US 11,077,566 B2Granted

Robotic leg

AssigneeBoston Dynamics, Inc.

InventorVadim Chernyak

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Abstract

A robotic leg includes a hip, a first pulley attached to the hip and defining a first axis of rotation, a first leg portion having a first end portion and a second end portion, a second pulley rotatably coupled to the second end portion of the first leg portion and defining a second axis of rotation, a second leg portion having a first end portion and a second end portion, and a timing belt trained about the first pulley and the second pulley for synchronizing rotation of the first leg portion about the first axis of rotation and rotation of the second leg portion about the second axis of rotation. The first end portion of the first leg portion is rotatably coupled to the hip and configured to rotate about the first axis of rotation. The first end portion of the second leg portion is fixedly attached to the second pulley.

Claims10

Dependent claims

A robotic leg assembly comprising:

a hip;
a first pulley attached and rotationally fixed relative to the hip and defining a first axis of rotation;
a first leg portion having a first end portion and a second end portion, the first end portion of the first leg portion rotatably coupled to the hip and configured to rotate about the first axis of rotation;
a second pulley rotatably coupled to the second end portion of the first leg portion, the second pulley defining a second axis of rotation;
a second leg portion having a first end portion and a second end portion, the first end portion of the second leg portion attached and rotationally fixed relative to the second pulley;
and
a timing belt trained about the first pulley and the second pulley for synchronizing rotation of the first leg portion about the first axis of rotation and rotation of the second pulley about the second axis of rotation,
wherein rotation of the first leg portion about the first axis of rotation causes rotation of the second leg portion relative to the first leg portion about the second axis of rotation.

5 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/299,580Filed 12 Mar 2019
Published: US 2020/0290217 A117 Sep 2020
Granted: 3 Aug 2021
Term ends: Not estimatedThe source records don’t support an estimate.

Classification10 codes

B25J 19/002
Balancing devices: using counterweights
B25J 5/007
Manipulators mounted on wheels or on carriages: mounted on wheels
B25J 9/0015
Constructional details, e.g. manipulator supports, bases: flexure members, i.e. parts of manipulators having a narrowed section allowing…
B25J 9/104
Characterised by positioning means for manipulator elements: with cables, chains or ribbons

Family

US 2020/0290217 A1Pre-grant publication · published 17 Sep 2020
US 11,077,566 B2This patent

From the US filing history. Foreign family members aren’t listed.

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