Compact Quadrupedal Walking Robot With Jointed Legs for Daily Use
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Solution Overview
Problem
Existing quadrupedal walking robots are designed for high-speed use in industries like forestry and construction, resulting in large structures with wheels, which are not suitable for daily use by individuals.
Innovation Solution
A compact quadrupedal walking robot with a main body featuring a seat, handle, and four leg portions with multiple joints, driven by actuators, and equipped with an operation device and controller for user input and control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the robot is designed for high-speed industrial use with large wheels, then speed and industrial applicability are improved, but the structure becomes large and unsuitable for daily personal use
Solution Approach 1:
The robot body is divided into modular segments including a main body, four separate leg portions, and a detachable seat portion. This segmentation allows the robot to be compact for daily use while maintaining the capability for high-speed travel when needed, resolving the contradiction between speed performance and compact size for personal use
2Adaptability or versatility
If the robot uses four legs with multiple joints for quadrupedal walking, then terrain adaptability and stability are improved, but device complexity increases
Solution Approach 1:
The leg portions are designed with multiple joints that can dynamically adjust their configuration based on terrain conditions. The joints allow the legs to adapt their posture for stable quadrupedal walking on various surfaces, providing terrain adaptability while the dynamic adjustment capability reduces the need for overly complex static structures
Solution Approach 2:
The leg portions serve multiple functions: they provide support for quadrupedal walking, enable terrain adaptation through joint movement, and can be configured for different walking patterns. This multi-functionality reduces overall system complexity by consolidating multiple capabilities into a single modular leg structure
Data Source
AI summary
A quadrupedal walking robot includes: a main body including a seat portion on which a person is to sit astride; a handle to be gripped by the person seated on the seat portion; four leg portions coupled to the main body and configured to perform a bending operation, each of the four leg portions including two or more joints; a plurality of actuators configured to drive the plurality of joints; an operation device disposed on the handle and configured to receive an input of a command related to an operation of the quadrupedal walking robot; and a controller configured to control the plurality of actuators in accordance with the command received from the operation device.