Robot Aggregate Orientation Estimation for Limb-Induced Balance Shifts
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Solution Overview
Problem
Robotic systems face challenges in maintaining balance due to inaccurate orientation and angular velocity measurements, which can lead to instability and require excessive control efforts, especially when limbs extend beyond the base of the robot, affecting the center of mass and torque distribution.
Innovation Solution
A robotic system that estimates the aggregate orientation and angular velocity by processing joint angle measurements and body orientation data, using relationships between joint angles and their effects on the base, allowing for proactive control of limbs to maintain balance and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot uses sensors to measure body orientation and joint angles, then it can detect its current state, but the measurements become inaccurate when limbs extend beyond the base, leading to incorrect orientation estimation
Solution Approach 1:
The system performs preliminary calculations by determining the relationship between joint angles and base orientation in advance. This relationship is used to estimate aggregate orientation before control actions are taken, allowing the system to account for limb effects on orientation measurement without adding complex real-time sensors.
Solution Approach 2:
The patent introduces an intermediary estimation process that mediates between raw sensor measurements and actual body orientation. By calculating aggregate orientation as an intermediate value that accounts for limb contributions, the system resolves the inaccuracy introduced by extended limbs without directly modifying the sensor hardware.
2Reliability
If the robot reacts to orientation changes after they occur, then it can correct balance errors, but the control efforts become excessive and destabilizing
Solution Approach 1:
The control system performs preliminary estimation of aggregate orientation and anticipates balance requirements before actual orientation changes occur. By determining the relationship between joint angles and base orientation in advance, the robot can proactively adjust its center of mass and prevent instability rather than reacting to it.
Solution Approach 2:
The system applies preliminary counter-actions to offset potential orientation changes before they occur. By estimating how limb movements will affect aggregate orientation, the robot can preemptively adjust other limbs or body segments to counterbalance the expected change, maintaining stability without excessive control effort.
3Measurement precision
If the robot accounts for the effects of joint angles on base orientation, then it can improve orientation estimation, but the control system becomes more complex
Solution Approach 1:
The processing system determines the relationship between joint angles and base orientation in advance through preliminary calculations. This pre-established relationship is then used to estimate aggregate orientation by combining body orientation measurements with joint angle data, improving accuracy without requiring complex real-time processing.
Solution Approach 2:
The patent segments the orientation estimation problem into two parts: body orientation measurement from sensors and limb orientation calculation from joint angles. By determining the relationship between these segments and combining them to estimate aggregate orientation, the system achieves higher precision while keeping each segment's processing relatively simple.
Data Source
AI summary
A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.