Humanoid Robot Pedestal Linkage for Stable Seated Payload Handling
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing humanoid robots lack the ability to efficiently transform between configurations, such as standing and sitting, while maintaining stability and mobility, which limits their versatility and agility, especially when carrying payloads.
Innovation Solution
A humanoid robot design featuring a mobile base with mecanum wheels and a pedestal linkage that allows the upper body to pivot and rotate, enabling transformation between elevated and lowered configurations, with passive wheels providing stability and a congruent work surface, and integrated energy storage for power support.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot uses a fixed rigid connection between upper body and mobile base, then structural simplicity is maintained, but the robot cannot transform between standing and sitting configurations
Solution Approach 1:
The connection between upper body and mobile base is segmented into a pedestal linkage with multiple segments (first link, second link, third link) connected by joints. This segmentation enables the upper body to be elevated or lowered relative to the mobile base, allowing transformation between standing and sitting configurations while maintaining structural integrity through modular design.
Solution Approach 2:
The rigid fixed connection is replaced with a dynamic pedestal linkage mechanism that can change its configuration. The linkage includes pivot joints and actuators that enable continuous adjustment of the upper body height, transforming the system from a static structure to a dynamic one capable of adapting between different operational states.
2Length of moving object
If the upper body is elevated above the mobile base, then working height and reach are improved, but stability and center of gravity control deteriorate
Solution Approach 1:
The system uses the mobile base with wheels as a counterweight foundation to balance the elevated upper body. The base body provides a low center of gravity that counteracts the weight of the elevated upper body, maintaining overall system stability. The pedestal linkage is designed to distribute mechanical loads through its structure, with the mobile base absorbing shock and providing a stable platform.
3Adaptability or versatility
If the robot transforms between configurations, then versatility is improved, but transformation time and speed are reduced
Solution Approach 1:
The pedestal linkage is designed to enable continuous adjustment of the upper body height rather than discrete step changes. The linkage can smoothly transition between elevated and lowered positions, allowing the robot to adapt its configuration continuously based on task requirements without significant delays or interruptions in useful action.
Solution Approach 2:
The dynamic nature of the pedestal linkage with its pivot joints and actuators enables rapid transformation between configurations. The mechanism is designed for smooth, controlled movement that can quickly adjust the upper body position to match changing operational needs, minimizing transformation time while maintaining control precision.
4Stability of the object's composition
If passive wheels are added to the pedestal linkage, then stability in seated configuration is improved, but device complexity increases
Solution Approach 1:
The passive wheels on the pedestal linkage serve multiple functions: they provide stability when the upper body is in the seated configuration, and they can be engaged or disengaged based on operational needs. The same wheel mechanism contributes to both stability during seated work and support during elevated positions, making the added complexity justified through multi-functionality.
Data Source
AI summary
A robot includes a mobile base comprising a base body with a set of active wheels, an upper body comprising a torso with arms, and a pedestal linkage having a first end coupled to the base body by a first pivotable joint and a second end coupled to the torso by a second pivotable joint, wherein the pedestal linkage is pivotable relative to the base body to transform the robot between an elevated, elongated, or standing configuration and a lowered, contracted, or sitting configuration. In the second configuration, an omniwheel positioned at the base of the torso contacts the ground to improve stability of the system, and the pedestal linkage is received in a slot in the base body to produce a congruous work surface over which the torso may be rotated to face and upon which objects may be placed and manipulated during transport.