The CL-1 has completed a step-by-step staircase and round-trip running, which has further improved the performance of real-time terrain perception, whole-body motion control and hardware platform.
New progress of the CL-1 humanoid robot: step by step up the stairs, running back and forth
Based on real-time terrain awareness, go up the stairs step by step
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. (More background: The CL-1 is the first humanoid robot in China to take the lead in climbing stairs based on real-time terrain perception)
Full body motion control, running back and forth
For the first time, the CL-1 shows the test screen of the humanoid robot running, and the CL-1 completes the whole process continuously and dynamically from standing, 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.
Progressive Power upgrades real-time terrain perception, whole-body motion control algorithms, as well as joint performance and overall machine structure design
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, and the height of the center of gravity changes greatly, which has high performance requirements for motion planning
- Running requires both feet to be in the air at the same time, which makes it more difficult to estimate the condition
- 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, design general and scalable motion control algorithms, synthesize algorithms, simulation and real machine test data, 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 reinforcement learning to bring more new breakthroughs.
逐际动力人形机器人CL-1