Modular Robotic Service Vehicle for Terrain-Adaptive Mobility
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Solution Overview
Problem
Current robotic vehicles are limited in their ability to counter-stabilize and assist operators when navigating rough terrain or accessing objects, as they rely on steering actuators and wheeled legs for movement and shock absorption, but lack the necessary flexibility and degrees of freedom to effectively interact with the environment.
Innovation Solution
A modular robotic service vehicle (MRSV) with a modular chassis, robotic legs, and arms that provide multiple degrees of freedom, allowing it to traverse various terrains, stairs, and interact with objects, equipped with a control system using posture decision quadratic programming for real-time motion and position control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If steering actuators and wheeled legs are used for movement and shock absorption, then the vehicle can traverse rough terrain, but the vehicle lacks flexibility and degrees of freedom to effectively interact with the environment
Solution Approach 1:
The vehicle is divided into modular components including a base platform, multiple robotic legs with independent degrees of freedom, and robotic arms. Each leg assembly can be independently controlled to provide both locomotion and stabilization functions, allowing the vehicle to adapt to various terrains while maintaining structural manageability through modularity.
Solution Approach 2:
The robotic legs serve dual purposes: they provide propulsion for moving the vehicle across terrain and simultaneously act as counterbalancing mechanisms for stabilization. The robotic arms add object manipulation capabilities while sharing the same degree of freedom architecture, creating a multi-functional system that addresses both mobility and interaction requirements.
2Adaptability or versatility
If robotic legs and arms are added to provide multiple degrees of freedom, then the vehicle can interact with objects and assist operators, but the device complexity increases
Solution Approach 1:
The control systems for the robotic legs and arms are integrated into a unified control architecture that manages all degrees of freedom simultaneously. This merged control approach allows coordinated operation of locomotion and manipulation functions, reducing the overall control complexity compared to separate independent control systems while enabling sophisticated interactive behaviors.
Solution Approach 2:
The vehicle employs dynamic control strategies where the robotic legs continuously adjust their configuration in real-time to maintain stability while moving. The control system dynamically allocates degrees of freedom between locomotion and stabilization tasks based on current operational conditions, allowing flexible adaptation without requiring overly complex predetermined control sequences.
Data Source
AI summary
The application discloses a modular robotic service vehicle (MRSV) including a chassis and body comprising one or more robotic arms and robotic legs with drive wheel providing stepping, walking and driving capability to transport passengers and/or cargo and a control system comprising kinematics equations providing real-time administration involving controlling one or more robotic legs and/or robotic arms to transition in a retracted position and/or in protracted position for achieving walking, driving, attaining and handling objects. Accordingly, an operator or a Network associating with providing real-time administration involving controlling motion and position of the MRSV according to an assignment relative for walking, driving, attaining and handling objects, and aiding or assisting a user.