Redundant Robot Joint Actuation for Safe Stop During Failures
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Solution Overview
Problem
Legged robots can lose control of their joints during abnormal operating conditions, such as power outages or integrated circuit failures, leading to potential hazards from falling or crashing.
Innovation Solution
The actuation hardware is compartmentalized into two independently functional units, with each unit powered by separate sources and controlled by independent circuits, allowing one unit to maintain power and control to implement a safe stop command if the other fails.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If actuation hardware is compartmentalized into independently functional units with separate power sources and control circuits, then reliability is improved during abnormal operating conditions, but device complexity increases
Solution Approach 1:
The actuation hardware is divided into two independently functional units, each with its own power source and control circuit. This segmentation ensures that a failure in one unit does not propagate to the other, maintaining system reliability during abnormal operating conditions while managing complexity through modular design
Solution Approach 2:
The system implements redundant power sources and control circuits that are prepared in advance to compensate for potential failures. When an abnormal condition is detected in one unit, the other unit is already positioned to take over, providing a cushion against complete system failure and ensuring continuous safe operation
2Productivity
If the robot uses dynamic balancing during locomotion, then productivity is improved, but stability deteriorates during abnormal operating conditions
Solution Approach 1:
The robot employs dynamic balancing techniques during normal locomotion to enhance productivity and mobility. The system can actively adjust its balance in real-time through coordinated actuation of multiple joints, allowing efficient movement while maintaining stability under normal operating conditions
Solution Approach 2:
The redundant actuation units are pre-configured to provide emergency stabilization. When an abnormal condition occurs, the healthy unit can immediately engage to counteract instability and prevent falls, cushioning the transition from dynamic operation to safe stop without compromising overall system stability
Data Source
AI summary
A robot configured to operate safely in response to detecting an abnormal operating condition is provided. The robot includes an actuator coupled to a robot member and a motor controller configured to control the actuator to move the robot member about a robot joint. The motor controller includes a first set of components and a second set of components, and each of the first set of components and the second set of components is independently operable by the motor controller to control the actuator to move the robot member about the robot joint.