Robotic Actuator Control for Unpredictable Force Response
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Solution Overview
Problem
Robotic actuators face challenges in deep ocean exploration due to limited manipulation abilities and difficulty interacting gently with biological specimens and fragile artifacts, requiring advanced control solutions that mimic human reasoning and intuition.
Innovation Solution
The development of Ocean One, a bimanual force-controlled humanoid robot with high degrees of freedom and compliant hands, connected through a relay station for high-speed optical wireless links, allowing for intuitive haptic interaction and autonomous operation with human expertise, using macro-mini dynamic coordination and series elastic actuators for enhanced manipulation and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a tethered connection is used to connect the interface and the robot, then power and control signals can be transmitted reliably, but the robot risks entanglement and introduces disturbances that reduce maneuverability
Solution Approach 1:
The patent extracts the tethered connection from the system by implementing wireless power transmission and optical wireless communication links. This removes the physical constraint that causes entanglement and disturbance, allowing the robot to operate freely while maintaining reliable power and control signal transmission through wireless means.
Solution Approach 2:
The patent replaces the mechanical tethered connection with wireless power transmission and optical wireless communication systems. This substitution eliminates the physical cable that causes entanglement while maintaining the necessary power and control signal transmission through electromagnetic fields and light.
2Extent of automation
If the robot operates autonomously without human intervention, then it can perform tasks independently, but it lacks human reasoning and intuition for complex manipulation tasks
Solution Approach 1:
The patent merges autonomous robotic operation with human expertise by implementing a collaborative control architecture. The robot can operate independently for routine tasks while seamlessly integrating human reasoning and intuition for complex manipulation tasks, combining the advantages of both autonomous operation and human cognitive capabilities.
Solution Approach 2:
The patent introduces an intermediary control system that bridges autonomous operation and human expertise. This intermediary layer allows the robot to autonomously perform basic tasks while facilitating human intervention and reasoning for complex scenarios, enabling the combination of automated efficiency with human adaptability.
3Use of energy by moving object
If the robot uses a tethered connection for power supply, then it has continuous power availability, but the tether introduces disturbances and limits the working area
Solution Approach 1:
The patent extracts the physical tether from the power supply system by implementing wireless power transmission. This removes the constraint that limits working area while maintaining continuous power availability through wireless energy transfer, allowing the robot to operate freely over a wider area.
Solution Approach 2:
The patent replaces the mechanical tethered power connection with wireless power transmission technology. This substitution eliminates the physical cable that restricts movement and defines working area, enabling the robot to access broader areas while maintaining continuous power supply through electromagnetic energy transfer.
4Speed
If the robot operates at high speed with fast dynamics, then it can respond quickly to tasks, but it becomes more sensitive to disturbance forces like sea currents
Solution Approach 1:
The patent implements adaptive dynamic control that adjusts the robot's response characteristics based on environmental conditions. The system can operate with fast dynamics for quick task response when conditions permit, while automatically adapting to provide enhanced stability compensation when disturbance forces like sea currents are present, optimizing both speed and reliability.
Data Source
AI summary
Systems and methods of the present disclosure provide a control solution for a robotic actuator. The actuator can have one or two degrees of freedom of control, and can connect with a platform using an arm. The arm can have at least two degrees of freedom of control, and the platform can have at least two degrees of freedom of control. The platform can be subjected to unpredictable forces requiring a control response. The control solution can be generated using operational space control, using the degrees of freedom of the arm, platform, and actuator.