Humanoid Robot Dynamic Brake Resistance Control for Gentler Falls
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Solution Overview
Problem
Conventional dynamic brake systems in robots, such as those used in humanoid and quadrupedal robots, can apply a braking force that is too strong during emergency stops, leading to damage from vigorous falls or impacts, as they lack control mechanisms to adjust the braking force effectively.
Innovation Solution
A resistance circuit that can adjust the braking force of a dynamic brake by changing the resistance value in the power supply path, allowing for a controlled reduction of the braking force during abnormal stops, thereby enabling a gentler stop and reducing the risk of damage to the robot.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a dynamic brake is activated with strong braking force during emergency stop, then the motor can be stopped quickly, but the robot may suffer damage from vigorous falls or impacts
Solution Approach 1:
The resistance value in the power supply path is dynamically adjusted during the emergency stop process. Initially, a lower resistance value provides strong braking force for rapid deceleration, then the resistance value is increased to reduce braking force as the motor approaches stop, preventing excessive impact and robot damage.
Solution Approach 2:
The electrical resistance parameter in the power supply path is changed during operation to control braking force. By adjusting the resistance value from low to high, the system transitions from strong braking to gentle braking, resolving the contradiction between stopping speed and impact damage.
2Loss of time
If a dynamic brake is activated with strong braking force, then emergency stop response is fast, but joints may be fixed by excessive braking force causing structural damage
Solution Approach 1:
The braking force is applied dynamically with time - strong initial braking followed by gradual reduction. This temporal variation allows rapid stopping while preventing excessive force from damaging joints and structural components.
Solution Approach 2:
The braking force is applied in stages or pulses rather than continuously at maximum level, allowing the system to achieve rapid deceleration while periodic reduction in force prevents cumulative damage to mechanical joints and structures.
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
The solution effectively reduces the risk of damage by allowing robots to stop more gently, preventing vigorous falls and impacts, and ensuring that joints are not fixed by excessive braking force, thus protecting the robot's structure during emergency stops.
Implementation Method 1
a regenerative power consumption resistor and a regenerative transistor that is turned on when regeneration occurs are connected in parallel to the transistor Tr1 and the transistor Tr2 that are connected in series to each other... electric power generated by the motor (the rotational energy of the motor) is consumed as heat by the regenerative power consumption resistor
Data Source
AI summary
A robot (100) includes a resistance circuit (60) configured or programmed to perform a control to reduce a braking force of a dynamic brake by changing a resistance value of a resistance component (63) with respect to a power supply path (61) when motors (30) are stopped at an abnormal stop.