Walking Robot Propulsion Posture Control for Longer Range
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Solution Overview
Problem
Existing walking robots face limitations in increasing their moving distance per unit energy capacity when using propulsion devices, as they are constrained by the efficiency of their walking posture and propulsion mechanisms.
Innovation Solution
A walking robot equipped with arm and leg units connected via joint actuators, featuring multiple propulsion devices that can change posture and direction to optimize thrust during movement, utilizing a movable device to adjust the posture of propulsion units and control the leg units to reduce air resistance and enhance propulsion efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Use of energy by moving object
If the robot moves using propulsion devices in a walking posture, then the robot can maintain stability and control, but the moving distance per unit energy capacity is limited
Solution Approach 1:
The propulsion device is made dynamically adjustable through a posture control mechanism that can change the orientation and angle of the propulsion device relative to the robot body. This allows the system to optimize thrust direction and magnitude based on movement requirements, thereby increasing moving distance per unit energy capacity while maintaining manageable complexity through controlled adaptability.
2Use of energy by moving object
If the propulsion device posture is fixed during walking, then the device structure is simple, but the propulsion efficiency is reduced
Solution Approach 1:
The posture control mechanism enables dynamic adjustment of the propulsion device orientation during movement. By allowing the propulsion device to change its posture relative to the robot body, the system optimizes thrust generation efficiency while the movable device structure remains sufficiently simple through targeted rather than comprehensive adjustability.
Solution Approach 2:
The system changes the orientation parameter of the propulsion device to optimize performance. By adjusting the angle and direction parameters of the propulsion device through the posture control mechanism, propulsion efficiency is enhanced without requiring complete structural redesign, thus balancing efficiency gains with structural simplicity.
3Use of energy by moving object
If the leg unit extends in the forward direction during propulsion, then the robot maintains a natural walking posture, but air resistance increases reducing movement efficiency
Solution Approach 1:
The system changes the orientation parameter of the leg unit from the natural forward extension to an opposite direction during propulsion. This parameter change reduces the cross-sectional area exposed to air resistance, thereby decreasing drag forces and improving overall movement efficiency without compromising the robot's ability to return to natural posture when needed.
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 robot significantly increases its moving distance per unit energy capacity by optimizing propulsion efficiency through posture control and direction adjustment of propulsion devices, allowing for longer-range movement compared to traditional walking postures.
Implementation Method 1
a plurality of propulsion devices which are attached to the robot and apply thrust to the robot
Data Source
AI summary
A walking robot includes a plurality of propulsion devices that are attached to the robot and apply thrust to the robot. At least one propulsion device of the plurality of propulsion devices is movably attached to a body unit by a movable device. The walking robot includes a control device. The control device performs posture control of changing a posture of the propulsion device attached to the body unit from a posture during walking by controlling the movable device during propulsion that is moving using the propulsion device. The control device performs direction control of a leg unit such that an extending direction of the leg unit during propulsion is opposite to a forward direction by controlling a hip joint actuator.