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US 11,883,959 B2Granted
Articulated, closed kinematic chain planar monopod
AssigneeVirginia Tech Intellectual Properties, Inc.
InventorsPinhas Ben-Tzvi, Vinaykarthik Kamidi
Life of this patent
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Abstract
The present invention concerns a novel leg mechanism for quadrupedal locomotion. This design engages a linkage to couple assembly that only requires a single degree of actuation. The topological arrangement of the system produces a foot trajectory that is well-suited for dynamic gaits including trot-running, bounding, and galloping.
Claims20
A legged robot with two closed kinematic loops comprising:
- a vertically oriented floating-base link comprising an active joint and a first revolute joint arranged parallel to a frontal plane;
- a driving link connected to said active joint;
- a hip flexion and extension link connected at one end to said driving link;
- a knee flexion and extension link connected at one end to a second revolute joint located on said hip flexion and extension link adjacent to said driving link;
- a femur link connected at one end to said first revolute joint;
- a tibia link connected at one end to a third revolute joint located at another end of said femur link, wherein:
- another end of said hip flexion and extension link is connected to a fourth revolute joint on said femur link adjacent to said first revolute joint, forming a first closed kinematic loop;
- another end of said knee flexion and extension link is connected to a fifth revolute joint on said tibia link adjacent to a connecting point said femur link, forming a second closed kinematic loop;
- and
- said tibia link comprises a rigid link with no mechanical compliance elements;
- and
- a compliance controller that implements a virtual spring acting between said active joint and a foot.
9 more elements
A dynamic quadrupedal robot comprising:
- four legs, each leg having a vertically oriented floating-base link comprising an active joint and a first revolute joint arranged parallel to a frontal plane;
- a driving link connected to said active joint;
- a hip flexion and extension link connected at one end to said driving link;
- a knee flexion and extension link connected at one end to a second revolute joint located on said hip flexion and extension link adjacent to said driving link;
- a femur link connected at one end to said first revolute joint;
- a tibia link connected at one end to a third revolute joint located at another end of said femur link, wherein:
- another end of said hip flexion and extension link is connected to a fourth revolute joint on femur link adjacent to said first revolute joint said, forming a first closed kinematic loop;
- another end of said knee flexion and extension link is connected to a fifth revolute joint on said tibia link adjacent to with said femur link, forming a second closed kinematic loop;
- and
- said tibia link comprises a rigid link with no mechanical compliance elements;
- and
- a compliance controller that implements a virtual spring acting between said active joint and a foot.
9 more elements
A robotic leg comprising:
- a floating-base link comprising an active joint and a first revolute joint a driving link connected to said active joint;
- a hip flexion and extension link connected to said driving link;
- a knee flexion and extension link connected to a second revolute joint located on said hip flexion and extension link;
- a femur link connected to said first revolute joint of said floating-base link, said femur link comprising a third revolute joint and a fourth revolute joint, wherein a free end of said hip flexion and extension link is connected to said third revolute joint of said femur link;
- a tibia link connected to said fourth revolute joint of said femur link, said tibia link comprising a fifth revolute joint, located adjacent to a connecting point with said femur link, which connects to a free end of said knee flexion and extension link;
- and
- a compliance controller that implements a virtual spring acting on said active joint.
4 more elements
Dependencies are inferred from the claim text.