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US 2001/0054518 A1Published application
Single actuator per leg robotic hexapod
AssigneesMcGill University, The Regents of the University of Michigan
InventorsMartin Buehler, Daniel E. Koditschek, Uluc Saranli
Life of this patent
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Abstract
A mobile robot comprising a body and at least six compliant legs each having only one actuator. The compliant legs are mounted to the body for movement relative thereto in a single degree of freedom. A controller is operably coupled to the actuator of each compliant leg, the controller selectively actuates the actuators to drive the compliant legs in an alternating tripod gait.
Claims20
A mobile robot comprising:
- a body;
- at least six compliant legs each having an actuator, said compliant legs being mounted to said body for movement relative thereto, each of said compliant legs having a single actuated degree of freedom;
- and
- a controller operably coupled to said actuators, said controller selectively actuating said actuators to drive said compliants legs in an alternating tripod gait.
1 more element
A mobile robot comprising:
- a rigid body;
- at least six legs rotatably coupled to said rigid body, each of said legs being made of a resilient material so as to absorb at least a portion of the forces exerted on said rigid body during movement;
- at least six actuators individually driving each of said legs;
- and
- a controller selectively actuating said actuators to drive said legs in an alternating tripod gait.
2 more elements
A robot comprising:
- a rigid body;
- a drive system operably coupled to said rigid body, said drive system having at least six drive members;
- at least six compliant legs independently coupled to said drive members of said power drive system, each of said at least six compliant legs being rotatable in a plane generally parallel to a sagittal plane, each of said at least six compliant legs absorbing at least a portion of the forces exerted on said rigid body;
- a controller operably coupled to each of said at least six drive members, said controller selectively driving said at least six compliant legs in an alternating tripod gait;
- and
- an onboard power source supplying power to said drive system and said controller.
3 more elements
Dependencies are inferred from the claim text.