Robot Controller Impact Suppression via State Transition

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Solution Overview

Problem

Existing robotic devices are prone to significant damage when subjected to impacts, such as being thrown or dropped, due to the intense forces exerted on their movable parts.

Innovation Solution

A robot control method and system that includes a movable part and a controller capable of determining the likelihood of an impact and transferring the movable part from an operational state to a state that suppresses the impact, thereby reducing damage.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the movable part maintains operational state during impact, then the robot can continue performing physical operations, but the movable part suffers significant damage from intense impact forces

Engineering Contradiction:

Improvedamage resistance of movable partVSAvoidcontinuity of physical operation

Core Design Contradiction:

ReliabilityVSProductivity

Solution Approach 1:

The movable part dynamically transitions between operational state and impact-suppressing state based on impact detection. The control unit receives impact information from detection units and automatically adjusts the movable part's state to balance damage resistance and operational continuity

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The robot preliminarily transitions the movable part to an impact-suppressing state before actual impact occurs by detecting impact likelihood in advance. This preliminary state change prevents damage while allowing quick recovery to operational state after impact

Inventive Principle:

Principle #10Preliminary action

2Strength

If the movable part is transferred to impact-suppressing state, then damage from impact is reduced, but the robot cannot perform physical operations during the suppressed state

Engineering Contradiction:

Improveimpact resistance of movable partVSAvoiddowntime for physical operation

Core Design Contradiction:

StrengthVSLoss of time

Solution Approach 1:

The robot rushes through the impact-suppressing state by maintaining it only for the brief duration necessary to withstand impact. The control unit quickly transitions back to operational state once impact subsides, minimizing downtime and allowing the robot to resume physical operations with minimal interruption

Inventive Principle:

Principle #21Skipping (Rushing through)

3Reliability

If impact detection and state transfer mechanisms are added, then damage to movable part is reduced, but the device complexity increases

Engineering Contradiction:

Improveprotection of movable partVSAvoidcontrol system structure

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The control unit performs multiple functions: it controls the movable part's operational state, receives impact information from detection units, determines impact likelihood, and manages state transitions. This multi-functionality reduces the need for separate dedicated components, thereby limiting the increase in device complexity while providing comprehensive impact protection

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentEP4342642B1Robot, robot control method and program

Publication Date: 2025.03.05 CASIO COMPUTER CO LTD

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AI summary

A controller (110) of a robot (200) executes processing of determining whether an apparatus is likely to be subjected to an impact and, when determination is made that the apparatus is likely to be subjected to an impact in a case where a movable part (220) is in a first state in which the movable part (220) is able to cause the apparatus to execute a physical operation, transferring the movable part (220) from the first state to a second state for suppressing an impact exerted on the movable part (220).