# US 2020/0403531 A1 · Legged robot and manufacturing method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2020/0403531 A1 - Document ID: US20200403531A1 - Status: Published application - Kind: A1 - Application number: 16/711,641 - Filed: 2019-12-12 - Published: 2020-12-24 - Earliest claimed: 2019-06-18 - Assignees: Korea Institute of Science and Technology - Applicants: Korea Institute of Science and Technology - Inventors: Youngsu CHA - Web page: https://patentgrep.com/patent/US20200403531A1 ## CPC - B62D 57/032: with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence) - H02N 2/001: {Driving devices, e.g. vibrators} - B25J 9/12: electric - H02N 2/0055: {Supports for driving or driven bodies; Means for pressing driving body against driven body} - H10N 30/204: {using bending displacement, e.g. unimorph, bimorph or multimorph cantilever or membrane benders} - H10N 30/2042: {Cantilevers, i.e. having one fixed end} - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - H02N: ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - H10N: ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR ## Abstract The present disclosure provides a biomimetic mobile legged robot, which includes a body formed to extend in one direction and having a piezoelectric element, and a leg connected to intersect the body and having a piezoelectric element. Here, a power is supplied to the body and the leg, respectively, and the piezoelectric elements of the body and the leg are operated with the supplied power to cause a full body motion so that the legged robot moves. ## Claims ### Claim 1 A biomimetic mobile legged robot, comprising: a body formed to extend in one direction and having a piezoelectric element; and a leg connected to intersect the body and having a piezoelectric element, wherein a power is supplied to the body and the leg, respectively, and the piezoelectric elements of the body and the leg are operated with the supplied power to cause a full body motion so that the legged robot moves. ### Claim 2 (depends on 1) The legged robot according to claim 1, wherein the piezoelectric elements of the body and the leg are PVDF films. ### Claim 3 (depends on 1) The legged robot according to claim 1, wherein the body has a flat shape, and the leg has a curved shape. ### Claim 4 (depends on 1) The legged robot according to claim 1, wherein the leg includes: a front leg disposed at a relatively front position along a moving direction of the legged robot, and a hind leg disposed at a relatively rear position along the moving direction of the legged robot, wherein the front leg and the hind leg have different polarities. ### Claim 5 (depends on 4) The legged robot according to claim 4, wherein the body includes: a first portion provided to an upper portion of the body; a second portion attached to the first portion and forming a lower portion of the body; and a conductive adhesive coated between the first and second portions so that the first and second portions are attached, wherein the first portion and the front leg have the same polarity, and the second portion and the hind leg have the same polarity. ### Claim 6 A legged robot manufacturing method, comprising: preparing a body by cutting a film into two predetermined rectangular shapes and attaching the two cut films using an adhesive; preparing a curved leg by cutting a film into a predetermined rectangular shape, disposing a copper tape on one surface of the cut film, and attaching an extension tape to the one surface; and attaching the leg to the body by coating an adhesive on the leg.