Ballistic Robot Inertia Control for Mid-Air Spin and Landing Pose
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Solution Overview
Problem
Current robotic systems lack the ability to control complex movements during non-powered flight, such as spinning and acrobatic maneuvers, which limits their entertainment value and versatility in settings where live performers are typically used.
Innovation Solution
A ballistic robot system that uses onboard and offboard sensors to process data and generate control signals for actuators, allowing for controlled movements during flight, including changes in configuration and inertia, to achieve desired poses and orientations upon landing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot is designed with complex actuators and controls to perform aerial stunts, then the robot's ability to control spin and movement during flight is improved, but the device complexity and cost increase
Solution Approach 1:
The robot employs a dynamic inertia adjustment mechanism where the moment of inertia can be changed during flight by reconfiguring internal mass distribution. This allows the robot to control spin and orientation without complex external actuators, resolving the contradiction by providing versatile aerial motion control through dynamic parameter changes rather than complex mechanical structures
Solution Approach 2:
The system changes the moment of inertia parameter during flight to control rotational motion. By adjusting the distribution of mass within the robot body, the system achieves complex aerial maneuvers while maintaining a relatively simple overall structure, thus improving adaptability without proportionally increasing device complexity
2Adaptability or versatility
If a robot uses traditional ground-based mobility with wheels or legs, then the ease of manufacture is improved, but the robot cannot perform aerial stunts or controlled flight movements
Solution Approach 1:
The robot transitions from static ground-based mobility to dynamic aerial performance by incorporating a launch mechanism and in-flight inertia control. The ability to change moment of inertia during flight enables complex aerial stunts while keeping the overall design manageable through focused dynamic control rather than complex multi-environment mechanisms
Solution Approach 2:
The robot design integrates multiple functions into a single system: ground-based positioning, aerial launch, in-flight maneuvering through inertia control, and controlled landing. This multi-functionality achieves aerial performance capability while avoiding the need for separate specialized systems for each function, thereby maintaining reasonable ease of manufacture
3Adaptability or versatility
If a robot is designed to control only landing orientation, then the device complexity is reduced, but the robot cannot provide mid-air shows with multiple flips, twists, and poses
Solution Approach 1:
The robot performs mid-air stunts by dynamically adjusting its moment of inertia during flight. This single dynamic control mechanism enables multiple flips, twists, and poses without requiring separate actuators for each motion, thus achieving versatile mid-air motion control while keeping the control system relatively simple
Solution Approach 2:
The system controls mid-air motion by changing the moment of inertia parameter at different phases of flight. This parameter-based control approach enables complex aerial performances through timing and magnitude of inertia changes rather than through complex multi-actuator control systems
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 robotic system to perform complex aerial stunts and land in precise orientations, enhancing entertainment value and expanding its application beyond simple jumps, by effectively controlling spin, rotation, and pose throughout flight.
Implementation Method 1
trigger a drive mechanism of an inertia moving assembly to change/move the moment of inertia of the flying body
Implementation Method 2
processing data from onboard and offboard sensors and by issuing well-timed control signals to one or more onboard actuators
Data Source
AI summary
Systems and corresponding control methods providing a ballistic robot that flies on a trajectory after being released (e.g., in non-powered flight as a ballistic body) from a launch mechanism. The ballistic robot is adapted to control its position and/or inflight movements by processing data from onboard and offboard sensors and by issuing well-timed control signals to one or more onboard actuators to achieve an inflight controlled motion. The actuators may move an appendage such as an arm or leg of the robot or may alter the configuration of one or more body links (e.g., to change from an untucked configuration to a tucked configuration), while other embodiments may trigger a drive mechanism of an inertia moving assembly to change/move the moment of inertia of the flying body. In-flight controlled movements are performed to achieve a desired or target pose and orientation of the robot during flight and upon landing.