Mobile Robot Inverted Pendulum Balance Control
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Solution Overview
Problem
Current mobile robots face challenges in transitioning from a resting pose to a standing pose without losing balance or tipping over, especially when designed with smaller and lighter bases that are unstable when carrying heavy objects due to shifts in center of mass and changes in momentum.
Innovation Solution
A method involving an inverted pendulum body with a counter-balance body and variable-length legs, where the counter-balance body moves relative to the pendulum body and the legs alter their length to position the center of mass over the drive wheels, allowing the robot to transition from a resting pose to a sitting and then a standing pose while maintaining balance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a robot uses a large stationary or moveable base to maintain an upright position while lifting and handling heavy objects, then stability is improved, but mobility is severely limited and the robot becomes heavy and cumbersome
Solution Approach 1:
The robot employs a dynamic base that can transition between different configurations (standing, sitting, lying down) rather than being fixed in one form. The variable-length legs and movable counter-balance body allow the base to adapt its structure dynamically, providing stability when needed and mobility when needed, thus resolving the contradiction between stable and mobile
Solution Approach 2:
The robot changes key parameters of its base structure - specifically the length of the legs (variable-length) and the position of the counter-balance body - to transition between operational modes. By adjusting these parameters, the robot can optimize for either stability or mobility depending on the task requirements
2Speed
If a robot uses a smaller and lighter base to improve mobility, then maneuverability is enhanced, but stability deteriorates when carrying heavy objects due to shifts in center of mass and changes in momentum
Solution Approach 1:
The robot incorporates a movable counter-balance body that can be positioned to offset the weight of carried objects. This counter-balance mechanism actively compensates for shifts in center of mass, allowing the robot to maintain stability even with a smaller, lighter base structure that provides better maneuverability
Solution Approach 2:
The robot uses dynamic adjustment of the counter-balance body position and variable-length leg configuration to adapt to changing load conditions. This dynamic response allows the lightweight base to maintain stability during maneuvering operations by actively adjusting its configuration rather than relying on passive structural weight
3Adaptability or versatility
If a robot transitions from resting pose to standing pose, then operational capability is improved, but balance is lost and the robot tips over
Solution Approach 1:
The robot performs preliminary actions during the transition sequence - first moving the counter-balance body to prepare for weight redistribution, then transitioning through an intermediate sitting pose before achieving the standing pose. This staged approach with preparatory movements prevents balance loss by anticipating and compensating for center of mass shifts before they occur
Solution Approach 2:
The transition from resting to standing pose is executed through dynamic, controlled movements rather than abrupt changes. The variable-length legs and movable counter-balance body enable smooth, coordinated transitions that maintain balance throughout the transformation, allowing the robot to gain operational capability without tipping over
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 mobile robots to efficiently transition from a resting to a standing pose without tipping, maintaining balance and stability, even when carrying heavy objects, by dynamically adjusting the center of mass and leg length.
Implementation Method 1
moving the counter-balance body relative to the inverted pendulum body away from the ground surface to position a center of mass of the robot substantially over the drive wheel
Implementation Method 2
the first end of the at least one leg is prismatically coupled to the second end portion of the inverted pendulum body
Data Source
AI summary
A method of operating a robot includes assuming a resting pose of the robot on a surface. The robot includes an inverted pendulum body, a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one arm connected to the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one leg prismatically coupled to the inverted pendulum body, and a drive wheel rotatably coupled to the at least one leg. The method also includes moving from the resting pose to a sitting pose by moving the counter-balance body relative to the inverted pendulum body away from the ground surface to position a center of mass of the robot substantially over the drive wheel. The method also includes moving from the sitting pose to a standing pose by altering a length of the at least one leg.