Humanoid robotics system and methods
AssigneeWillow Garage, LLC
InventorsEric H. Berger, Keenan Wyrobek
Life of this patent
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Abstract
A system may include a mobile base, a spine structure, a body structure, and at least one robotic arm, each of which is movably configured to have significant human-scale capabilities in prescribed environments. The one or more robotic arms may be rotatably coupled to the body structure, which may be mechanically associated with the mobile base, which is preferably configured for holonomic or semi-holonomic motion through human scale travel pathways that are ADA compliant. Aspects of the one or more arms may be counterbalanced with one or more spring-based counterbalancing mechanisms which facilitate backdriveability and payload features.
Claims11
A humanoid robot, comprising:
- a mobile base;
- a torso assembly secured to the base;
- a robotic arm movably secured to the torso assembly;
- a counterbalancing member connected to the robotic arm;
- a first pulley;
- a first spring can that includes a first spring and a first spring can output belt connecting the first spring to an interface member of the first pulley;
- and
- a final output belt connected to the pulley, the first spring creating a force that acts through the final output belt and the counterbalancing member as a gravity compensation mechanism for the robotic arm;
- a second pulley;
- and
- a second spring can that includes a second spring that is compressed and a second spring can output belt connecting the second spring to an interface member of the second pulley, the second spring creating a force that acts through the final output belt and the counterbalancing member as a gravity compensation mechanism for the robotic arm.
A humanoid robot, comprising:
- a mobile base;
- a torso assembly secured to the base;
- first and second arm assemblies, each arm assembly including:
- a robotic arm movably secured to the torso assembly;
- a counterbalancing member connected to the robotic arm;
- a first pulley;
- a first spring can that includes a first spring and a first spring can output belt connecting the first spring to an interface member of the first pulley;
- and
- a final output belt connected to the pulley, the first spring creating a force that acts through the final output belt and the counterbalancing member as a gravity compensation mechanism for the robotic arm;
- a second pulley;
- and
- a second spring can that includes a second spring that is compressed and a second spring can output belt connecting the second spring to an interface member of the second pulley, the second spring creating a force that acts through the final output belt and the counterbalancing member as a gravity compensation mechanism for the robotic arm.
Dependencies are inferred from the claim text.