Retractable-Wheel Motion Control for Autonomous Robot Attitude
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Solution Overview
Problem
Autonomous robotics devices face challenges in attitude control, particularly as their structure becomes more complex, limiting motion expression and potentially giving a cold impression when the structure is simplified, and leading to increased power consumption during stationary periods.
Innovation Solution
An information processing device with a motion control unit that allows an autonomous mobile object to store and protrude wheels, enabling a standing state during movement and a seated state during stops, thereby simplifying attitude control and reducing power consumption.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the structure of the robotics device is simplified, then the device complexity is reduced, but the range of motion expression is limited
Solution Approach 1:
The patent applies dynamics by making the wheel structure movable rather than fixed. The wheel can dynamically change its position between protruding from and being stored inside the main body, allowing the robot to transition between different motion states. This dynamic configuration enables a simplified structure to achieve multiple motion expressions without requiring complex permanent mechanical structures.
Solution Approach 2:
The patent implements nesting by placing the wheel inside the main body when not in use. The wheel is stored within the main body structure, similar to a nested doll configuration, allowing the robot to maintain a compact form while still having access to the wheel for motion expression when needed.
2Reliability
If continuous gyro control is performed during stop, then attitude control stability is improved, but power consumption increases
Solution Approach 1:
The patent applies periodic action by switching between different control modes based on the robot's state. During movement, continuous gyro control is applied for stable attitude control. During stop, the control is changed to maintain a seated state with the wheel stored inside the main body, reducing power consumption while still maintaining stability through periodic state transitions rather than continuous identical control.
Solution Approach 2:
The patent uses dynamics to adapt the control strategy based on the robot's operational state. The motion control unit dynamically switches between movement mode (with continuous gyro control) and stop mode (with reduced control), optimizing the balance between stability and power consumption by adjusting control intensity according to real-time needs.
3Adaptability or versatility
If the wheel is kept protruded for easy motion expression, then motion versatility is improved, but device complexity increases
Solution Approach 1:
The patent resolves this contradiction by making the wheel position dynamic rather than permanently fixed. The wheel can be protruded when motion expression is needed and stored inside the main body when not needed, allowing the system to achieve motion versatility without requiring a permanently complex extended structure. The simplicity is maintained through a retractable design.
Solution Approach 2:
The patent applies universality by designing the wheel system to serve multiple functions: it can protrude for motion expression and be stored for compactness. This multi-functional design allows a single wheel structure to provide both motion capability and compact storage, reducing the need for separate mechanisms for each function.
Data Source
AI summary
There is provided an information processing device to realize a rich motion expression of an autonomous mobile object by easier attitude control. The information processing device includes: a motion control unit that controls a motion of an autonomous mobile object, wherein the autonomous mobile object includes a wheel that can be stored inside a main body and that can be protruded to an outside of the main body, and the motion control unit keeps a standing state by making the wheel protruded to the outside of the main body and performs driving control of the wheel and attitude control of the autonomous mobile object in movement of the autonomous mobile object, and makes the autonomous mobile object remain still in a seated state during a stop thereof by storing the wheel inside the main body is provided.