Multi-legged Robot Body Leg Coordination Mechanism
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Solution Overview
Problem
Conventional multi-legged walking robots lack consideration of the overall walking pattern between the body and legs, resulting in unsmooth movement.
Innovation Solution
A multi-legged apparatus with a body portion, front and rear leg portions, and a driving mechanism that includes links and a hydraulic actuator to rotate and move the body in a natural, synchronized manner with the legs, mimicking the walking pattern of multi-legged animals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If conventional multi-legged robots focus only on leg design at biomimetics level, then leg structure is simplified, but movement smoothness between body and legs deteriorates
Solution Approach 1:
The patent merges the body movement mechanism with the leg driving mechanism into an integrated system. The body is equipped with a driving portion that simultaneously controls body rotation and leg rotation, creating a unified movement system rather than separate independent systems. This integration ensures smooth coordination between body and leg movements.
Solution Approach 2:
The patent introduces dynamic adjustment capabilities through link portions that can rotate in lateral directions and up-down portions that can rotate in vertical directions. These dynamic components allow the system to adapt movement patterns in real-time, enabling smooth transitions between different walking phases and maintaining coordination between body and legs throughout the movement cycle.
2Device complexity
If multi-legged robots use simple body-leg connection, then device complexity is reduced, but walking pattern naturalness deteriorates
Solution Approach 1:
The patent segments the body-leg connection into multiple functional components: a driving portion for body rotation, link portions for lateral rotation, and up-down portions for vertical rotation. This segmentation allows each component to handle specific aspects of movement, creating a more natural and adaptable walking pattern while maintaining manageable system complexity.
Solution Approach 2:
The patent introduces link portions and up-down portions as intermediary elements between the body and legs. These intermediaries transmit and coordinate movements between the body driving portion and the leg rotating portions, enabling natural walking patterns through coordinated motion transmission rather than direct rigid connection.
3Device complexity
If multi-legged robots lack body movement coordination, then device complexity is lowered, but movement efficiency deteriorates
Solution Approach 1:
The patent implements preliminary action by equipping the body with a driving portion that proactively controls body rotation in anticipation of leg movements. The body rotation is coordinated with leg rotation phases, preparing the body position beforehand to optimize movement efficiency and reduce energy consumption during the walking cycle.
Solution Approach 2:
The patent establishes a coordinated control system where the driving portion monitors and adjusts body rotation based on leg rotation status. This feedback mechanism ensures that body movements are continuously optimized to match leg movements, maintaining high movement efficiency through real-time coordination.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The apparatus enables a more natural and smooth motion of the multi-legged robot by coordinating the movement of the body and legs, enhancing stability and movement efficiency.
Implementation Method 1
an up-down driving portion which vertically moves a portion of the up-down portion connected to the other side of the connecting member
Data Source
AI summary
A multi-legged apparatus enables a multi-legged robot to provide a natural motion, and includes a body portion comprising a body, a front leg portion comprising a front fixing portion fixed to the body, and a front rotating portion rotatably connected to the front fixing portion, a rear leg portion connected to the body and a rear leg portion comprising a rear rotating portion rotatably connected to the rear fixing portion, and a first link rotatably connected, at both ends, to the front and rear rotating portions, respectively. The body portion additionally includes a driving portion which rotates one of the front and rear rotating portions. By employing the first link and the driving portion, the body of the multi-legged robot is moved to and fro and left and right naturally in accordance with the movement of the legs, in a similar pattern as that generally shown in actual multi-legged animals.