Robot Head Righting Control for Natural Posture
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Solution Overview
Problem
Existing pet-type robots lack the ability to simulate the natural reflex of maintaining their head horizontal to the ground when their torso is inclined, resulting in an unnatural posture that deviates from the behavior of living organisms.
Innovation Solution
A robot design that includes a torso and a rotatable head, equipped with sensors to detect inclination and an actuator system to rotate the head to face the horizontal direction when the torso is inclined, mimicking the righting response of living organisms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot uses a fixed head position relative to the torso, then the device complexity is reduced, but the ability to simulate natural organism behavior is degraded
Solution Approach 1:
The head is made dynamically adjustable relative to the torso through an actuator system. The head can rotate around a horizontal axis passing through the rotation center, allowing the robot to adapt its head orientation based on torso inclination detected by sensors, thereby simulating natural organism behavior while maintaining manageable complexity through controlled degrees of freedom
Solution Approach 2:
The robot employs sensors to detect the inclination angle of the torso and uses this feedback information to control the head's rotation angle. The control unit continuously monitors torso position and adjusts the head orientation accordingly, creating a closed-loop system that enables natural-looking righting responses without requiring overly complex mechanical structures
2Reliability
If the robot adds sensors and actuators to detect and correct torso inclination, then the ability to maintain natural posture is improved, but the device complexity increases
Solution Approach 1:
The robot's control system is segmented into distinct functional modules: sensors for detecting torso inclination, a control unit for processing sensor data and determining correction angles, and actuators for executing head rotation. This modular segmentation allows each component to be optimized independently while working together to maintain natural posture reliably
Solution Approach 2:
The system changes the operational parameters of the head based on detected torso inclination. By adjusting the head's rotation angle as a variable parameter in response to torso position changes, the robot maintains reliable natural posture without requiring complex mechanical redesign, instead using controlled parameter adjustments
Data Source
AI summary
A robot includes a torso, a head coupled to the torso so as to be rotatable with respect to the torso, and at least one processor. The at least one processor determines whether the torso is inclined from a horizontal direction and, in a case where a determination is made that the torso is inclined from the horizontal direction, controls an actuator to rotate the head with respect to the torso such that the head faces the horizontal direction.