# US 11,077,566 B2 · Robotic leg > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,077,566 B2 - Document ID: US11077566B2 - Status: Granted - Kind: B2 - Application number: 16/299,580 - Filed: 2019-03-12 - Published: 2020-09-17 - Granted: 2021-08-03 - Earliest claimed: 2019-03-12 - Assignees: Boston Dynamics, Inc. - Applicants: Boston Dynamics, Inc. - Inventors: Vadim Chernyak - Web page: https://patentgrep.com/patent/US11077566B2 ## CPC - B25J 19/002: {using counterweights} - B25J 5/007: {mounted on wheels} - B25J 9/0015: {Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion} - B25J 9/104: {with cables, chains or ribbons} - B25J 9/106: {with articulated links} - B25J 15/065: {provided with separating means for releasing the gripped object after suction} - B62D 57/028: having wheels and mechanical legs (B62D57/024 takes precedence; ground-engaging vehicle fittings for supporting, lifting or manoeuvring the vehicle, wholly or in part B60S9/00) - B62D 57/032: with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The robotic leg assembly of claim 1, wherein the first leg portion defines a longitudinal axis, the first axis of rotation is perpendicular to the longitudinal axis, and the second axis of rotation is perpendicular to the longitudinal axis. ### Claim 3 (depends on 1) The robotic leg assembly of claim 1, wherein the first axis of rotation is parallel to the second axis of rotation. ### Claim 4 (depends on 1) The robotic leg assembly of claim 1, wherein the first pulley and the second pulley are sized to cause a 2:1 ratio of the rotation of the second leg portion about the second axis of rotation to the rotation of the first leg portion about the first axis of rotation. ### Claim 5 (depends on 1) The robotic leg assembly of claim 1, wherein the first pulley has 60 teeth and the second pulley has 30 teeth. ### Claim 6 (depends on 1) The robotic leg assembly of claim 1, wherein: the first leg portion defines: a proximal end at the first end portion of the first leg portion; a distal end at the second end portion of the first leg portion; and a first length between the proximal end of the first leg portion and the distal end of the first leg portion, the second leg portion defines: a proximal end at the first end portion of the second leg portion; a distal end at the second end portion of the second leg portion; and a second length between the proximal end of the second leg portion and the distal end of the second leg portion, and the first length is substantially equal to the second length. ### Claim 7 (depends on 1) The robotic leg assembly of claim 1, further comprising a rotary motor arranged to drive rotation of the first leg portion about the first axis of rotation. ### Claim 8 (depends on 7) The robotic leg assembly of claim 7, wherein the rotary motor defines a rotary axis, and the rotary axis is arranged coincident with the first axis of rotation. ### Claim 9 (depends on 8) The robotic leg assembly of claim 8, wherein the rotary motor comprises: a rotor arranged to rotate about the rotary axis, the rotor attached to the first leg portion; and a stator arranged concentrically around the rotor. ### Claim 10 (depends on 1) The robotic leg assembly of claim 1, further comprising a linear actuator disposed on the hip and having a translatable actuator arm pivotally coupled to the first leg portion, wherein actuation of the translatable actuator arm of the linear actuator causes rotation of the first leg portion about the first axis of rotation.