Controlling robot torque and velocity based on context
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robots are unable to assemble meals in food-service settings due to their inability to operate with appropriate torques in close proximity to humans and in environments where ingredients are unpredictably arranged, leading to potential injuries and damage to food textures and taste profiles.
Innovation Solution
The development of context-specific torque control for robots, which determines the necessary torque based on the task, environment, and proximity to obstacles, allowing for safe operation by limiting torque according to context-specific conditions such as free space, active contact, and collision likelihood, using models, neural networks, and simulations to adjust velocity, acceleration, and position limits.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If the robot applies high torque to perform tasks such as scooping ice cream, then the task execution capability is improved, but the safety of human operators in proximity is compromised
Solution Approach 1:
The patent implements dynamic torque adjustment by continuously monitoring context parameters (human proximity, task type, environmental conditions) and adjusting the robot's torque output in real-time. This allows the robot to apply high torque only when necessary for task execution while automatically reducing torque when humans are in proximity, thus resolving the contradiction between task capability and safety.
Solution Approach 2:
The system employs feedback mechanisms through sensors that detect human presence, robot position, and task requirements. This feedback loop enables the control system to continuously adjust torque levels based on current operational context, ensuring high torque is applied only when safe and appropriate for the task at hand.
2Adaptability or versatility
If the robot operates in close proximity to humans, then the workspace flexibility is improved, but the torque limitation reduces task execution capability
Solution Approach 1:
The patent enables dynamic torque adjustment based on spatial context, allowing the robot to operate with high torque in safe zones while automatically reducing torque when approaching human-proximity zones. This dynamic adaptation maintains workspace flexibility while ensuring safety constraints are met in different spatial contexts.
Solution Approach 2:
The system applies different torque characteristics to different spatial zones within the workspace. High torque is permitted in areas distant from humans, while low torque is enforced in human-proximity zones. This local differentiation allows the robot to maintain both workspace flexibility and human safety simultaneously.
3Productivity
If traditional material handling mechanisms are used to move food, then the productivity is improved, but the food quality (texture and taste) is degraded
Solution Approach 1:
The patent applies parameter changes by adjusting velocity and acceleration parameters dynamically during food handling operations. By controlling these motion parameters to remain below threshold values, the robot prevents mechanical damage to food while maintaining efficient assembly speeds, thus resolving the contradiction between productivity and food quality.
Data Source
AI summary
In an embodiment, a method includes identifying a force and torque for a robot to accomplish a task and identifying context of a portion of a movement plan indicating motion of the robot to perform the task. Based on the identified force, torque, and context, a context specific torque is determined for at least one aspect of the robot while the robot executes the portion of the movement plan. In turn, a control signal is generated for the at least one aspect of the robot to operate in accordance with the determined context specific torque.