Variable Robot Foot With Sliding Support Plate
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Solution Overview
Problem
Existing robot foot technologies face challenges in maintaining dynamic stability during walking, as wide soles interfere with walking behavior and the use of force sensors and actuators is costly and power-intensive, while sliding support members can also disrupt movement.
Innovation Solution
A variable supporting foot apparatus with a guide groove, a sliding support plate, and a power conversion unit that utilizes a power generation member to convert generated driving force into rotational motion, extending the support plate to increase the foot's surface area when in contact with the ground, enhancing stability without external power supply.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a wide sole is designed to prevent the robot from falling, then stability is improved, but walking behavior is interfered with
Solution Approach 1:
The foot structure transitions from a static wide sole to a dynamic configuration where the support plate can slide out to extend the surface area only when needed for stability, allowing the foot to adapt its shape based on operational requirements
Solution Approach 2:
The foot is divided into the main foot module and a separable support plate that can be extended or retracted, allowing the stability function to be activated only when required without continuously interfering with walking motion
2Stability of the object's composition
If force sensors and actuators are mounted on the foot to sense ZMP and provide support, then stability control is improved, but cost and power consumption increase
Solution Approach 1:
The support plate utilizes the robot's own body weight and gravitational force as the power source, eliminating the need for external actuators and sensors. The weight of the robot automatically drives the support plate to extend when the foot contacts the ground
Solution Approach 2:
The expensive force sensors and actuators are removed from the foot structure, replacing them with a passive mechanical system that uses the robot's existing weight for stability control
3Stability of the object's composition
If sliding support members are provided to move according to foot positions, then stability is improved, but walking is interfered with
Solution Approach 1:
The support plate is designed to slide out dynamically based on the foot's contact state with the ground, automatically adapting to the walking cycle without requiring active control or interfering with the natural walking motion
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 increases the foot's surface area in contact with the ground, preventing the robot from falling due to rolling or pitching, thereby enhancing dynamic stability during walking without the need for expensive sensors or actuators.
Implementation Method 1
A portion of the power generation member located at a lower end thereof extends lower than a lower surface of the foot module and is configured to cause the power generation member to generate a driving force as the foot module approaches the ground
Data Source
AI summary
An apparatus for a variable supporting foot of a robot includes a guide groove formed in a foot module of the robot and having an open end. A support plate is disposed in the guide groove and can slide out of the open end of the guide groove. A power conversion unit has one end connected to the support plate. A power generation member is connected to the other end of the power conversion unit, and has a portion at a lower end thereof that extends lower than a lower surface of the foot module. The power generation member generates a driving force as the foot module approaches the ground. The driving force is converted into a rotational motion and is transmitted to the support plate by the power conversion unit to cause the support plate to slide out of the guide groove of the foot module.