Force Sensor Abnormality Detection for Legged Mobile Robots
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Solution Overview
Problem
Existing force sensor abnormality detection systems for legged mobile robots are inadequate in terms of detection accuracy, as they solely rely on determining whether sensor outputs are within predetermined ranges, which can lead to false negatives due to transient sensor readings.
Innovation Solution
A system that performs a walking-in-place motion when the robot is powered on, allowing for a more prolonged evaluation of force sensor outputs during specific movements to ensure they fall within predetermined ranges, thereby enhancing detection accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If sensor abnormality detection is performed by determining whether sensor outputs are within predetermined ranges, then the detection process is simple, but the detection accuracy deteriorates due to false negatives from transient readings
Solution Approach 1:
The system performs a preliminary walking-in-place motion specifically for sensor detection purposes before normal robot operation begins. This preliminary action allows the sensor to be evaluated under controlled conditions where transient readings are less likely to occur, thereby improving detection accuracy without complicating the overall detection process
Solution Approach 2:
The sensor output is continuously monitored throughout the walking-in-place motion sequence rather than checking only at single time points. This continuous evaluation ensures that transient readings within predetermined ranges during motion do not lead to false negatives, improving detection accuracy while maintaining process simplicity
2Measurement precision
If the robot performs walking-in-place motion for sensor detection, then sensor abnormality detection accuracy is improved, but the robot operation time increases
Solution Approach 1:
The walking-in-place motion is performed as a preliminary detection routine immediately after robot startup and before normal operation begins. This timing ensures that sensor abnormalities are detected before they can affect actual robot tasks, minimizing the impact on overall operation time while maintaining high detection accuracy
Solution Approach 2:
The system performs a limited, controlled walking-in-place motion specifically for detection purposes rather than requiring full operational sequences. This partial action provides sufficient sensor evaluation data to detect abnormalities while minimizing the time consumed compared to complete operational cycles
Data Source
AI summary
In a force sensor abnormality detection system for a legged mobile robot having a force sensor installed between a foot and each leg and producing an output indicative of floor reaction force acting from a floor on which the foot contacts, the robot is controlled to to perform a walking-in-place motion when the robot is powered on, it is discriminated whether the output of the force sensor during the walk-in-place motion are within a predetermined range, and abnormality of the sensor is detected based on a result of the discrimination, thereby enabling detection of force sensor abnormality with high accuracy in a legged mobile robot whose feet are equipped with force sensors for detecting floor reaction forces.