Multimodal Dynamic Robotic System for Complex Terrain Traversal
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Solution Overview
Problem
Current robotic systems face difficulties in traversing complex terrain and harsh environments, as wheeled robots struggle with rough terrain and harsh conditions, and existing solutions either increase size and weight or fail to enhance operational features like payload capacity.
Innovation Solution
A multimodal robotic system with independently driven wheels, a system controller, and a power source, enabling functions such as forward motion, climbing, hopping, balancing, and throwing, through symmetric and anti-symmetric arm rotations and center of gravity adjustments, allowing efficient operation on diverse terrains and in harsh conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If wheel size is increased to improve terrain traversal capability, then the robot can handle rough terrain better, but the overall size and weight of the robot increase
Solution Approach 1:
The patent applies dynamics by making the wheel assembly movable rather than fixed. The wheel can be raised and lowered relative to the robot body, allowing the robot to adapt its configuration to different terrain conditions. This dynamic adjustment enables the robot to traverse rough terrain without requiring permanently large wheels, thus avoiding the weight penalty of oversized wheels when they are not needed.
Solution Approach 2:
The wheel assembly is segmented from the main robot body through an independent suspension system. The wheel can move independently relative to the body, allowing the robot to maintain a compact form factor while still achieving large ground clearance when needed for terrain traversal.
2Reliability
If wheel size is increased to improve terrain traversal capability, then the robot can handle rough terrain better, but the robot complexity increases
Solution Approach 1:
The patent uses a dynamic suspension system that allows the wheel to move relative to the body. This dynamic configuration provides terrain traversal capability without requiring multiple fixed wheel size options, thereby avoiding the complexity of interchangeable wheel systems or multiple wheel sets.
3Reliability
If hopping capability is added to improve terrain traversal, then the robot can overcome obstacles better, but the device complexity increases
Solution Approach 1:
The patent merges the hopping mechanism with the existing wheel assembly and suspension system. The same actuator that controls wheel movement relative to the body also enables the hopping motion by lifting the entire robot body. This integration allows hopping capability to be added without requiring a completely separate mechanical system, thus limiting the increase in device complexity.
Solution Approach 2:
The wheel assembly serves multiple functions: it provides both rolling locomotion and hopping capability. The suspension system that allows wheel movement relative to the body also enables the robot to hop by lifting the entire body. This multi-functionality reduces the need for separate specialized mechanisms for each mode of movement.
4Adaptability or versatility
If multimodal capability is added to improve operational versatility, then the robot can function in diverse environments, but the device complexity increases
Solution Approach 1:
The patent implements a universal wheel assembly that can perform multiple functions: rolling locomotion, hopping, and climbing. The same basic mechanism with adjustable wheel position and angle provides adaptability to different terrains and operational requirements, avoiding the need for completely separate specialized systems for each function.
Solution Approach 2:
The dynamic suspension system allows the robot to adapt its configuration for different operational modes. The wheel can be positioned and angled differently to optimize performance for rolling, hopping, or climbing, providing operational versatility through dynamic reconfiguration rather than through multiple fixed specialized systems.
Data Source
AI summary
Robotic systems include a frame or body with two or more wheels rotatably mounted on the frame or body and a motor for independently driving each wheel. A system controller generates a signal for actuating each motor based on information provided by one or more sensors in communication with the system controller for generating feedback signals for providing reactive actuation of the motors for generating one or more functions selected from the group consisting of forward motion, backward motion, hopping, climbing, and balancing. A power source is included for providing power to operate the drive motors, system controller and the one or more sensors.