Underactuated Robot Load Platform Control for Fall Prevention
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Solution Overview
Problem
Underactuated system robots, such as wheel-legged robots, face challenges in maintaining balance and stability, particularly when carrying objects with no form or force closure, leading to potential object fall-off during movement.
Innovation Solution
A movement control method that determines status information of the loaded object on the base portion and controls at least one of the base portion or the vehicle wheel portion to move accordingly, using a controller to prevent the object from falling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the robot uses an underactuated system with fewer drives than degrees of freedom, then the device complexity is reduced, but the stability of the robot body and balance control deteriorates
Solution Approach 1:
The patent applies dynamics by making the base portion movable rather than fixed, allowing it to dynamically adjust its position and orientation in response to object status changes. The base portion can perform translational and rotational movements to maintain balance and prevent object fall-off, transforming a static support structure into an active balancing system that compensates for the underactuated nature of the robot.
2Adaptability or versatility
If the robot carries objects with no form or force closure, then the adaptability is improved, but the reliability of preventing object fall-off deteriorates
Solution Approach 1:
The patent implements feedback control by continuously detecting the status information of the carried object (position, orientation, velocity) and using this information to adjust the base portion's movement in real-time. The controller processes the object status and generates appropriate control commands to move the base portion, creating a closed-loop system that reliably prevents object fall-off despite the lack of form or force closure.
Solution Approach 2:
The base portion serves as an intermediary between the robot body and the carried object. Instead of directly grasping the object with end-effectors, the system uses the movable base portion as a mediating platform that provides stable support through its dynamic positioning capabilities, enabling reliable transport of objects without traditional grasping mechanisms.
3Stability of the object's composition
If the base portion is made movable to maintain balance, then the stability is improved, but the device complexity increases
Solution Approach 1:
The base portion is designed with multi-functionality, serving both as the support platform for carrying objects and as the balancing mechanism. By integrating the balancing function into the base portion itself rather than adding separate balancing components, the system achieves improved stability without proportionally increasing device complexity. The base portion's movable structure fulfills multiple roles simultaneously.
Data Source
AI summary
A underactuated system robot includes a vehicle wheel portion and a base portion coupled to the vehicle wheel portion. A loaded object is placed on the base portion. The method includes: determining status information of a loaded object on a base portion; and controlling at least one of the base portion and a vehicle wheel portion to move according to the status information, so as to prevent the loaded object from falling from the base portion. In the embodiments, the base portion and/or the vehicle wheel portion can be controlled to move according to the status information of the loaded object on the base portion, to prevent the loaded object from falling from the base portion, thereby improving the stability of the underactuated system robot.