Integrated Humanoid Robot Platform Without External Tethers
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Solution Overview
Problem
Existing humanoid robots are not fully integrated, safe, robust, and capable of navigating typical human environments for human-scale tasks such as lifting and manipulating objects, often requiring external power and communication lines.
Innovation Solution
A fully integrated humanoid robotics platform with a mobile base, electromechanical components, and centralized power and computing systems, enabling safe and predictable operation in human environments, capable of performing human-scale tasks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If humanoid robots are designed with mobile bases and electromechanical components, then they can navigate human environments and perform human-scale tasks, but they require external power and communication lines which reduces integration and reliability
Solution Approach 1:
The patent integrates power systems, computing resources, sensors, and actuators into a single unified robotic platform. The mobile base combines propulsion systems with power distribution and communication modules, eliminating the need for external power and communication lines while maintaining the capability to navigate human environments and perform complex tasks
Solution Approach 2:
The robotic system is designed as a universal platform that can perform multiple human-scale tasks through reconfigurable electromechanical components. The integrated architecture allows the same base system to adapt to different tasks and environments without requiring external support infrastructure
2Reliability
If humanoid robots are designed with integrated power and computing systems, then they achieve full integration and operational independence, but the device complexity increases
Solution Approach 1:
The patent divides the complex robotic system into modular subsystems including mobile base modules, humanoid arm modules, sensor modules, and power modules. Each module is independently designed and tested before integration, which manages system complexity while achieving full integration and operational independence
Solution Approach 2:
The system employs a nested architecture where smaller subsystems are integrated within larger modules. For example, computing systems are integrated within the mobile base, which itself contains power distribution systems, creating a hierarchical integration structure that manages complexity through organized nesting
3Adaptability or versatility
If humanoid robots use lightweight humanoid arms and distally mounted hands, then they can perform delicate human-scale tasks, but the mechanical complexity and cost of the arms increase
Solution Approach 1:
The patent replaces complex mechanical linkages with electromechanical actuators and control systems. The humanoid arms use electric motors with feedback control mechanisms rather than traditional mechanical joints, reducing mechanical complexity while maintaining the capability to perform delicate human-scale tasks with distally mounted hands
Data Source
AI summary
A system may include a mobile base, a spine structure, a body structure, and at least one robotic arm, each of which is movably configured to have significant human-scale capabilities in prescribed environments. The one or more robotic arms may be rotatably coupled to the body structure, which may be mechanically associated with the mobile base, which is preferably configured for holonomic or semi-holonomic motion through human scale travel pathways that are ADA compliant. Aspects of the one or more arms may be counterbalanced with one or more spring-based counterbalancing mechanisms which facilitate backdriveability and payload features.