Robotic torso
AssigneeSanctuary Cognitive Systems Corporation
InventorsConnor Richard Shannon, Hessam Maleki, James Zhong Sheng Liu, Matthew Hill, Seymur Dadashov
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Abstract
A robotic torso for a humanoid robot includes a first torso member having an axial axis aligned with a reference axis and a second torso member having at least one mounting portion for at least one humanoid component. The robotic torso includes a series of actuators arranged in a column between the first torso member and the second torso member and coupling the first torso member to the second torso member. Each of the actuators has a rotatable member defining a rotational axis. The rotational axes of each adjacent pair of actuators in the series of actuators are orthogonal to each other.
Claims8
A robotic torso comprising:
- a first torso member having an axial axis aligned with a reference axis, wherein the first torso member comprises an inner chamber;
- a second torso member having at least one mounting portion for at least one humanoid component joint;
- a series of actuators arranged in a column between the first torso member and the second torso member and coupling the first torso member to the second torso member, each of the actuators having a rotatable member defining a rotational axis, wherein the rotational axes of each adjacent pair of the actuators are orthogonal to each other, wherein a first actuator of the series of actuators is disposed within the inner chamber such that the rotational axis of the first actuator is aligned with the reference axis;
- a third torso member coupled to the rotatable member of the first actuator, wherein rotation of the rotatable member of the first actuator about the reference axis causes rotation of the third torso member about the reference axis;
- a first rotational stop member coupled to the first torso member;
- and
- a second rotational stop member coupled to the third torso member, wherein the second rotational stop member selectively engages with the first rotational stop member to limit a rotational range of the third torso member about the reference axis.
A robot comprising:
- a robotic torso comprising:
- a first torso member having an axial axis aligned with a reference axis, wherein the first torso member comprises an inner chamber;
- a second torso member having at least one mounting portion for at least one humanoid component joint;
- a series of actuators arranged in a column between the first torso member and the second torso member and coupling the first torso member to the second torso member, each of the actuators having a rotatable member defining a rotational axis, wherein the rotational axes of each adjacent pair of the actuators are orthogonal to each other, wherein a first actuator of the series of actuators is disposed within the inner chamber such that the rotational axis of the first actuator is aligned with the reference axis;
- a third torso member coupled to the rotatable member of the first actuator, wherein rotation of the rotatable member of the first actuator about the reference axis causes rotation of the third torso member about the reference axis;
- a first rotational stop member coupled to the first torso member;
- and
- a second rotational stop member coupled to the third torso member, wherein the second rotational stop member selectively engages with the first rotational stop member to limit a rotational range of the third torso member about the reference axis;
- and
- two robotic arms disposed on opposite sides of the reference axis, each robotic arm coupled to one of the torso members.
Dependencies are inferred from the claim text.