Height Adjustment Module for Humanoid Robot Stability
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Solution Overview
Problem
Humanoid robots face instability and risk of tipping over due to insufficient ground contact area in complex and narrow spaces, limiting their ability to maintain stability and travel at high speeds.
Innovation Solution
A height adjustment module that uses a single actuator to simultaneously adjust the robot's height and ground contact area by rotating support arms, interlocking with a lift mechanism and sliding support links, allowing the robot to vary its height and ground contact area, thereby enhancing stability and mobility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the robot is designed with a fixed height suitable for human interaction, then the display height is appropriate for communication with humans, but the ground contact area is insufficient causing instability in narrow spaces
Solution Approach 1:
The patent implements a height adjustment module that enables the robot to dynamically change its height and ground contact area based on operational requirements. The support arms can rotate between extended and retracted positions, allowing the robot to adapt its configuration for different environments - maintaining human-height for interaction while reducing ground contact area for narrow space stability
Solution Approach 2:
The height adjustment module divides the robot's support structure into separable components - the mounting part, support arms, and travelling parts - that can independently adjust their positions. This segmentation allows the robot to modify its height and stability characteristics by rotating individual support arms without affecting the entire structure
2Adaptability or versatility
If the robot operates in complex and narrow spaces, then it can access confined areas, but the ground contact area becomes insufficient leading to tipping risks
Solution Approach 1:
The height adjustment module provides dynamic adaptability by allowing the robot to change its support configuration in real-time. When navigating narrow spaces, the support arms can be rotated to reduce ground contact area for better maneuverability, while maintaining sufficient stability through controlled positioning of the travelling parts
3Ease of operation
If the robot uses a touch input display for human interaction, then information transfer with humans is effective, but the required height creates instability in narrow spaces
Solution Approach 1:
The height adjustment module enables the robot to switch between interaction mode and navigation mode. During human interaction, the support arms extend to achieve appropriate display height for touch input operations. When moving through narrow spaces, the arms retract to reduce height and improve stability, thus resolving the conflict between interaction requirements and spatial constraints
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The module securely adjusts the robot's height and ground contact area, improving stability and enabling higher speed travel by reducing or increasing the distance between wheels, thus addressing the instability issues in humanoid robots.
Implementation Method 1
a plurality of support arms disposed around the mounting part on the plane on which the mounting part has been extended, and coupled to the mounting part to be rotatable upward or downward
Implementation Method 2
a support link coupled to the mounting part to be vertically slidable, and coupled to the lift to be vertically fixed to move the mounting part relative to the lift as the support link is slid in the mounting part
Data Source
AI summary
A height adjustment module includes a mounting part extending on a plane; a plurality of support arms disposed around the mounting part on the plane on which the mounting part has been extended, and coupled to the mounting part to be rotatable upward or downward; a plurality of travelling parts each being coupled to a first end portion of the support arm, respectively, and including a wheel contacting the ground, respectively; a lift extending over the plane, and connected to second end portions of the plurality of support arms so that vertical movement is interlocked with each other; and a support link coupled to the mounting part to be vertically slidable, and coupled to the lift to be vertically fixed to move the mounting part relative to the lift as the support link is slid in the mounting part.