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US 12,691,960 B2Granted
Humanoid robot
AssigneeApptronik, Inc.
InventorsPaul Gloninger Fleury, Bradley Aaron Resh, Joseph Michael Young, Jonas Alexan Fox, Nicholas Arden Paine
Life of this patent
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Abstract
A method of operating a robot includes operating a robot that includes a body assembly that includes a frame formed of at least one body joint assembly, and at least one pair of joint linear actuators that form the at least one body joint. The method further includes controlling the at least one pair of joint linear actuators to operate in combination to adjust the at least one body joint assembly in two degrees of freedom through differential linear actuation.
Claims52
A method of operating a robot, comprising:
- operating a robot that comprises:
- a body assembly that comprises a frame formed of at least one body joint assembly, and
- at least one pair of joint linear actuators that form the at least one body joint assembly, wherein each of the joint linear actuators comprises a quasi-direct drive (QDD) linear actuator;
- detecting, with at least one image sensor, an obstacle proximate to the body assembly;
- generating, with at least one inertial measurement unit, at least one signal;
- providing the at least one signal to at least one motor controller coupled to the at least one pair of joint linear actuators;
- operating, based on the at least one signal, the at least one pair of joint linear actuators with the at least one motor controller to adjust the at least one body joint assembly;
- and
- controlling the at least one pair of joint linear actuators to operate in combination to adjust the at least one body joint assembly in two degrees of freedom through differential linear actuation.
6 more elements
A method of operating a robot, comprising:
- operating a robot that comprises:
- a body assembly that comprises a frame formed of at least one body joint assembly, and
- at least one pair of joint linear actuators that form the at least one body joint assembly;
- controlling the at least one pair of joint linear actuators to operate in combination to adjust the at least one body joint assembly in two degrees of freedom through differential linear actuation, wherein the body assembly comprises:
- a torso assembly, the torso assembly comprising:
- at least a portion of the frame;
- at least one upper body joint assembly of the at least one body joint assembly;
- and
- at least one pair of upper body linear actuators of the at least one pair of joint linear actuators, the at least one pair of upper body linear actuators configured to operate in combination to adjust the upper body joint assembly in two degrees of freedom through differential linear actuation;
- and
- a base assembly, the base assembly comprising:
- at least another portion of the frame;
- at least one lower body joint assembly of the at least one body joint assembly;
- and
- at least one pair of lower body linear actuators of the at least one pair of joint linear actuators, the pair of lower body linear actuators configured to operate in combination to adjust the lower body joint assembly in two degrees of freedom through differential linear actuation;
- operating a first motor controller communicably coupled to each upper body linear actuator of the at least one pair of upper body linear actuators to operate, based on a first signal, the at least one upper body linear actuators in combination to adjust the at least one upper body joint assembly in two degrees of freedom through differential linear actuation;
- and
- operating a second motor controller communicably coupled to each lower body linear actuator of the at least one pair of lower body linear actuators.
15 more elements
A method of operating a robot, comprising:
- operating a robot that comprises:
- a body assembly that comprises a frame formed of at least one body joint assembly, and
- at least one pair of joint linear actuators that form the at least one body joint assembly;
- controlling the at least one pair of joint linear actuators to operate in combination to adjust the at least one body joint assembly in two degrees of freedom through differential linear actuation, wherein the body assembly comprises:
- a torso assembly, the torso assembly comprising:
- at least a portion of the frame;
- at least one upper body joint assembly of the at least one body joint assembly;
- and
- at least one pair of upper body linear actuators of the at least one pair of joint linear actuators, the at least one pair of upper body linear actuators configured to operate in combination to adjust the upper body joint assembly in two degrees of freedom through differential linear actuation;
- and
- a base assembly, the base assembly comprising:
- at least another portion of the frame;
- at least one lower body joint assembly of the at least one body joint assembly;
- and
- at least one pair of lower body linear actuators of the at least one pair of joint linear actuators, the pair of lower body linear actuators configured to operate in combination to adjust the lower body joint assembly in two degrees of freedom through differential linear actuation;
- operating a first motor controller communicably coupled to each upper body linear actuator of the at least one pair of upper body linear actuators;
- and
- operating a second motor controller communicably coupled to each lower body linear actuator of the at least one pair of lower body linear actuators to operate, based on a second signal, the at least one pair of lower body linear actuators in combination to adjust the at least one lower body joint assembly in two degrees of freedom through differential linear actuation.
15 more elements
Dependencies are inferred from the claim text.