The latest progress of humanoid robots is disclosed by Jiji Power:
The CL-1 completes the step-by-step stairs and round-trip running, and further improves the performance of real-time terrain awareness, full-body motion control, and hardware platform.
Based on real-time terrain perception, the CL-1 progressively moves from lifting one step of stairs twice in the last demonstration to alternating between left and right feet and going up stairs step by step this time to achieve a more human-like dynamic staircase climbing effect.
For the first time, the CL-1 shows the test screen of humanoid robot running, and the CL-1 completes the whole process continuously and dynamically from standstill, starting, accelerating, decelerating, stopping, and running back and forth.
Synchronous upgrade of software and hardware
In terms of software, combined with more real-time and accurate terrain perception information, the CL-1 achieves a faster, larger and more stable staircase pace than before.
At the same time, in order to optimize the highly dynamic motion of the humanoid robot, the whole body motion control algorithm was further iterated by the step-by-step dynamics.
Through real-time planning of full-body movements, CL-1's arm and leg movements were more coordinated in this test, and the shaking of the body during exercise was significantly reduced.
In terms of hardware, whether it is going up the stairs at a larger pace or running back and forth, the dynamic performance and stability of the robot are more demanding.
In response to this requirement, CL-1 improves the joint performance (torque, speed performance, response speed), and optimizes the structural design of the whole machine, so as to achieve stronger impact resistance with a lighter weight, taking into account the dynamic performance and stability of the robot.
Humanoid robots can not only walk fast, but also run
In this test, the CL-1 was able to smoothly switch the speed of running, complete the entire set of movements from standing still to start, from running to stopping, and achieve a larger running stride to achieve a highly dynamic effect of running up, not just going fast.
The main challenges in achieving stable and controllable humanoid robot running include:
- The movement cycle is long, the center of gravity height changes greatly, and the performance requirements for motion planning are high.
- Running requires both feet to be in the air at the same time, which increases the difficulty of state estimation.
- It is necessary to coordinate and control the movement of the whole body limbs of the humanoid robot;
- It has high requirements for the power and stability of the robot hardware, including higher power density of joints and stronger impact resistance of the whole body structure.
Faced with the problem of humanoid robot running, the R&D route of Stepwise Power focuses on two major directions: whole-body motion control algorithm and hardware system.
systematically understand and analyze the motion control problems behind running, and design universal and scalable motion control algorithms.
Integrate the data of algorithms, simulations and real machine tests to determine the performance requirements of the whole machine hardware, and define the technical route and design scheme of the hardware system.
With the continuous deepening of research and development, the humanoid robot CL-1 will further combine real-time perception and DL.
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