Variable stiffness leg structure for multipede running robots
US8789630B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 2, 2011 |
| Grant date | Jul 29, 2014 |
| Priority date | — |
| Expiry date | Oct 24, 2032 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T74/20323
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
According to one aspect, this invention provides an apparatus for varying the stiffness of a leg of a robotic system. The apparatus includes a compliant spine assembly including a compliant spine mounted for movement adjacent the leg and a rack coupled to the compliant spine. It also includes a motor assembly positioned to move the compliant spine of the compliant spine assembly with respect to the leg, the motor assembly including a gear engaging the rack of the compliant spine assembly and a motor coupled to drive the gear. The compliant spine of the compliant spine assembly is configured to vary the stiffness of the leg of the robotic system as it is moved by the motor assembly with respect to the leg.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.