Compliant Robot Sole Zones for Impact Absorption and Stability

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Solution Overview

Problem

Rigid surfaces used in gait-capable robots and robotic systems do not adequately absorb impacts, leading to wear and tear, physical instability, and unpredictable oscillations, which affect performance and control due to high external impulses and forces during locomotion.

Innovation Solution

A compliant sole system with varying compliance zones is introduced, comprising multiple sole components attached to the robot's appendages, designed to absorb and distribute forces across different regions, mitigating impacts and providing stability during gait-based movements.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Strength

If rigid surfaces are used for the lowermost ground contacting portion of the robot, then structural strength and support are improved, but impact absorption and stability deteriorate due to high external impulses and forces

Engineering Contradiction:

Improvestructural strengthVSAvoidstability

Core Design Contradiction:

StrengthVSReliability

Solution Approach 1:

The sole is divided into multiple separate sole components (heel component, midfoot component, forefoot component) rather than using a single rigid structure. Each component can independently deform to absorb impacts while maintaining overall structural support, resolving the contradiction between strength and impact absorption.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Different regions of the sole have different compliance characteristics - the heel region has higher compliance for impact absorption during heel strike, while the forefoot region has lower compliance for propulsion. This local differentiation allows the sole to provide both strength and impact absorption in appropriate locations.

Inventive Principle:

Principle #3Local quality

2Strength

If rigid surfaces are used for the lowermost ground contacting portion of the robot, then structural support is improved, but impact absorption deteriorates leading to wear and tear

Engineering Contradiction:

Improvestructural supportVSAvoidimpact absorption

Core Design Contradiction:

StrengthVSObject-affected harmful factors

Solution Approach 1:

The compliant sole components are positioned between the rigid robot structure and the ground surface to absorb impacts before they reach the robot's internal structures, sensors, and systems. This beforehand cushioning prevents wear and tear on critical components while maintaining structural support.

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

Solution Approach 2:

The sole components are made from materials with specific compliance parameters that allow them to deform under impact loads and then recover. This parameter change from rigid to compliant material enables impact absorption while the components maintain sufficient structural support during normal operation.

Inventive Principle:

Principle #35Parameter changes

3Stability of the object's composition

If monolithic rigid surfaces are used for the lowermost ground contacting portion, then structural integrity is improved, but adaptability to surface conforming deteriorates

Engineering Contradiction:

Improvestructural integrityVSAvoidsurface conforming

Core Design Contradiction:

Stability of the object's compositionVSAdaptability or versatility

Solution Approach 1:

The sole is segmented into multiple components that can independently deform and conform to surface irregularities while maintaining overall structural integrity. Each segment adapts locally to the surface geometry, allowing the robot to traverse varied terrains without compromising structural stability.

Inventive Principle:

Principle #1Segmentation

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 compliant sole system reduces instability and oscillations by spreading impact forces over time, enhancing the robot's stability and control during locomotion on various surfaces, thereby improving performance and predictability.

Implementation Method 1

a first sole component having a ground-contacting surface and defining a first compliant zone of the sole. The sole may include a second sole component having a ground-contacting surface and defining a second compliant zone

Methodology Applied

Scientific EffectElasticity: Elasticity

Implementation Method 2

Rigid surfaces and materials typically used for the lowermost ground contacting and interfacing portion of the robot or robotic system do not generally absorb impacts sufficiently

Methodology Applied

Scientific EffectViscoelasticity: Viscoelasticity

Data Source

PatentUS11738452B1Sole with various compliant regions for robots

Publication Date: 2023.08.29 SARCOS CORP

AI summary

A robot system, comprising a robot capable of gait or gait-like operations, stance or stance-like operations, or a combination of these. The robot can comprise at least one ground-contacting appendage configured to facilitate locomotion of the robot. The system can further comprise a sole supported on the ground-contacting appendage that is operable to interface with a ground surface. The sole can comprise a robot interface facilitating attachment of the sole to the robot, a first sole component having a ground-contacting surface, the first sole component defining a first compliant zone, and a second sole component having a ground-contacting surface, the second sole component defining a second compliant zone. The first sole component can comprise a compliance the same or different than the second sole component.