Mobile Robot Swing-Leg Structure for Static Stability
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Solution Overview
Problem
Biped humanoid robots face challenges in maintaining stability both when powered on and off, requiring dynamic adjustments to the center of gravity for balance.
Innovation Solution
A mobile robot design featuring at least three swing legs distributed side by side, grouped into a first and second swing leg group, with specific leg configurations and control methods to maintain stability without dynamic center-of-gravity adjustments, utilizing crossed gait and coordinated leg actions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a biped humanoid robot uses traditional two-leg structure, then the structure is simple, but the robot cannot maintain static stability and requires dynamic center-of-gravity adjustments
Solution Approach 1:
The robot's leg structure is segmented into multiple independent swing legs (at least three) distributed side by side, with each leg capable of independent movement. The legs are grouped into first and second swing leg groups that can operate semi-independently, allowing the robot to achieve static stability through distributed support rather than relying on dynamic balancing of a single center of gravity.
2Stability of the object's composition
If the robot dynamically adjusts center of gravity for balance, then stability is maintained during movement, but energy consumption increases and control complexity rises
Solution Approach 1:
The robot performs preliminary actions by positioning its swing legs in advance to create a stable support base before movement begins. The first and second swing leg groups are pre-positioned such that at least one group has legs on both sides of the center of gravity, establishing static stability beforehand rather than requiring continuous dynamic adjustment during movement.
3Stability of the object's composition
If the robot uses at least three swing legs distributed side by side, then static stability is achieved, but the device complexity increases
Solution Approach 1:
The robot employs an asymmetric leg configuration where at least one swing leg group has legs positioned asymmetrically relative to the center of gravity, with legs located on both sides. This asymmetric arrangement provides inherent static stability while the modular grouping into first and second swing leg groups manages the complexity through functional organization rather than uniform symmetry.
Data Source
AI summary
A mobile robot includes at least three swing legs distributed side by side that are grouped into a first swing leg group and a second swing leg group, and at least one from among the first swing leg group and the second swing leg group include at least two swing legs respectively located on two sides of a center of gravity of the mobile robot.