Three-piston ankle mechanism of a legged robot and associated control system

US9878751B1 · kind B1 · utility

Assignee

• Boston Dynamics, Inc. · US

Inventors

• Christopher Everett Thorne · Somerville, US
• John Aaron Saunders · Arlington, US
• Marco da Silva · Arlington, US
• Thomas H. Miller · Cordova, US
• Alexander Douglas Perkins · Arlington, US

Key dates

• Filing date: Oct 8, 2015
• Grant date: Jan 30, 2018
• Expiry date: May 30, 2036

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/28
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

An example robot includes a first actuator and a second actuator connecting a first portion of a first member of the robot to a second member of the robot. Extension of the first actuator accompanied by retraction of the second actuator causes the first member to roll in a first roll direction. Retraction of the first actuator accompanied by extension of the second actuator causes the first member to roll in a second roll direction. A third actuator connects a second portion of the first member to the second member. Extension of the third actuator accompanied by retraction of both the first and second actuators causes the first member to pitch in a first pitch direction. Retraction of the third actuator accompanied by extension of both the first and second actuators causes the first member to pitch in a second pitch direction.