Robotic Actuator Control with Operational Space Feedback
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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
A robotic diver like Ocean One, equipped with high-degree autonomy and intuitive haptic interaction, uses a combination of whole-body control, macro-mini dynamic coordination, and series elastic actuators to provide precise manipulation and stability in unpredictable environments, connected via a relay station for high-speed optical wireless links and power recharging.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Use of energy by moving object
If a robotic actuator is used for deep ocean exploration, then the ability to perform deep dives is improved, but the manipulation ability and gentleness in handling biological specimens and fragile artifacts deteriorates
Solution Approach 1:
The patent introduces an operational space controller as an intermediary layer between the high-level task planner and low-level actuator control. This controller transforms task-level commands into joint-space commands while compensating for unpredictable environmental forces, enabling the robotic actuator to perform delicate manipulation tasks in deep ocean environments without direct human teleoperation.
Solution Approach 2:
The patent employs series elastic actuators that dynamically adjust stiffness parameters to match task requirements. The actuators can transition between compliant modes for delicate handling of biological specimens and rigid modes for robust grasping of tools, enabling the same actuator to perform both gentle and forceful manipulation tasks.
2Reliability
If the larger system is subjected to unpredictable forces, then the robustness in harsh environments is improved, but the control precision for task completion deteriorates
Solution Approach 1:
The patent implements a feedback-based operational space controller that continuously monitors the robotic actuator's state and environmental forces. The controller uses this feedback to dynamically adjust control commands, compensating for unpredictable forces such as ocean currents while maintaining precise control for task completion. The feedback loop operates at high frequency to ensure real-time adaptation to changing conditions.
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.