Ballistic Robot In-Flight Pose Control Using Variable Inertia
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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 are essential for creating engaging entertainment experiences, as they are typically limited to simple jumps and orientations, and existing drones focus on stability rather than articulated motion.
Innovation Solution
A ballistic robot system that uses onboard and offboard sensors to process data and generate control signals for actuators, allowing for pre-launch and in-flight movements to achieve a desired pose and orientation upon landing, incorporating an inertia moving assembly and actuatable components to modify the robot's configuration and aerodynamics.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot is designed with complex actuators and control systems to perform acrobatic maneuvers during flight, then the robot's ability to execute complex movements and simulate human-like acrobatics is improved, but the device complexity and cost increase significantly
Solution Approach 1:
The robot is divided into modular segments (torso, limbs, etc.) that can be independently controlled by separate actuators. This segmentation allows complex acrobatic maneuvers to be achieved through coordinated action of simpler individual components rather than requiring a single complex control system.
Solution Approach 2:
The robot employs dynamic reconfiguration of its moment of inertia through movable masses and adjustable limb positions. By changing its mass distribution during flight, the robot can perform acrobatic maneuvers without requiring complex continuous control, instead using discrete inertia changes to achieve desired trajectories and orientations.
2Adaptability or versatility
If a robot uses movable masses to change moment of inertia for controlling spin and rotation during flight, then the robot's ability to control orientation and pose throughout flight is improved, but the device complexity increases
Solution Approach 1:
The robot changes its moment of inertia by moving masses between different positions relative to its center of rotation. This parameter change allows the robot to control spin rate and rotation axis without complex control systems, simply by adjusting mass distribution during flight phases.
Solution Approach 2:
The movable masses are positioned and actuated automatically based on flight phase detection and simple control logic. The system uses sensor feedback to trigger pre-programmed mass repositioning sequences, reducing the need for complex real-time control algorithms while achieving effective spin and rotation control.
3Productivity
If a robot performs multiple flips, twists, and poses during mid-air flight, then the entertainment value and visual spectacle are improved, but the control precision required to achieve desired landing pose increases
Solution Approach 1:
The robot performs preparatory actions during the early phases of flight, such as establishing initial rotation rates and positioning movable masses, to set up the conditions for subsequent acrobatic maneuvers. This preliminary configuration reduces the control precision required at later stages by pre-establishing favorable dynamic conditions.
Solution Approach 2:
The robot uses onboard sensors to continuously monitor its flight state and provides feedback to the control system. This feedback allows real-time adjustment of mass positions and actuator commands to compensate for deviations from the planned trajectory, ensuring accurate landing pose despite performing multiple complex maneuvers.
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 perform complex acrobatic maneuvers and control its orientation and pose during flight, enhancing entertainment value by simulating human-like acrobatic moves and improving survivability through controlled landing and braking.
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
modifying aerodynamic characteristics of one or more external surfaces of the body of the robot
Data Source
Figure 1
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Figure 3A~3C
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. Inflight controlled movements are performed to achieve a desired or target pose and orientation of the robot during flight and upon landing.