Self-Balancing Robot with Stabilized Laser Pointer
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Solution Overview
Problem
Conventional mobile self-balancing robots lack a human-like upright posture and effective telepresence capabilities, leading to operator disorientation and inability to gesture or point effectively due to motion-induced nausea and lag in camera alignment.
Innovation Solution
A robotic system with a base, leg segment, and torso segment pivotally coupled by a waist joint, featuring actuators to change the waist angle, control systems for balance and base angle adjustment, and a human interface for remote operation, allowing the robot to maintain balance and change orientation while mimicking human-like movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a robot uses a wide base with three or more legs or wheels for stability, then stability is improved, but the robot cannot achieve a human-like upright posture and natural perspective
Solution Approach 1:
The robot is divided into distinct segments: a narrow base for stability, a leg segment, and a torso segment that can pivot independently. This segmentation allows the base to remain stable while the upper body achieves human-like upright posture and movement capabilities
Solution Approach 2:
The robot employs dynamic balance control where the torso segment can pivot relative to the leg segment, and the leg segment can pivot relative to the base. This dynamic structure allows the robot to maintain balance while achieving natural human-like posture and perspective
2Measurement precision
If the robot moves to follow head movements for telepresence, then visual alignment is improved, but operator disorientation and nausea increase due to motion lag and rocking
Solution Approach 1:
The robot separates the head/camera assembly from the main body, allowing independent movement. The head can follow operator gaze while the body remains relatively stable, reducing motion-induced nausea while maintaining visual alignment
Solution Approach 2:
The patent introduces image stabilization technology as an intermediary between camera movement and operator view. This compensates for motion lag and rocking effects, reducing operator disorientation while maintaining precise visual alignment
3Ease of operation
If the robot uses a narrow base with two wheels for mobility, then ease of movement is improved, but balance control becomes more difficult
Solution Approach 1:
The robot uses dynamic balance control where the torso and leg segments can pivot independently to adjust the center of gravity. This dynamic adjustment allows the narrow two-wheeled base to maintain balance while remaining highly mobile
Solution Approach 2:
The robot employs feedback control systems that continuously monitor the robot's orientation and adjust the pivot angles of the torso and leg segments accordingly. This feedback mechanism simplifies balance control despite the narrow base configuration
Data Source
AI summary
Systems and methods are provided for projecting a stabilized laser beam from a robot being controlled through a human interface. The laser beam can be stabilized through the use of optics that continuously adjust the aim of the laser beam in response to measurements of the orientation of the robot. The human interface allows the operator to both observe the visual environment of the robot and also to aim the laser beam. The projected laser beam allows the operator to communicate from the perspective of the robot by pointing to objects or locations within the robot's visual environment, creating symbols with the laser beam, and make gestures with the laser beam.