Lockable Spring-Loaded Prismatic Spine for Agile Quadrupeds

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Solution Overview

Problem

Extending the morphological degrees of freedom (DoFs) in quadrupedal robots by adding more actuated joints is expensive and inefficient.

Innovation Solution

Implementing a compliant prismatic spine module with a scissor-lift structure, a locking mechanism, and a biasing mechanism to provide additional DoFs, allowing the spine to lock or unlock for different locomotion modes, and integrating it with a robot platform.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If more actuated joints are added to extend morphological DoFs, then locomotion agility is improved, but cost and device complexity increase

Engineering Contradiction:

Improvelocomotion agilityVSAvoiddevice complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The robot body is segmented into modular components (head module, trunk module, hip modules) that can be independently configured. The spine is divided into multiple vertebrae that can be independently actuated, allowing selective addition of DoFs in specific regions without requiring complex integration throughout the entire system.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The spine transitions from a static rigid structure to a dynamic compliant structure with passive springs and dampers. The passive elastic elements provide compliance and energy storage without requiring active control, reducing the complexity of actuation systems while maintaining locomotion agility.

Inventive Principle:

Principle #15Dynamics

2Adaptability or versatility

If more actuated joints are added to extend morphological DoFs, then locomotion agility is improved, but cost increases

Engineering Contradiction:

Improvelocomotion agilityVSAvoidcost

Core Design Contradiction:

Adaptability or versatilityVSEase of manufacture

Solution Approach 1:

The passive spring-damper elements in the spine provide compliance and energy storage functions without requiring active control systems. The mechanical elements automatically adapt to terrain variations and impact forces, eliminating the need for expensive sensors and controllers for each additional DoF.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The spine stiffness and damping characteristics are adjusted by changing physical parameters of passive elements (spring constants, damper coefficients) rather than adding complex active control systems. This allows tuning of locomotion performance at low cost through material selection and geometric design.

Inventive Principle:

Principle #35Parameter changes

3Use of energy by moving object

If a compliant spine with passive springs is used, then energy storage and impact absorption are improved, but spine stability during high-force maneuvers deteriorates

Engineering Contradiction:

Improveenergy storageVSAvoidspine stability

Core Design Contradiction:

Use of energy by moving objectVSStability of the object's composition

Solution Approach 1:

The system merges passive compliant elements (springs and dampers) with active locking mechanisms to create a hybrid spine structure. The passive elements provide energy storage and impact absorption during normal locomotion, while the active locking mechanism engages during high-force maneuvers to maintain spine stability and prevent excessive deformation.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The spine transitions dynamically between compliant and rigid states based on operational requirements. During impact absorption phases, the spine remains compliant to maximize energy storage. During high-force propulsion phases, the locking mechanism engages to provide structural stability, and the system adapts its stiffness in real-time to optimize performance.

Inventive Principle:

Principle #15Dynamics

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 spine module provides agile locomotion with improved energy storage and impact absorption, enabling more efficient and versatile robot movements while maintaining similar jumping performance to rigid spines.

Implementation Method 1

a biasing mechanism configured to bias the plurality of scissor segments to extend in the longitudinal direction

Methodology Applied

Scientific EffectElastic force: Elasticity

Implementation Method 2

a locking mechanism configured to switch between a locked state in which sliding of the carriage along the linear rail is inhibited and an unlocked state in which sliding of the carriage along the linear rail is permitted

Methodology Applied

Scientific EffectMechanical constraint: Mechanical Fastener

Data Source

PatentUS20250333125A1Lockable and spring loaded prismatic spine for quadrupedal locomotion

Publication Date: 2025.10.30 RGT UNIV OF CALIFORNIA

AI summary

In one aspect, a spine module is provided that suitably comprises: a pair of end plates; a scissor-lift structure mounted to the pair of end plates and comprising a plurality of coupled scissor segments; a rail unit mounted to each of the pair of end plates; and a carriage slidably mounted to each linear rail and including a locking mechanism coupled thereto, the locking mechanism being configured to switch between a locked state in which sliding of the carriage along the linear rail is inhibited and an unlocked state in which sliding of the carriage along the linear rail is permitted.