Mobile Robot Tactile Motion Control for Stable Interactive Movement
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Solution Overview
Problem
Existing mobile robots lack effective methods for human-computer interaction beyond visual and voice signals, particularly in underactuated systems like wheel-legged robots, which face challenges in balance control and interactive motion due to their unstable nature.
Innovation Solution
A motion control method for mobile robots that utilizes a somatosensory device on the base portion to receive tactile pressing operations, allowing the robot to perform interactive motions such as moving, steering, and shaking through a controller and somatosensory device configuration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a mobile robot moves at high speed, then productivity is improved, but stability deteriorates causing the robot to fall over
Solution Approach 1:
The control method performs preliminary actions by predicting future positions and velocities before the robot actually reaches them. The controller calculates predicted position and velocity at future time points, then uses this predictive information to proactively adjust control commands, preventing instability before it occurs during high-speed movement
Solution Approach 2:
The system dynamically adjusts control parameters based on real-time feedback from sensors. The controller continuously monitors actual position and velocity, compares them with predicted values, and adapts control commands dynamically. This dynamic control approach allows the robot to maintain stability while moving at high speeds by responding to changing conditions in real-time
2Reliability
If control commands are adjusted frequently to maintain stability, then reliability is improved, but response time increases reducing productivity
Solution Approach 1:
By predicting future states ahead of time, the controller prepares control commands in advance rather than reacting to instability after it occurs. This preliminary action reduces the need for frequent emergency adjustments, maintaining stability with fewer control cycles and thus reducing time loss
Solution Approach 2:
The dynamic control system optimizes the frequency and timing of control adjustments based on predicted needs. Rather than using fixed-frequency control, the system adapts control update timing to match actual stability requirements, minimizing unnecessary control actions while maintaining reliability
3Productivity
If the robot moves quickly to reach target positions, then productivity is improved, but movement precision deteriorates
Solution Approach 1:
The controller calculates predicted positions at future time points and uses this predictive information to plan precise movement trajectories in advance. By preparing control commands that account for future states, the system can achieve high-speed movement with maintained precision, as the precise trajectory is planned beforehand rather than corrected during motion
Solution Approach 2:
The system dynamically adjusts control parameters to optimize the balance between speed and precision. By continuously adapting control commands based on real-time feedback and predictions, the robot can move quickly while maintaining manufacturing precision through real-time trajectory correction
Data Source
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AI summary
Provided are a movement control method for a mobile robot, and a mobile robot. The mobile robot comprises a wheel portion and a base portion, which is connected to the wheel portion, wherein a somatosensory sensing device is arranged on the base portion. The method comprises: receiving a tactile pressing operation on a somatosensory sensing device (102); and in response to the tactile press operation, controlling a mobile robot to perform an interactive movement (104), wherein the interactive movement is a movement corresponding to the tactile press operation, and at least one of a wheel portion and a base portion moves during the interactive movement.