Retractable-Wheel Mobile Robot Attitude Control and Seated Stop
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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 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, maintaining a standing state during movement and a seated state during stops, enabling rich motion expression and reducing power consumption by minimizing unnecessary gyro control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the structure of the robotics device is simplified, then the attitude control becomes easier, but the range of motion expression is limited
Solution Approach 1:
The patent applies the dynamics principle by making the wheel structure movable and adjustable. The wheel can dynamically change its position between protruding from and retracting into the main body, allowing the device to adapt its configuration based on operational needs. This dynamic structural change enables rich motion expressions while maintaining a simple base design, resolving the contradiction between structural simplicity and motion versatility.
2Productivity
If the wheel is kept protruded for movement, then driving control is enabled, but power consumption increases during stationary periods
Solution Approach 1:
The wheel configuration dynamically adjusts between protruded and retracted states based on operational requirements. During movement, the wheel protrudes to enable driving control; during stationary periods, it retracts to minimize power consumption. This dynamic state transition resolves the contradiction between maintaining driving capability and reducing energy consumption during idle periods.
Solution Approach 2:
The system discards the protruded wheel configuration when not needed for movement and recovers it when required. By retracting the wheel during stationary periods, the system eliminates unnecessary energy consumption while maintaining the capability to protrude the wheel again when driving is needed, effectively managing the trade-off between productivity and energy use.
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.