Ballistic robot system with spin and other controlled motion of robot during flight

Number: 10807244
Published: 2020-10-20
Filed: 2018-04-27
Assignee: Disney Enterprises, Inc.
Inventors: Dohi; Anthony Paul, Christensen; Steven Niels, Setrakian; Mark Sox, Christensen; David Loyal, Imahara; Grant Masaru, Pope; Morgan T., Watson; Scott Frazier, Niemeyer; Günter D.
CPC: B25J13/088; B25J9/06; B25J9/1682; B25J9/144; B25J9/1664; G05D1/105; B25J11/0035; B25J9/1694
Verdict: High Hardware
Source: Google Patents · FreePatentsOnline

The keeper's note

Ballistic/flying robot with controlled spin and motion during flight.

Abstract

Systems and corresponding control methods providing a ballistic robot that flies on a trajectory after being released (e.g., in non-powered flight as a ballistic body) from a launch mechanism. The ballistic robot is adapted to control its position and/or inflight movements by processing data from onboard and offboard sensors and by issuing well-timed control signals to one or more onboard actuators to achieve an inflight controlled motion. The actuators may move an appendage such as an arm or leg of the robot or may alter the configuration of one or more body links (e.g., to change from an untucked configuration to a tucked configuration), while other embodiments may trigger a drive mechanism of an inertia moving assembly to change/move the moment of inertia of the flying body. Inflight controlled movements are performed to achieve a desired or target pose and orientation of the robot during flight and upon landing.

Background

BACKGROUND1. Field of the Description(1) The present description relates, in general, to robots (or animatronic devices, as these terms may be used interchangeably herein) and robotic motion control technology, and, more particularly, to robots and robot control methods adapted to control spin and other movements of the robot during non-powered flight such as during travel as a projectile or ballistic body along a trajectory or on a travel path established, at least in part, by a launching mechanism. The movements of the robot during flight may be selected to provide a landing with a desired or target orientation and/or pose upon a landing surface (e.g., a surface of a catching assembly that may include a pad, a net, or the like).2. Relevant Background(2) Robots or actuated animatronic devices are typically ground based. These ground-based robots often are fixed in a single position or are mobile with wheels or tracks to roll on a surface or legs to walk about a space. To date, there has been very little to no effort to provide robots that can fly through a space with desired movements such as movements that simulate spinning, rotation, flipping, and other actions of a flying superhero, of an acrobatic character, or the like. In-flight movements for a flying robot have recently come into demand to provide unique and surprising entertainment to audiences in settings where it may be difficult to utilize live performers.(3) To date, most efforts at controlling a robot's movement

Claims

1. A ballistic robot system comprising: a robot comprising a controller, onboard sensors, a body supporting the controller and onboard sensors, and at least one component that is configured for actuation by the controller; an offboard sensor; a catching system with a landing surface at a first location; and a launch mechanism at a second location that is spaced apart from the landing surface a lateral distance, wherein the launch mechanism operates to first support the robot during a pre-launch process stage during which energy is provided to the body of the robot and to second, while remaining at the second location, launch the body of the robot as a ballistic body with a trajectory defining a flight path intersecting the landing surface and wherein the launch mechanism remains at the second location during and after the launch of the body of the robot, wherein the controller processes data collected by the onboard sensors while flying on the flight path including calculating an angular velocity and remaining time prior to the impact with the landing surface and generates a control signal to cause the actuation of the at least one component to cause the body to perform a predefined controlled motion prior to impact with the landing surface, wherein the onboard sensors comprise an inertial measurement unit (IMU) and at least one rangefinder and wherein the controller processes the data collected by the onboard sensors to determine a current angular velocity and a current height of the body while on the flight path, and wherein the offboard sensor communicates collected data to the controller for processing to determine a current position of the body on the flight path, wherein the current position is used in determining a timing of triggering the control signal and wherein the offboard sensor includes at least one of a motion capture system, a floodlight providing polarized light received by a first photosensor on or in the body, and a laser providing a beam or plane of light received by a second photosensor on or in the body.