Robot Aggregate Orientation Estimation for Natural Pitch and Roll
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Solution Overview
Problem
Robotic systems face challenges in maintaining balance due to inaccurate orientation and angular velocity measurements, which can lead to instability and require excessive control efforts, especially when limbs extend torque on the body, affecting the center of mass and aggregate orientation.
Innovation Solution
A robotic system that estimates the aggregate orientation and angular velocity by determining the relationship between joint angles and body orientation using sensors and processing systems, allowing for proactive control of limbs to maintain balance and reduce unnecessary control efforts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot uses sensors to measure body orientation and joint angles, then measurement precision is improved, but device complexity increases due to multiple sensors and processing requirements
Solution Approach 1:
The patent combines multiple sensors (accelerometers, gyroscopes, magnetometers) into an integrated inertial measurement unit (IMU) system, and merges the processing of joint angle measurements with body orientation measurements through a unified processing system that uses a mathematical model to estimate aggregate orientation, reducing overall system complexity while maintaining measurement precision
Solution Approach 2:
The patent introduces a mathematical model as an intermediary that processes both joint angle measurements and body orientation measurements to estimate aggregate orientation. This intermediary processing layer integrates information from multiple sensors and resolves the complexity by providing a unified estimation approach rather than requiring separate processing for each measurement type
2Stability of the object's composition
If the robot controls jointed limbs to maintain balance, then stability is improved, but control effort increases due to continuous adjustments required
Solution Approach 1:
The patent estimates aggregate orientation in advance using a mathematical model that incorporates both body orientation and joint angle measurements. This preliminary estimation allows the control system to proactively adjust limb positions before instability occurs, rather than reacting to imbalance after it develops, thereby reducing the magnitude and frequency of control corrections needed
Solution Approach 2:
The patent implements a feedback control mechanism where the estimated aggregate orientation is continuously monitored and used to adjust jointed limb positions. The processing system receives measurements from multiple sensors, estimates the aggregate orientation, and feeds this information back to the control system which adjusts limb positions accordingly, creating a closed-loop system that maintains stability with optimized control effort
3Measurement precision
If the robot uses a mathematical model to estimate aggregate orientation, then measurement precision is improved, but device complexity increases due to processing requirements
Solution Approach 1:
The patent designs a processing system that performs multiple functions: it processes joint angle measurements from encoders, processes body orientation measurements from the IMU, and uses a mathematical model to estimate aggregate orientation. This multi-functional processing system reduces overall complexity by consolidating multiple processing tasks into a single integrated system rather than requiring separate processing units for each function
Data Source
AI summary
A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.