Legged Mine Detection Robot With Dynamic Foothold Avoidance
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Solution Overview
Problem
Current demining technologies using wheeled or quasi-static legged robots face challenges in navigating around detected landmines, leading to potential accidental detonation or inefficient clearance due to non-holonomic issues and poor energetic efficiency.
Innovation Solution
A legged robotic platform equipped with a manipulator arm and mine detector, utilizing a foot placement controller to select stable footholds and dynamically avoid danger areas, while allowing for precise ground pressure application for detonation if needed, and incorporating whole-body control for balance during sweeping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If wheeled systems are used for mine detection and navigation, then the system can navigate to areas where landmines may be detected, but the system has significant difficulty navigating around detected mines due to non-holonomic nature, risking inadvertent triggering
Solution Approach 1:
The patent transitions from static wheeled systems to dynamic legged systems that can adapt their motion patterns in real-time. The legged robot uses dynamic balance control and can modify its gait to step over or navigate around detected mines, providing the ability to dynamically respond to hazardous terrain rather than being constrained by non-holonomic wheel constraints
Solution Approach 2:
The patent introduces a whole-body control system as an intermediary that coordinates multiple legs and body segments to achieve safe navigation. This control system acts as a mediator between the detection system and the locomotion system, processing mine location data and generating appropriate foot placement commands to avoid triggering detected mines
2Ease of operation
If quasi-static legged robots are used for mine detection, then the robot can navigate terrain, but the slower speeds inhibit clearing speed and poor energetic efficiency limits operational use
Solution Approach 1:
The patent employs dynamic legged locomotion with real-time balance control rather than quasi-static movement. The robot uses dynamic gait patterns that allow faster movement while maintaining stability, and the whole-body control system enables energetic recovery mechanisms that improve operational efficiency and extend mission duration
Solution Approach 2:
The patent changes the operational parameters of the legged robot by implementing dynamic balance control and adaptive gait selection. The system can adjust its speed, step frequency, and body posture in real-time based on terrain conditions and mission requirements, optimizing both clearing speed and energetic efficiency
3Ease of operation
If wheeled systems are used for intentional detonation, then the system can reach the mine location, but the system lacks precision in controlling the pressure applied on the ground
Solution Approach 1:
The patent applies local quality control by enabling independent pressure regulation of each foot. The legged robot can selectively apply different forces with different feet, allowing precise control of ground pressure at the specific location where detonation is intended. This localized force control is achieved through individual actuator control in the legged system
Solution Approach 2:
The patent changes the pressure application parameter from the distributed contact of wheeled systems to the concentrated, controllable contact of legged feet. The whole-body control system regulates the force and impulse delivered by each foot, enabling precise control of ground pressure for intentional detonation while maintaining positioning accuracy
Data Source
AI summary
Systems and methods for landmine avoidance by using a legged robot platform are disclosed including mine detection equipment, a robotic arm, a legged robot capable of transporting that equipment to a site of interest to identify a potential location of a landmine.Once a site of interest is identified, the robot may step over or actively avoid the designated area of interest.