicle comprises:

controlling at least two in-line legs by inducing select ones of roll, pitch and yaw torques between the foot of a corresponding in-line leg and the ground and/or at least two in-line legs by selectively inducing roll, pitch and yaw torques between each foot of the at least two controlled in-line legs and the ground to control a body trajectory along a desired single-track trajectory.

18. The method of claim 16, further comprising:

predicting an elastic deformation of at least one leg when in support with the ground to maintain desired ground reaction forces and torques to control a body trajectory along a desired single-track trajectory.

19. The method of claim 16, wherein the body comprises a segmented frame, the method further comprising:

computing segmented frame joint angles in at least one axis between adjacent ones of the in-line legs to ground undulations and to the curvature of a single track turn maneuver with a minimally narrow profile relative to the major axis of motion; and

dynamically adjusting the length, force, and torque of the in-line legs to maintain body stability based upon the computations.

20. The method of claim 16, wherein the body comprises a segmented frame, the method further comprising:

computing elastic energy storage and release components between frame segments and in the in-line legs, wherein the elastic components operate in at least one axis, wherein the elastic components store and release kinetic energy for transfer between body segments and in-line legs; and

dynamically adjusting the length, force, and torque of the in-line legs to maintain body stability based upon the computations.

21. The method of claim 16, wherein the body comprises a segmented frame, the method further comprising:

computing dynamic momentum forces and torques developed by moving frame segments and corresponding ones of the in-line legs relative to each other, wherein the components operate in at least one axis; and

dynamically adjusting the length, force, and torque of the in-line legs to maintain body stability based upon the computations.

22. The method of claim 16, wherein controlling each in-line leg of the vehicle comprises:

performing the flight phase for a select in-line leg by;

computing dynamic momentum forces and torques developed by moving a in-line leg in flight phase, wherein the components operate in at least one axis; and

dynamically adjusting the center of mass of a select one of the in-line legs in the flight phase to maintain body stability by;

sweeping a select in-line leg inward or outward normal to the body and major direction of travel; and

reducing or extending at least one of a length of the select in-line leg and a corresponding position of the center of mass of the select in-line leg;

so as to impart a desired torque in the pitch, roll and/or yaw axis to maintain stability of balance along the desired single-track trajectory.

23. The method of claim 1, further comprising:

controlling the single track vehicle to operate autonomously regardless of at least steering angle and throttle control signals to sense and prevent turnover while enabling normal riding techniques in all but out of control situations.

24. The method of claim 1, wherein controlling each in-line leg of the vehicle comprises:

controlling each in-line leg so as to vary the length of each in-line leg with respect to the average body height during a stance phase such that the body is stable in height, roll, and pitch over uneven ground.

25. The method of claim 1, wherein controlling each in-line leg of the vehicle comprises:

controlling the in-line legs so as to incline the body in the pitch axis to lower a front of the body and raise a back of the body when ascending a gradient;

controlling the in-line legs so as to recline in the pitch axis to raise the front of the body and lower the back of the body when descending the gradient; and

controlling the in-line legs so as to roll the body in the roll axis when traversing a gradient normal to the major direction of travel;

within the working range of the in-line legs and their feet.

26. The method of claim 1, wherein controlling each in-line leg of the vehicle comprises:

positioning the foot of the forward most in-line leg to control the trajectory of the single-track path by;

placing a second foot corresponding to a second one of the in-line legs in proximity of a first foot corresponding to a first one of the in-line legs;

placing a third foot corresponding to a third one of the in-line legs in proximity of the second foot; and

repeating positioning the first foot, placing the second foot, and placing the third foot such that each foot follows a desired single-track trajectory.