Mobile Robot Swinging-Leg Folding for Reduced Non-Operating Volume
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Solution Overview
Problem
The challenge of reducing the volume of robots with multiple mechanical assemblies in a non-operating state is addressed by controlling a mobile robot with a first and second swinging leg set, where the rotation axes of these leg sets are on the same vertical plane, allowing for transformation from an initial standing state to a folded state with the legs horizontally closed together.
Innovation Solution
A method and apparatus for controlling a mobile robot with a first and second swinging leg set, where the legs are arranged side by side and share a vertical rotation axis, enabling the robot to transition from an initial standing state to a folded state through controlled leg movements and potentially incorporating a torso structure for further volume reduction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot is provided with multiple mechanical assemblies (robot legs, robot arms, torso structure) to ensure higher operating performance, then the operating performance is improved, but the volume of the robot increases
Solution Approach 1:
The patent applies nesting by allowing the first and second swinging leg sets to be horizontally closed together when not in use. The legs are arranged side by side with rotation axes on the same vertical plane, enabling one leg set to be positioned within or adjacent to the other, thereby reducing the overall volume occupied by the robot's mechanical assemblies in non-operating state.
Solution Approach 2:
The patent employs dynamics by designing the leg sets to be movable between different configurations. The swinging legs can dynamically transition between an operating state where they are extended and positioned for movement, and a non-operating state where they are folded and horizontally closed together, allowing the robot to adapt its volume based on operational needs.
2Volume of moving object
If the robot legs are arranged side by side with rotation axes on the same vertical plane, then the robot can transform to a folded state with reduced volume, but the structural complexity increases
Solution Approach 1:
The patent merges the first and second swinging leg sets by positioning them side by side with their rotation axes on the same vertical plane. This merged arrangement allows both leg sets to share the same rotational plane, enabling them to be folded together horizontally and reducing the robot's overall volume while distributing the structural complexity across a coordinated system rather than separate independent mechanisms.
Data Source
AI summary
A method for controlling a mobile robot includes controlling the mobile robot to be in an initial standing state; and controlling the mobile robot to transform from the initial standing state to a folded state, wherein at least one from among a first swinging leg set of the mobile robot and a second swinging leg set of the mobile robot are horizontally closed together, wherein at least one of the first swinging leg set and the second swinging leg set includes swinging legs, wherein the first swinging leg set and the second swinging leg set are arranged side by side, and wherein a first rotation axis of the first swinging leg set and a second rotation axis of the second swinging leg set are located on a same vertical plane.