Hybrid wheel-leg adaptive suspension
AssigneeBoard of Regents of the University of Nebraska
InventorsCarl Nelson, Nick Swerczek
Life of this patent
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Abstract
A suspension for traversing different terrains. A suspension having adaptive stiffness behavior and multiple locomotion modes for traversing a range of different types of terrain. The suspension may include a 2-segment leg with a wheel at the end of the distal segment, collectively referred to as a wheel-leg. A motor drives the wheel relative to the leg, providing propulsion.
Claims20
A suspension/locomotion system for a vehicle, the suspension/locomotion system comprising:
- a) an upper leg segment;
- b) a lower leg segment, wherein a distal end of the upper leg segment is pivotably coupled to a proximal end of the lower leg segment at a knee joint;
- c) a vehicle body having a mass, the vehicle body coupled to the upper leg segment near a proximal end of the upper leg segment;
- d) a wheel rotatably coupled to the lower leg segment near a distal end of the lower leg segment, the wheel configured to at least partially support the mass of the vehicle body;
- e) a first actuation system associated with the vehicle body and operably coupled to the upper leg segment and configured to rotate the upper leg segment via the hip joint, the first actuation system comprising:
- i) a first actuator;
- and
- ii) a first spring mechanically operably coupled in series with the first actuator and the upper leg segment;
- and
- f) a second actuation system associated with the vehicle body and operably coupled to the lower leg segment and configured to rotate the lower leg segment via the knee joint, the second actuation system comprising:
- i) a second actuator;
- and
- ii) a second spring mechanically operably coupled in series with the second actuator and the lower leg segment.
A robotic vehicle comprising at least two wheel-leg suspension and locomotion systems, each system comprising:
- a) a body;
- b) an upper leg segment having a proximal end pivotably coupled to the body at a hip joint and a distal end;
- c) a lower leg segment having a proximal end pivotably coupled to the distal end of the upper leg segment at a knee joint and a distal end;
- d) a wheel rotatably coupled to the distal end of the lower leg segment;
- e) a first series-elastic actuation system associated with the body and operably coupled to the hip joint to vary an angle of the upper leg segment relative to the body, the first series-elastic actuator comprising:
- i) a first actuator;
- and
- ii) a torsional spring mechanically coupled in series with the first actuator and coupled to the upper leg segment;
- and
- f) a second series-elastic actuator fixed to the body and operably coupled to the knee joint to vary an angle of the lower leg segment relative to the upper leg segment, the second series-elastic actuator comprising:
- i) a non-backdrivable actuator;
- and
- ii) a torsional spring mechanically coupled in series with the non-backdrivable actuator and coupled to the lower leg segment.
A method of providing suspension and locomotion for a vehicle, the method comprising:
- providing a vehicle body;
- pivotably coupling a proximal end of an upper leg segment to the vehicle body at a hip joint;
- pivotably coupling a proximal end of a lower leg segment to a distal end of the upper leg segment at a knee joint;
- rotatably coupling a wheel to a distal end of the lower leg segment, the wheel configured to at least partially support the mass of the vehicle body;
- actuating the upper leg segment relative to the vehicle body via a first actuation system comprising a first actuator and a first spring mechanically operably coupled in series with the first actuator and the upper leg segment;
- and
- actuating the lower leg segment relative to the upper leg segment via a second actuation system comprising a second actuator and a second spring mechanically operably coupled in series with the second actuator and the lower leg segment.
Dependencies are inferred from the claim text.