Ball-Driven Robot Obstacle Traversal Using Controlled Deflation
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Solution Overview
Problem
Robots face challenges in navigating and traversing various obstacles in home environments, such as stairs and drop-offs, due to limitations in their ability to adapt and safely move over different types of terrain.
Innovation Solution
A robot equipped with a rotatable ball, photodetectors, a pump assembly, and a pedestal assembly, which uses optical data to identify obstacles and deflate the ball to apply a downward force via the pedestal, allowing the robot to propel itself over obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot uses a traditional wheel or tracked design for movement, then it can move efficiently on flat surfaces, but it cannot traverse obstacles such as stairs and drop-offs
Solution Approach 1:
The robot replaces traditional wheels or tracks with a spherical ball mechanism. The ball can rotate in multiple directions and adapt its shape through inflation/deflation, enabling it to traverse various obstacles including stairs and drop-offs while maintaining a relatively simple overall structure.
Solution Approach 2:
The robot employs a dynamically adjustable ball that can change its physical state between inflated and deflated conditions. This dynamic transformation allows the ball to adapt to different terrain requirements - inflated for rolling movement on flat surfaces, deflated for traversing obstacles requiring deformation and force application.
2Force
If the robot deflates the ball to apply downward force for traversing obstacles, then it can propel itself over obstacles, but it loses the ability to roll efficiently
Solution Approach 1:
The robot employs periodic alternation between inflated and deflated states of the ball. During inflated phases, the ball rolls efficiently for speed. During deflated phases, the ball applies downward force for obstacle traversal. This periodic switching optimizes both speed and force application at different times in the movement cycle.
Solution Approach 2:
The ball's physical state is dynamically adjusted based on real-time terrain conditions detected by sensors. The system transitions between inflated (for rolling) and deflated (for force application) states, allowing the robot to optimize movement speed when possible and apply force when obstacles require it.
3Reliability
If the robot uses sensors to detect obstacles, then it can identify obstacles in advance, but it increases the device complexity
Solution Approach 1:
The photodetector array serves multiple functions: it detects obstacles, determines their distance and position, and provides navigation information. This multi-functionality reduces the need for separate specialized sensors, thereby limiting the increase in device complexity while maintaining high obstacle detection accuracy.
Solution Approach 2:
The photodetector system uses ambient light sources (such as environmental lighting or the robot's own emitted light) to detect obstacles, rather than requiring complex active sensing systems. This self-service approach leverages available resources to reduce sensor system complexity while maintaining reliable obstacle detection.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables the robot to safely and effectively navigate through diverse home environments by identifying and overcoming obstacles, ensuring stable movement and preventing toppling or getting stuck.
Implementation Method 1
a photodetector that receives optical data associated with an area near the robot, identifying the obstacle in the area based on the optical data
Implementation Method 2
a pump assembly that inflates or deflates the rotatable ball
Data Source
AI summary
Aspects of the present disclosure include methods, apparatuses, and computer readable media of traversing an obstacle including receiving optical data associated with an area near the robot, identifying the obstacle in the area based on the optical data, deflating, in response to identifying the obstacle, a ball of the robot, and applying a downward force through the deflated ball to propel the robot over the obstacle.