DESC:4. DESCRIPTION

Technical Field of the Invention

The present invention relates to a field of robotics, specifically focusing on the design and development of a multi-legged robotic system with multi-function limbs. The system is intended to provide enhanced stability and versatility for various applications, including military operations, logistical support, and reconnaissance.

Background of the Invention

The operational landscape of the Indian Army is characterized by its diverse terrains ranging from dense forests to arid deserts and towering mountains. Among these, mountainous regions pose particularly formidable challenges due to their rugged topography, limited infrastructure, and harsh weather conditions. In such environments, the logistical challenges of evacuating injured soldiers, replenishing supplies to forward operating bases, and maintaining a consistent supply chain become significantly amplified.

Traditionally, the military has relied on mules for transport in such environments due to their ability to traverse steep and uneven terrains that are impassable by vehicles. While mules offer a degree of mobility and can carry significant loads, they also come with notable disadvantages, including the need for care and handling, limited speed, and vulnerability to injury or fatigue.

In an attempt to modernize and enhance operational capabilities, simpler robotic systems with basic automation features have been introduced to aid in transport and reconnaissance tasks. However, these early robotic systems lack the advanced sensory and autonomous capabilities required to adapt to the rapidly changing and unpredictable conditions typical of mountainous military operations. These systems are also not optimized for multitasking, such as simultaneously navigating complex terrain and performing intricate logistical tasks like casualty evacuation or precise supply drops.

Given the critical importance of maintaining operational effectiveness and ensuring the safety of military personnel, there is a dire need for an innovative solution that can enhance logistical support and reconnaissance capabilities in mountainous terrains. This solution must be capable of operating autonomously, adapting to changing conditions, and performing multiple functions to support ground troops effectively.

The present invention addresses these needs through the development of a sophisticated six-legged robotic system designed specifically for military operations in challenging terrains. This system, leveraging advanced robotics technology, is equipped with multi-function limbs that offer enhanced stability and versatility. The robotic system comprises a suite of high-tech components, including advanced sensors and control algorithms for autonomous navigation and environment interaction, enabling the robot to make intelligent decisions based on real-time data. multi-function limbs can switch between providing stability and manipulating payloads as required, which is crucial for tasks ranging from transporting supplies to evacuating casualties. Hydraulic and engine units provide the necessary power and propulsion, allowing for efficient movement and operation even in the most demanding conditions. The modular payload bay enables quick customization of the robot's capabilities according to specific mission requirements, enhancing operational flexibility.

By integrating these technologies, the robotic system not only surpasses the capabilities of previous solutions in terms of mobility, adaptability, and functionality but also significantly reduces the risks and costs associated with military operations in mountainous regions. This inventive approach represents a significant leap forward in the field of military robotics, promising to transform how logistical and reconnaissance missions are conducted in some of the most challenging environments faced by the armed forces.

Brief Summary of the Invention

The following presents a simplified summary of the disclosure in order to provide a basic understanding to the reader. This summary is not an extensive overview of the disclosure and it does not identify key/critical elements of the invention or delineate the scope of the invention. Its sole purpose is to present some concepts disclosed herein in a simplified form as a prelude to the more detailed description that is presented later.

According to an aspect of the present invention, a robotic system designed to revolutionize military operations in challenging terrains is disclosed. The system is designed specifically to address the multifaceted logistical and reconnaissance demands faced by armed forces in rugged environments such as mountainous regions. The system embodies an integration of advanced robotics technology and innovative engineering solutions, offering substantial improvements over traditional methods and early-stage robotic systems previously employed in similar settings.

The primary objectives of this robotic system are manifold, emphasizing enhanced operational efficiency, safety, and versatility. Firstly, the system aims to provide enhanced navigational capabilities, enabling autonomous navigation through rough terrains with higher stability and efficiency than conventional vehicles and earlier robotic models. Secondly, it is designed to support multifunctional operational roles, accommodating a wide range of military operations from logistical support such as supply delivery and casualty evacuation to reconnaissance and surveillance, all within a single platform. Lastly, the invention seeks to reduce operational risks and costs, minimizing the dangers associated with manual operations in hazardous terrains and cutting down the logistical expenses involved in such operations.

The robotic system features a six-legged configuration, which significantly enhances stability and maneuverability across diverse terrains. Legs are equipped with multi-function capabilities, allowing them to adapt their functions from providing locomotive support to bearing loads or manipulating the payloads, depending on the immediate needs of the operation. This adaptability is crucial for tasks that require both mobility, stability and execution of mission, such as navigating steep or uneven surfaces while transporting supplies or aiding in casualty evacuations.

In terms of technical specifications, the robotic system incorporates advanced sensors and control algorithms. These components are essential for enabling autonomous navigation and decision-making in dynamic environments. The sensors provide real-time data on the surrounding environment, which is processed by onboard control algorithms to make instant decisions that guide the robot’s movements and interactions with obstacles and terrain variations.

The hydraulic and engine units of the robot supply the necessary power for its operations, ensuring that the system can perform its tasks effectively even under demanding conditions. The modular payload bay further enhances the robot's versatility, allowing for quick adaptations to carry various types of equipment or supplies depending on the specific mission requirements. This feature is pivotal for maximizing the system's utility across different operational scenarios, making it a valuable asset for military forces.

One of the significant advantages of this robotic system is its ability to operate in environments that are typically inaccessible or hazardous for human soldiers or conventional vehicles. This capability not only helps in reducing human casualties in such operations but also ensures that missions can be carried out with greater frequency and reliability. Moreover, the system's autonomous nature allows for reduced manpower requirements, lowering the costs associated with human operators while also diminishing the logistical burden of supporting human teams in adverse conditions.

The potential applications of the robotic system are broad and impactful. In military contexts, it can be deployed for tasks such as delivering supplies to frontline units in difficult-to-reach areas, evacuating injured personnel from battlefields, or conducting surveillance and reconnaissance missions in hostile territories. Each of these applications leverages the system's unique capabilities to enhance the effectiveness and safety of military operations, providing a technological edge in modern warfare.

In summary, the present invention offers a robust solution to the challenges faced by military operations in rough terrains. Through its innovative design and advanced functionalities, the robotic system not only achieves the objectives of enhanced navigation, multifunctionality, and cost-efficiency but also opens up new possibilities for safe and effective military engagements in some of the most demanding environments on earth. The integration of this technology into military strategy represents a significant step forward in the evolution of combat and logistical support technologies.

Further objects, features, and advantages of the invention will be readily apparent from the following description of the preferred embodiments thereof, taken in conjunction with the accompanying drawings.

Brief Description of the Drawings

The above and other objects, features and advantages of the invention will become apparent from a consideration of the following detailed description presented in connection with the accompanying drawings in which:

Fig.1a illustrates the six-legged configuration (100) of the robotic system, in accordance with an exemplary embodiment of the present invention;

Fig.1b illustrates the core components of the robotic system designed for military operations in challenging terrains, in accordance with an exemplary embodiment of the present invention;

Fig.1c illustrates the hydraulic unit (110) of the robotic system, in accordance with an exemplary embodiment of the present invention;

Fig.1d depicts the engine unit (120) of the robotic system, in accordance with an exemplary embodiment of the present invention;

Fig. 1e illustrates an integrated view of the robotic system, in accordance with an exemplary embodiment of the present invention;

Fig 2a illustrates a block diagram of six-legged robotic system with middle limbs with multi fingered grippers, in accordance with an exemplary embodiment of the present invention;

Fig 2b illustrates a block diagram of six-legged robotic system with middle limbs with wheeled attachment, in accordance with an exemplary embodiment of the present invention.

It is appreciated that not all aspects and structures of the present invention are visible in a single drawing, and as such multiple views of the invention are presented so as to clearly show the structures of the invention.

Detailed Description of the Invention

It is to be understood that the present disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The present disclosure is capable of other embodiments and of being practiced or of being carried out in various ways. In addition, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting.

The use of “including”, “comprising” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. The terms “a” and “an” herein do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced items. Further, the use of terms “first”, “second”, and “third”, and the like, herein do not denote any order, quantity, or importance, but rather are used to distinguish one element from another.

According to an exemplary embodiment of the present invention, a robotic system with a six-legged configuration is introduced, designed to significantly enhance stability and versatility for military operations in challenging terrains. This system incorporates advanced sensors, control algorithms, and multi-function limbs, enabling it to perform tasks ranging from supply transportation to casualty evacuation with unprecedented efficiency and precision.

This robotic system is tailored specifically to meet the demanding requirements of military operations, particularly in challenging terrains such as mountainous regions. It is equipped with three pairs of limbs, each having multi-function capabilities. This design allows the robot to navigate uneven terrain effectively, distribute weight optimally, and use the limbs as required to execute the mission with the best possible stability under various conditions.

At the core of the system is the 'MULANT' (Multi-Legged Autonomous Navigation Technology), which features a distinctive six-legged configuration. This configuration is carefully engineered to maximize stability and maneuverability in rugged terrains. Each leg of the MULANT is endowed with multifunctional capabilities, enabling a seamless transition between providing stability support and performing load-bearing functions.

In this exemplary embodiment, the hydraulic unit acts as the primary power source for the robot's various operations. It includes a positive displacement pump that draws hydraulic fluid from the oil tank and pressurizes it, while an accumulator stores this pressurized fluid for instant power delivery. This arrangement ensures that the robot has a reliable and continuous source of hydraulic power necessary for its tasks.

Additionally, the engine unit in this embodiment supplies the mechanical power and propulsion needed for the robot's locomotion and operation. An internal combustion engine combusts fuel from the fuel tank, generating rotational motion. An alternator then converts this mechanical energy into electrical energy, which is subsequently rectified to power the onboard systems and components. An exhaust manifold effectively directs exhaust gases away from the engine to maintain efficient operation.

The control unit of the robot includes dual onboard computers that manage locomotion and control, ensuring seamless operation and enabling the robotic system to make intelligent decisions based on real-time environmental data.

Moreover, the payload carry unit significantly enhances the robotic system's versatility. Equipped with a modular payload bay and quick connectors, it facilitates the easy attachment and detachment of various payloads. This capability allows the robot to be swiftly customized to meet specific mission requirements, whether for transporting supplies or facilitating casualty evacuation.

Lastly, the standard components of the system, including LIDAR, cameras, and depth-sensing cameras, along with communication modules, provide essential data acquisition and transmission capabilities. These components work together with the onboard computers to enable the robotic system to perceive its surroundings, make informed decisions, and execute tasks autonomously with precision and efficiency.

Now referring to the drawings,
Figure 1a illustrates the six-legged configuration (100) of the robotic system. This configuration comprises three pairs of articulated limbs: the first pair (101a, 101b), the second pair (102a, 102b), and the third pair (103a, 103b). The strategic placement of these limbs enables the robotic system to effectively distribute weight, navigate uneven terrain, and adapt to various environmental conditions, enhancing its operational capabilities in challenging terrains.

Figure 1b shows the core components integrated within the six-legged configuration (100) that contribute to the system's mobility and stability. These include the hydraulic unit (110), engine unit (120), control unit (130), and payload carry unit (140), each playing a critical role in the overall functionality of the robotic system.

The hydraulic unit (110), as depicted in Figure 1c, includes a positive displacement pump (111), oil tank (112), and accumulator (113), among other components such as valves (114), manifold (115), servo valves (116), check valves (117), and relief valves (118). This system serves as the powerhouse of the robotic system, supplying the necessary hydraulic power for locomotion, manipulation, and load-bearing tasks. The arrangement ensures efficient routing of pressurized hydraulic fluid to different components and subsystems, enabling the system to perform effectively even in the most demanding operational scenarios.

Figure 1d details the engine unit (120), which is crucial for providing the mechanical power and propulsion required for the robot's movement and operation. This unit includes an internal combustion engine (121) that combusts fuel from the fuel tank (124) to generate rotational motion. An alternator (122) converts this mechanical energy into electrical energy, which is then rectified by a rectifier (123) to power onboard systems. The fuel injection system (125) optimizes the delivery of fuel for combustion, while the exhaust manifold (126) efficiently manages exhaust gases, ensuring the unit operates at peak efficiency.

The control unit (130), shown in Figure 1e, houses dual onboard computers (131, 132) that handle all aspects of locomotion and control. These computers are equipped with advanced algorithms for autonomous navigation and obstacle avoidance, allowing the robotic system to respond dynamically to its environment and execute tasks with high precision.

Finally, the payload carry unit (140), also illustrated in Figure 1e, and enhances the system's adaptability by enabling quick attachment and detachment of various payloads. Equipped with a modular payload bay (141) and quick connectors (142), this unit allows for efficient customization of the robot's capabilities to suit specific mission requirements, whether transporting supplies or facilitating casualty evacuation.

Figure 2a, 2b illustrates the modified six-legged robotic system configuration (100). This updated configuration features three pairs of articulated limbs: the first pair (101a, 101b), the second pair (102a, 102b), and the third pair (103a, 103b). Figure 2a showcases the addition of two upper limbs (102a, 102b) equipped with multi-fingered grippers, enhancing the system's manipulation capabilities. These grippers enable the robotic system to perform complex tasks that require dexterity and precision.

Figure 2b highlights the changes in the attachment mechanism of the middle limbs (102a, 102b), which now include wheel attachments. These wheels provide increased mobility on flat surfaces, allowing the robot to switch between walking and rolling modes depending on the terrain. The combination of articulated legs and wheels ensures versatile movement and improved navigation over various surfaces. The placement of all six legs and the inclusion of grippers and wheels enable the robotic system to effectively distribute its weight, maintain stability, and adapt to diverse environmental conditions. These enhancements significantly boost its operational capabilities, making it more versatile and efficient in challenging environments.

Overall, these illustrations and descriptions underscore the system's ability to traverse rugged landscapes and overcome obstacles encountered during military missions, highlighting its advanced design and multifunctional capabilities. The integration of these sophisticated components enables the robotic system to operate effectively in dynamic and unpredictable environments, fulfilling its operational objectives with precision and agility in military scenarios.

The robotic system comprises several tightly integrated subsystems, each playing a crucial role in achieving fully autonomous, terrain-adaptive locomotion. The mechanical locomotion subsystem includes a plurality of articulated legs (101a–103b), each driven by a hydraulic actuator (119) and supported by a corresponding torque sensor (156) and foot-force sensor (157). These actuators are supplied by a variable-displacement hydraulic pump (111) and controlled via servo valves (116) to produce smooth, high-precision joint motions. Selectively deployable wheel attachments (102a, 102b) are housed within two of the limbs and are extended or retracted by small rotary actuators when the control unit (130) issues wheel-deployment commands. This dual-mode arrangement enables the robot to lift and place legs individually to surmount obstacles, then seamlessly transition to rolling on wheels for efficient travel over smooth ground.

The sensor and perception subsystem centers on a multi-modal sensor suite. A LIDAR unit (150) continuously scans the environment, producing a point-cloud representation that is fused with depth maps from stereoscopic cameras (151) and depth-sensing cameras (152). An inertial measurement unit (155) provides attitude, acceleration, and angular-velocity data, while foot-force sensors (157) and torque sensors (156) deliver real-time feedback on ground reaction forces and joint loads. All raw sensor streams are timestamp-aligned and fed into the onboard computers (131, 132), where pre-processing routines remove noise and fill missing data via interpolation algorithms to ensure robust perception even in dusty or low-visibility conditions.

The control and navigation subsystem is implemented in software stored within memory of the control unit (130). At system start-up, the “MULANT Algorithm” initializes by calibrating sensor biases and establishing communication between processors (131, 132) and actuator controllers (116). Pseudocode for the core loop can be summarized as:

AcquireData(); // Read LIDAR, cameras, IMU, force sensors
Map ? BuildPointCloud(AcquireData)
[Obstacles, Terrain] ? Classify(Map)
Path ? GraphSearch(Obstacles, Terrain, Waypoint)
Gait ? SelectGait(Terrain)
for each Leg in {101a…103b}:
ComputeTrajectory(Leg, Gait, Path)
AdjustViaFeedback(Leg, Sensors)
DeployWheelsIfNeeded(Gait)
ExecuteTrajectories()
Loop

Each function employs optimized C++ routines and ROS-based middleware for real-time performance. For example, Classify(Map) uses a convolutional neural network trained on labeled terrain patches to distinguish rock, sand, snow, and mud with over 95 % accuracy. GraphSearch employs an A* algorithm weighted by energy cost and slope angle, while SelectGait references a lookup table of gait profiles—each profile defining specific joint-angle setpoints and phase offsets for leg coordination.

The payload management subsystem revolves around the modular payload bay (141) and quick-connector interfaces (142). Modules—whether insulated cargo containers or stretcher assemblies—are mechanically secured via spring-loaded latches and electrically interfaced through pogo-pin connectors. During loading, the control unit monitors foot-force sensors (157) to detect shifts in center of mass, and dynamically adjusts joint trajectories to maintain platform stability. Unloading reverses this sequence, retracting wheels where necessary and lowering the appropriate legs to create a stable support triangle before releasing the module.

Extensive comparative testing demonstrates the superiority of this integrated approach. In mixed-terrain trials over a 2 km course comprising 40 % rubble, 30 % packed earth, and 30 % gravel, the hybrid system completed traversal in 18 minutes on average—25 % faster than a leg-only baseline and 15 % faster than a wheel-only vehicle equipped with passive suspension. Energy consumption was reduced by 22 % compared to leg-only operation, owing to wheel usage on smoother segments. Stability metrics, measured as deviation from planned trajectories, remained within a ±5 cm envelope despite payload shifts up to 80 kg, validating the efficacy of real-time feedback control.

The best method of operation entails initializing the system in a central staging area, attaching the mission-specific module to the payload bay, and defining waypoints via a ground-station interface or preloaded mission plan. Upon deployment, the MULANT Algorithm engages, continuously cycling through perception, mapping, classification, planning, and actuation. Terrain transitions trigger automatic gait and wheel adjustments without operator input. Should an emergency occur—sensor fault or unexpected obstacle—the system gracefully decelerates, adopts a safe posture by lowering to a tripod and locking hydraulic valves, and transmits a status alert. Once resolved, the robot resumes its mission, replaying stored waypoints if necessary to back-track or advance.

Applications
The multi-legged robotic system is particularly suited for logistics and support operations in remote or rugged environments, including supply delivery to forward operating bases, casualty evacuation from combat or disaster zones, and inspection of hazardous or inaccessible areas. In civilian settings, the platform may be employed for search-and-rescue missions following natural disasters, where unstable terrain and debris render wheeled vehicles ineffective. Industrial applications include automated inspection and maintenance in mining or construction sites, where uneven ground and obstacles are commonplace, as well as agricultural tasks such as crop monitoring across irregular fields.

Advantages
By combining articulated leg locomotion with deployable wheels, the invention achieves superior energy efficiency and speed compared to purely legged or purely wheeled platforms. Real-time terrain classification ensures that the most suitable gait profile is selected automatically, reducing operator burden and improving adaptability to changing conditions. The tool-less quick-connect payload interface dramatically shortens mission preparation time and enables rapid reconfiguration for diverse tasks. Continuous feedback from inertial, force, and torque sensors provides enhanced stability and safety when navigating slopes or handling shifting loads, minimizing the risk of falls or payload damage.

Test Standards
Performance validation of the robotic system follows established benchmarks for mobile robotic platforms. Durability and reliability are assessed according to IEC 60068-2 environmental testing protocols, including temperature cycling (-20 °C to +50 °C), vibration resistance, and ingress protection against dust and moisture (IP65). Locomotion efficacy is measured using ASTM F2606-15 gait-analysis standards, which prescribe obstacle courses with defined step heights and incline ramps. Payload handling capability is evaluated in compliance with ISO 13482:2014 requirements for safety in service robotics, verifying secure module attachment under dynamic loading.

Results
In field trials, the system consistently achieved over 90% success in traversing mixed-terrain courses featuring slopes up to 35 °, rubble fields, and flat segments. Energy consumption per kilometer was reduced by approximately 25% compared to a baseline leg-only robot, owing to the use of wheels on smooth surfaces. Quick-connect payload changes were completed in under 20 seconds on average, exceeding the under-30-second target. During casualty evacuation simulations, the platform maintained center-of-mass stability within 5 % of nominal values while carrying a 75 kg load, as confirmed by onboard torque and force sensors.
,CLAIMS:5. CLAIMS
We Claim
1. A multi-legged robotic system (100) for autonomous navigation in unstructured terrain, comprising:
a plurality of articulated legs (101a–103b), each driven by a hydraulic actuator (119);
wheel attachments (102a, 102b) selectively deployable on at least two of said legs;
a sensor suite including at least one LIDAR unit (150), at least one depth-sensing camera (152), at least one inertial measurement unit (IMU) (155), and at least one foot-force sensor (157);
a modular payload bay (141) equipped with quick-connector interfaces (142); and
a control unit (130) comprising onboard computers (131, 132) and memory storing executable instructions;
characterized in that the control unit (130), upon executing said instructions, is configured to:
generate a three-dimensional map of an environment based on data from the sensor suite (150, 152, 155, 157);
classify terrain types and segment obstacles within said map;
compute an optimal traversal path to a designated waypoint using a graph-search algorithm;
select, based on the classified terrain type, one gait profile from a plurality of stored gait profiles;
issue control signals to the hydraulic actuators (119) and to the wheel attachments (102a, 102b) to execute the selected gait profile along the computed path; and
continuously adjust joint trajectories based on feedback from the IMU (155), the foot-force sensor (157) and, optionally, a torque sensor (156).
2. The system of claim 1, wherein the graph-search algorithm executed by the control unit (130) is an A* algorithm.

3. The system of claim 1, wherein the sensor suite further comprises at least one stereo-vision camera (151) and at least one torque sensor (156) incorporated in a hydraulic actuator (119).

4. The system of claim 1, wherein each gait profile stored in memory includes a predefined sequence of joint trajectories for hydraulic actuators (119) and deployment instructions for wheel attachments (102a, 102b).

5. The system of claim 1, wherein the wheel attachments (102a, 102b) are retractable into the housings of legs (101a–103b) when a leg-only gait profile is selected.

6. The system of claim 1, wherein the quick-connector interfaces (142) are tool-less connectors configured to attach and detach payload modules to the payload bay (141) in under 30 seconds.

7. The system of claim 1, wherein the control unit (130) stores waypoint histories in memory and replays the stored waypoints for return-to-base operations.

8. The system of claim 1, wherein the modular payload bay (141) is configured to interchangeably receive modules selected from the group consisting of insulated containers, stretcher modules, and equipment racks.

9. The system of claim 1, wherein the control unit (130) continuously adjusts control signals based on real-time feedback from the IMU (155), the foot-force sensor (157), and the torque sensor (156) to maintain stability during traversal.

10. A method for autonomous navigation of the multi-legged robotic system (100) as claimed in claim 1, the method comprising:
a. capturing environment data via the sensor suite (150, 151, 152, 155, 157);
b. generating a three-dimensional map and segmenting obstacles based on the captured data;
c. classifying terrain types within the map;
d. computing an optimal traversal path to a designated waypoint using a graph-search algorithm;
e. selecting, based on the terrain classification, a gait profile from the plurality of stored gait profiles; and
f. issuing control signals to the hydraulic actuators (119) and wheel attachments (102a, 102b) to execute the selected gait profile along the computed path.

6. DATE AND SIGNATURE

Dated this on 21st day of May 2025
Signature

(Mr. Srinivas Maddipati)
(IN/PA 3124)
Agent for applicant