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US 7,017,687 B1Granted
Reconfigurable articulated leg and wheel
AssigneeSarcos Investments LC
InventorsStephen Jacobsen, Fraser M. Smith, Marc Olivier, Christopher S. Maggio
Life of this patent
Estimating the term…
Abstract
A reconfigurable leg and wheel device includes an array of components joined in series configurable as i) an articulated leg with the components movable with respect to one another in a walking motion, and reconfigurable as ii) a wheel with the components forming a circular outer surface and being rotatable about an axis in a rotational motion.
Claims19
A reconfigurable leg and wheel device, comprising:
- an array of components joined in series configurable as i) an articulated leg with an upper leg pivotally coupled at an axis to a body, a lower leg pivotally coupled to the upper leg, and a foot pivotally coupled to the lower leg, the upper leg, the lower leg and the foot movable with respect to one another in a walking motion, and reconfigurable as ii) a wheel with the upper leg, the lower leg and the foot forming a circular outer surface and being rotatable about an axis in a rotational motion.
A combined and transformable wheel and leg device, comprising:
- a) a plurality of leg segments pivotally joined in series;
- b) the leg segments including at least two leg segments having semi-circular portions;
- c) at least one intermediate leg segment interconnecting the at least two leg segments;
- and
- c) the leg segments defining at least two configurations, including:
- i) a leg configuration in which the leg segments are movable with respect to one another;
- and
- ii) a wheel configuration in which the leg segments are rigidly affixed with respect to one another, and the semi-circular portions are combined to form a substantial circular outer surface, and being rotatable about an axis in a rotational motion.
5 more elements
A combined and transformable wheel and leg device, comprising:
- a) an array of leg segments pivotally joined in series, including at least:
- i) an upper leg pivotally coupled at an axis to a body;
- and
- ii) a lower leg pivotally coupled to the upper leg;
- b) a plurality of semi-circular portions, associated with at least some of the leg segments;
- c) the leg segments defining at least two configurations, including:
- i) a leg configuration in which the leg segments are movable with respect to one another;
- and
- ii) a wheel configuration in which the leg segments are rigidly affixed with respect to one another, and the semi-circular portions are combined to form a substantial circular outer surface, and being rotatable about an axis in a rotational motion;
- d) actuators, coupled between adjacent leg segments, to move the leg segments with respect to each other in the walking configuration.
7 more elements
Dependencies are inferred from the claim text.