Humanoid Robot Central Actuator Layout for Torso Pitch, Roll, and Yaw
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional humanoid robots lack sufficient mobility and range of motion, failing to accurately mimic human movements and interact with complex environments effectively while being cost-effective and resource-efficient.
Innovation Solution
A humanoid robot design featuring a central region with a unique arrangement of actuators, including upper and spinal actuator assemblies, a connector assembly, and an articulation member, allowing for complex movements such as pitch, roll, and yaw, decoupling torso orientation from hip actuation, and providing increased mobility and functionality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional actuator arrangements are used in humanoid robots, then the robot structure is simpler, but the robot lacks sufficient mobility and range of motion to accurately mimic human movements
Solution Approach 1:
The robot is divided into distinct regions (upper region, lower region, and central region) with actuators strategically positioned in the central region to independently control torso movements. This segmentation allows the torso to achieve enhanced mobility through dedicated actuators while keeping other regions structurally simpler.
Solution Approach 2:
The patent introduces multi-axis rotational capabilities in the central region, allowing the torso to move not only vertically but also rotate horizontally and tilt laterally. This adds dimensional freedom to the robot's movement, enabling human-like posture adjustments and improving adaptability without requiring complete redesign of all robot regions.
2Adaptability or versatility
If more actuators are added to increase mobility, then the range of motion improves, but the peak torque requirements for hip actuators increase
Solution Approach 1:
By segmenting the control functions and placing actuators in the central region, the patent distributes the torque requirements across multiple actuators rather than concentrating them at the hips. This reduces the peak torque burden on hip actuators while maintaining overall mobility.
Solution Approach 2:
The central region actuators act as intermediaries between the upper and lower regions, providing intermediate support and movement control. This intermediary mechanism reduces the direct torque load on hip actuators by sharing the workload of maintaining robot posture and enabling movement.
3Ease of operation
If actuators are decoupled from hip actuation, then torso orientation control improves, but the device complexity increases
Solution Approach 1:
The patent segments the actuator control functions by dedicating specific actuators in the central region to torso orientation control, separate from hip actuation. This segmentation enables independent and precise control of torso orientation without interfering with hip movements, improving ease of operation.
Solution Approach 2:
The central region actuators serve multiple functions: they control torso orientation, support the upper region, and enable coordinated movement between upper and lower regions. This multi-functionality reduces the need for separate dedicated actuators for each function, thereby limiting the increase in device complexity.
Data Source
AI summary
A humanoid robot includes an upper region, a lower region, and a central region. The upper region includes a head, a torso, and a pair of arms coupled to the torso. The lower region is spaced apart from the upper region and includes a pair of legs. The central region is located between the upper region and the lower region and is configured to allow movement of the upper region and the lower region relative to one another. The central region of the humanoid robot is also configured to provide and facilitate at least three types of discrete movement—pitch, roll, and yaw—both forward and backward, both left and right, and independently or at the same time, of the upper region relative to the lower region to provide the humanoid robot with functionality that substantially mirrors movements that most human beings are typically capable of during daily life.