Transmission with integrated overload protection for a legged robot

A method for operating a robot, the method comprising:

• driving rotation of a leg member of the robot with a motor, wherein the motor is coupled to the leg member through a transmission system that comprises an input member coupled to an output of the motor, and an output member, the transmission system configured such that the output member rotates at a different speed than the input member, wherein the output member of the transmission system is engaged with the leg member of the robot through a clutch member comprising a clutch surface that contacts a surface of the output member;
• and
• providing overload protection for the motor or the transmission system by applying, with a compliant member, a preload force on the clutch member to contact the clutch surface of the clutch member with the surface of an output member of the transmission system, wherein the preload force provides a torque limit such that:
• when a torque load on the transmission system is less than the torque limit, the surface of the output member and the clutch surface of the clutch member are frictionally engaged and rotate together, and
• when the torque load on the transmission system is greater than the torque limit, the surface of the output member slips relative to the clutch surface of the clutch member.