Intersecting-Axis Humanoid Robot Hip Joint for Flexible Motion
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Solution Overview
Problem
Existing humanoid robots lack flexibility and maneuverability due to their joint dynamics differing from humans, limiting their human-like motion and increasing the risk of internal interference during movements.
Innovation Solution
The hip joint of the humanoid robot is designed with a configuration of three actuators, each rotating around axes that intersect at a common point, with specific angular orientations relative to each other, mimicking human hip joint dynamics to minimize interference and enhance flexibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If existing humanoid robots use conventional joint dynamics, then they can perform basic human-like walking and running movements, but they lack flexibility and maneuverability
Solution Approach 1:
The patent changes the key parameter of rotation axis orientation in the hip joint mechanism. By configuring three rotation axes (first, second, and third axes) with specific inclination angles relative to each other, the joint achieves human-like movement flexibility while maintaining manageable complexity through systematic geometric relationships
2Reliability
If humanoid robots use different dynamics from humans, then they can achieve stable movements, but they increase the risk of internal interference during movements
Solution Approach 1:
The patent modifies the geometric parameters of the rotation axes, specifically setting the first rotation axis to be inclined at 45 degrees to the second rotation axis, and the second rotation axis to be inclined at 45 degrees to the third rotation axis. These specific angle parameters enable human-like movement patterns that reduce internal interference while preserving stability
Solution Approach 2:
The patent employs a spherical intersection point where all three rotation axes converge, creating a spherical coordinate system for joint movement. This spherical geometry naturally accommodates multi-directional human-like movements while minimizing mechanical interference between moving components
3Ease of operation
If humanoid robots use conventional hip joint design, then the structure is simpler, but they cannot perform smooth human-like movements with reduced torque and speed requirements
Solution Approach 1:
The patent divides the hip joint into three distinct actuator segments, each responsible for rotation around a specific axis. This segmentation allows independent control of different movement degrees of freedom, enabling smooth human-like motions while organizing complexity into manageable modular components
Solution Approach 2:
The patent introduces three-dimensional spatial orientation of rotation axes with specific inclinations, moving beyond conventional single-plane rotation. This dimensional approach enables complex human-like movements including crossover steps while distributing torque and speed requirements across multiple axes
Data Source
AI summary
A hip joint of a humanoid robot may include: a first actuator including a first rotating part configured to rotate around a first rotation axis; a second actuator connected to the first rotating part, the second actuator including a second rotating part configured to rotate around a second rotation axis inclined with respect to the first rotation axis; and a third actuator connected to the second rotating part, the third actuator including a third rotating part configured to rotate around a third rotation axis inclined with respect to the second rotation axis.