Legged Robot with Joint-Augmented Stability Control
OwnerAnish Mampettainventor
Life of this patent
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Abstract
A robot may include a torque generator to generate a torque, and a leg system including one or more legs movably coupled to and supporting the torque generator. Each leg of the one or more legs may include a first leg member, a second leg member, a first joint movably coupling the first leg member and the second leg member, and a first linear elasticity element coupled between the first leg member and the second leg member across the first joint. The first linear elasticity element may be disposed to provide a first force when the first linear elasticity element is actuated that, in combination with the torque, facilitates maintaining an upright position of the bipedal robot.
Claims21
A robot comprising:
- a torque generator to generate a torque;
- and
- a leg system including one or more legs movably coupled to and supporting the torque generator, each leg of the one or more legs including
- a first leg member;
- a second leg member;
- a first joint movably coupling the first leg member and the second leg member, and
- a first linear elasticity element coupled between the first leg member and the second leg member across the first joint, the first linear elasticity element being disposed to provide a first force when the first linear elasticity element is actuated that, in combination with the torque, facilitates maintaining an upright position of the robot.
A bipedal robot comprising:
- a torso containing a plurality of reaction wheels disposed non-parallel to each other;
- and
- a leg system including a plurality of legs, movably coupled to and supporting the torso, each leg of the plurality of legs including
- a hip that has a plurality of degrees of freedom,
- a knee that has at least one degree of freedom,
- an ankle that has at least one degree of freedom,
- a first spring coupled across the ankle, and
- a second spring coupled across the knee.
A bipedal robot comprising:
- a plurality of reaction wheels;
- and
- a leg system including a plurality of legs, movably coupled to and supporting the plurality of reaction wheels, each leg of the plurality of legs including
- a first leg member;
- a second leg member;
- a first joint movably coupling the first leg member and the second leg member, the first joint being actuatable by a first direct-drive actuator, and
- a first spring coupled between the first leg member and the second leg member across the first joint, the first spring being disposed to provide a first force when the first spring is actuated that, in combination with a torque provided by one or more of the reaction wheels, facilitates maintaining an upright position of the bipedal robot.
Dependencies are inferred from the claim text.