Retractable-Wheel Mobile Robot for Seated Stop Stability
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Solution Overview
Problem
Autonomous robotics devices face challenges in attitude control, particularly as their structures become more complex, limiting motion expression and increasing power consumption during stationary periods.
Innovation Solution
An autonomous mobile object is designed to maintain a seated state with increased contact area during stops, reducing power consumption by minimizing gyro control, and perform motions like forward/backward movement and rotation in a standing state with a forward-inclined attitude, using a configuration of wheels and motors to achieve stable and expressive movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the structure of a robotics device becomes more complicated to achieve rich motion expression, then the range of motion expression is improved, but attitude control becomes more difficult and power consumption increases
Solution Approach 1:
The patent applies dynamics by making the wheels movable between protruded and retracted states. The wheel drive mechanism dynamically adjusts wheel position based on operational requirements: wheels protrude for movement and retract for stable stopping, enabling rich motion expression without requiring complex permanent structural features for each motion state
Solution Approach 2:
The wheels serve multiple functions: they enable forward/backward movement when protruded, provide rotational motion capability, and act as stabilizing elements when retracted during stopping. This multi-functionality allows a single structural element to achieve diverse motion expressions without adding separate complex mechanisms for each function
2Measurement precision
If gyro control is continuously applied to maintain stability during stops, then attitude control precision is improved, but power consumption increases
Solution Approach 1:
The patent implements periodic action by alternating between active gyro control during movement and passive stability maintenance during stops. The wheel drive mechanism periodically transitions wheels between protruded and retracted states, enabling the system to switch between control modes: continuous gyro control when moving and minimal control when stationary with wheels retracted
Solution Approach 2:
The retracted wheel configuration serves as a self-stabilizing structure during stops. When wheels are retracted into the storage space, the body's ground-touching bottom surface provides inherent stability without requiring continuous active gyro control, allowing the system to maintain attitude precision passively during stationary periods
Data Source
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AI summary
[Problem] A rich motion expression of an autonomous mobile object is realized by easier attitude control. [Solution] An information processing device including: 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.