Limbed Robotic Module Yoke Leg Actuation for Terrain Navigation
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Solution Overview
Problem
Existing limbed and limbless robots face limitations in navigating obstacle-ridden terrain and are outperformed by their natural biological counterparts in terms of mobility.
Innovation Solution
A limbed robotic module and system design that includes a frame, leg motors, a yoke, and legs with hinged portions, allowing for independent rotation and compliance, enabling effective locomotion in diverse terrains.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If early generation snake-like robots use muscle morphology with pairs of actuators to mimic bilateral motion, then the robot can achieve serpentine movement, but the robot has limited success in navigating obstacle-ridden terrain
Solution Approach 1:
The robot body is divided into multiple modular segments that can independently articulate and adapt to terrain variations. Each segment contains its own actuation system, allowing distributed control and improved navigation through complex terrains while maintaining overall system reliability.
Solution Approach 2:
The robot employs dynamic actuation patterns where actuators can independently adjust their motion parameters in real-time based on terrain feedback. This dynamic control enables the robot to transition between different locomotion modes and adapt to varying terrain conditions, resolving the contradiction between versatility and reliability.
2Reliability
If centipede-like robots use segment frames with motorized segments to mimic centipede movements, then the robot can achieve multi-legged locomotion, but the robot is still outperformed by natural biological counterparts in mobility
Solution Approach 1:
Different segments of the robot are equipped with specialized local properties - some segments have enhanced articulation for navigating obstacles, while others have optimized actuation for propulsion. This local differentiation allows the robot to maintain high mobility performance while adapting to diverse terrain types.
Solution Approach 2:
The modular segment design allows each segment to perform multiple functions - propulsion, steering, and obstacle negotiation. This multi-functionality enables the robot to achieve both high mobility performance and broad terrain adaptability, resolving the contradiction between reliability and versatility.
3Ease of operation
If robots use rigid multi-segmented structures to mimic biological movements, then the robot can achieve controlled locomotion, but the robot has limited success in navigating obstacle-ridden terrain compared to natural counterparts
Solution Approach 1:
The robot incorporates flexible articulation mechanisms between segments that allow passive compliance with terrain variations. These flexible connections enable the robot to maintain controlled locomotion while automatically adapting to obstacles without requiring complex active control, resolving the contradiction between ease of operation and adaptability.
Data Source
AI summary
Various implementations include a limbed robotic module. The module includes a frame, a first and second motor, a yoke, and a leg. The first motor is rigidly coupled to the frame and has a rotatable first shaft. The second motor is rigidly coupled to the frame and has a rotatable second shaft. The yoke is rigidly coupled to the first shaft such that rotation of the first shaft rotates the yoke relative to the frame. The yoke has a shoulder extending radially outwardly from the first shaft. The leg has a first end, a second end, and a hinge portion disposed between the first and second ends. The hinge portion is hingedly coupled to the shoulder of the yoke. The first end is coupled to the second shaft such that rotation of the second shaft rotates the second end relative to the yoke.