Alternating Wheel Rotation for Two-Leg-Walking Toy Motion
Solution Overview
Problem
Conventional running devices for remote control toys cannot adequately simulate the two-leg-walking motion of humans or animals, as they rely on simple speed differences between left and right motors, failing to express the characteristic lateral swinging and straight movement effectively.
Innovation Solution
A running device with independently driven left and right wheels, controlled by a driving control system that alternately rotates the wheels at low speeds to mimic two-leg-walking and rotates simultaneously at higher speeds to achieve straight movement, allowing for adjustable rotation periods based on instructed speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the left and right motors are driven at equal speed, then the model moves straightly, but it cannot express the two-leg-walking motion characteristics
Solution Approach 1:
The patent applies dynamics by making the wheel rotation pattern changeable based on speed conditions. At low speeds, wheels rotate alternately to simulate two-leg-walking motion, while at high speeds, both wheels rotate simultaneously for straight movement. This dynamic adjustment of rotation patterns allows the system to adapt its behavior based on operational requirements, resolving the contradiction between straight movement and two-leg-walking expression.
Solution Approach 2:
The patent changes the parameter of wheel rotation pattern (alternate vs. simultaneous rotation) based on the speed parameter. When the instructed speed is below a predetermined threshold, alternate rotation is used to express two-leg-walking characteristics. When the speed exceeds the threshold, simultaneous rotation is used for efficient straight movement. This parameter-based control strategy enables the system to optimize performance for different speed ranges.
2Ease of operation
If the left and right motors are driven at different speeds, then the running direction can be changed, but it cannot sufficiently express two-leg-walking motion
Solution Approach 1:
The system dynamically adjusts the rotation pattern based on speed conditions. During low-speed operation, alternate rotation of wheels creates a meandering lateral motion that simulates two-leg-walking while maintaining directional control. During high-speed operation, simultaneous rotation provides stable straight-line movement. This dynamic behavior adjustment allows the system to maintain ease of direction control while expressing two-leg-walking characteristics when appropriate.
3Speed
If the period for switching rotations is shortened, then the lateral swinging motion occurs at higher pitch, but it requires more complex control timing
Solution Approach 1:
The patent changes the switching period parameter based on the instructed speed. When the speed is low, a longer switching period is used, resulting in slower lateral swinging motion that is easier to control. When the speed increases, the switching period is shortened, producing higher-pitch lateral swinging motion. This parameter-based control strategy allows the system to adapt the swinging frequency to the operational speed while managing control complexity through systematic timing adjustments.
Data Source
AI summary
In a running device for a model (6) comprising a pair of motors (7), a pair of left and right wheels (8) which are independently driven by the pair of motors (7), and a control device (20) which controls operations of the pair of motors (7) based on instructions concerning speed and direction, the control device (20) controls the pair of motors (7) such that the pair of motors (7) are alternately rotated in an instructed direction when the instructed speed (Vm) is in a low speed range (L, M), and the pair of motors (7) are rotated in the instructed direction simultaneously when the instructed speed is in a high speed range (H) which is higher than the low speed range.