Legged robot passive fluid-based ankles with spring centering
US9731416B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 11, 2015 |
| Grant date | Aug 15, 2017 |
| Priority date | — |
| Expiry date | Jul 14, 2035 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/22
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An example robot includes a first hydraulic actuator cylinder connecting a first member to a second member, where the first hydraulic actuator cylinder comprises a first piston and a first chamber. A second hydraulic actuator cylinder connects the first member to the second member, where the second hydraulic actuator cylinder comprises a second piston and a second chamber. A valve system controls hydraulic fluid flow between a hydraulic supply line of pressurized hydraulic fluid, the first and second chambers, and a return line. A controller is configured to determine a gait state of the robot, and based on the determined gait state, provide a signal to the valve system.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.