Humanoid Robot Mobile Base for Stable Bipedal Manipulation
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Solution Overview
Problem
Current humanoid robots face challenges in mobility and stability, particularly when attempting to perform tasks that require agility and interaction with uneven terrain or low-level objects, as they often lack the necessary degree of freedom and balance to effectively use their legs and torso.
Innovation Solution
A bipedal robot design is implemented, where the robot body is mechanically coupled to a mobile base, allowing the legs and torso to be actuated at various joints to interact with the ground and objects, with the base providing stability and anchoring to prevent tipping, enabling tasks like picking up objects and navigating complex environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a bipedal robot design is implemented to enhance mobility and agility, then the robot's range of work capabilities is improved, but stability and balance are compromised
Solution Approach 1:
A mobile base is introduced as an intermediary component between the bipedal robot body and the ground. The mobile base provides a stable platform with wheels or tracks that ensures stable movement and positioning, while the robot body mounted on top can perform articulated movements for task execution. This mediator resolves the contradiction by providing stability at the base level while allowing agility at the robot body level.
Solution Approach 2:
The robot system is divided into two independent segments: a mobile base and a robot body. The mobile base handles locomotion and provides stable support, while the robot body handles task-specific articulated movements. This segmentation allows each component to optimize its function independently, with the base providing stability and the body providing versatility.
2Stability of the object's composition
If the robot body is mechanically coupled to a mobile base to ensure stability, then balance is improved, but mobility and autonomy are restricted
Solution Approach 1:
The coupling between the mobile base and robot body is designed to be dynamic rather than rigid. The mobile base can move independently to provide stable positioning, while the robot body can articulate and move relative to the base to perform tasks. This dynamic coupling allows both stability from the base and mobility from the body to coexist.
3Adaptability or versatility
If multiple degrees of freedom are added to the robot body for task execution, then adaptability is improved, but complexity of the system increases
Solution Approach 1:
The mobile base acts as an intermediary that simplifies the overall system architecture. By handling locomotion and stable positioning at the base level, the complexity of coordinating multiple degrees of freedom for both movement and task execution is reduced. The robot body can focus on task-specific articulations without needing to independently manage balance and locomotion.
Data Source
AI summary
A robot includes a robot body having a first robotic leg, a second robotic leg, and a robotic torso. The first robotic leg includes a first foot, a first lower leg member coupled to the first foot, and a first upper leg member coupled to the first lower leg member. The second robotic leg includes a second foot, a second lower leg member coupled to the second foot, and a second upper leg member coupled to the second lower leg member. The robot includes a mobile base having a platform to which the first and second feet of the robot body are fastened.