Humanoid Transformer Robot Linkage for Stable Sitting Mobility
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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 a fixed humanoid robot structure is used, then manufacturing is simpler, but the robot cannot transform between configurations (standing/sitting) to adapt to different workspaces
Solution Approach 1:
The robot is divided into distinct segments: a mobile base with mecanum wheels for locomotion, a pedestal linkage with pivot joints for height adjustment, and an upper body for manipulation. This segmentation allows each module to perform its specific function independently while transforming between configurations.
Solution Approach 2:
The robot employs dynamic elements including pivot joints in the pedestal linkage that allow continuous height adjustment between standing and sitting configurations, and mecanum wheels that enable omnidirectional movement. These dynamic components provide adaptability without requiring complete structural redesign.
2Length of moving object
If the upper body is elevated high above the base, then the robot has better visibility and reach, but stability decreases and mobility is reduced
Solution Approach 1:
The pedestal linkage uses pivot joints that allow dynamic adjustment of the upper body height. The system can transition between elevated and lowered positions based on task requirements, optimizing both visibility/reach and stability/mobility for each configuration.
Solution Approach 2:
The upper body is separated from the base through the pedestal linkage, allowing independent height adjustment. This extraction enables the upper body to be positioned at optimal heights for specific tasks while the base maintains stability through its mobile platform.
3Speed
If mecanum wheels are used for mobility, then the robot achieves omnidirectional movement and agility, but the robot cannot maintain stable sitting configuration without additional support
Solution Approach 1:
The mobile base is segmented with mecanum wheels for high-speed omnidirectional movement during standing tasks, while the pedestal linkage provides a separate stabilization mechanism when transitioning to sitting configuration. Each segment optimizes for its primary function.
Solution Approach 2:
The pedestal linkage acts as an intermediary between the mobile base and upper body, providing a stable platform for the upper body during sitting tasks while allowing the base to maintain mobility when standing. It mediates between the conflicting requirements of stability and mobility.
4Stability of the object's composition
If passive wheels are added to provide stability in sitting configuration, then the robot achieves better stability, but device complexity increases
Solution Approach 1:
Passive wheels are extracted as a separate stabilization component that only engages when needed for sitting configuration. During standing and mobile operations, only the active mecanum wheels are used, minimizing complexity during primary mobility functions.
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.