Spring-Coupled Legged Robot Control for Stable Terrain Adaptation
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Solution Overview
Problem
Current legged robots lack effective control systems and mechanisms for stable navigation and interaction in varied environments, particularly in terms of terrain and user interaction, which limits their versatility and functionality compared to wheeled robots.
Innovation Solution
A mobile robot design featuring a frame with multiple legs, each equipped with motors and springs, along with a sophisticated control system that utilizes sensors and motors to achieve stable quadrupedal motion, interact with users, and adapt to environmental changes, including facial recognition and touch sensor integration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If legged robots use mechanical limbs for movement in varied terrains, then navigation capability in complex environments is improved, but control system complexity and stability increase
Solution Approach 1:
The control system continuously receives feedback from sensors (force sensors, distance sensors, facial recognition cameras) and adjusts motor commands in real-time to maintain stability and achieve desired motion. The system processes sensor data to generate appropriate motor control signals, creating a closed-loop control system that adapts to terrain variations and maintains balance.
Solution Approach 2:
The control system is divided into multiple independent control modules, each responsible for specific functions such as motor control, sensor data processing, facial recognition, and motion coordination. This modular architecture allows each module to be optimized independently while reducing overall system complexity through functional decomposition.
2Adaptability or versatility
If legged robots incorporate multiple sensors and interaction mechanisms, then user interaction capability is improved, but device complexity increases
Solution Approach 1:
The control system serves multiple functions through a unified processing architecture that handles motor control, sensor data acquisition, facial recognition, and user interaction commands. The frame structure also serves dual purposes as both structural support and mounting platform for sensors and motors, reducing the need for separate dedicated components.
Solution Approach 2:
Multiple sensors (force sensors, distance sensors, facial recognition cameras) are integrated into a single control system that processes all inputs through unified processing logic. The head assembly combines facial recognition cameras with the control system, merging perception and interaction functions into integrated modules rather than separate systems.
3Stability of the object's composition
If legged robots use motors and springs in each leg, then motion stability is improved, but manufacturing complexity and cost increase
Solution Approach 1:
Each leg is equipped with localized motors and springs that provide independent actuation and passive compliance specific to that leg's movement requirements. This distributed actuation approach allows each leg to be optimized for its specific function while maintaining overall system stability, and enables modular manufacturing where legs can be produced independently and assembled.
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 solution enables robust navigation and interaction capabilities, enhancing the robot's stability and adaptability in diverse terrains and user interactions, while also allowing for dynamic user bonding and familiarity recognition.
Implementation Method 1
A spring is coupled to the spring attachment point of the motor and the leg
Data Source
AI summary
Legged robots and methods for controlling legged robots are disclosed. In some examples, a mobile robot includes a frame, legs, and a control system. The mobile robot includes, for each leg, a motor coupled to the frame, the motor comprising a motor arm and a spring attachment point, the motor being configured to rotate the motor arm and the spring attachment point. The mobile robot includes, for each leg, a spring coupled to the spring attachment point of the motor and the leg, wherein the leg includes a track shaped to receive the motor arm, and wherein the leg is coupled to the spring such that the motor arm is within the track. The control system is configured, e.g., by virtue of appropriate programming, to control the motors to cause the mobile robot to move.