STATICALLY STABLE BIPED ROBOTIC MECHANISM AND METHOD OF ACTUATING
First Claim
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1. A robotic mechanism comprising:
- a chassis having a first side, an opposite second side and a center of mass;
a first leg member rotatably coupled to the chassis proximate the first side, the first leg member being of generally spiral shape; and
a second leg member rotatably coupled to the chassis proximate the second side, the second leg member being of generally spiral shape,wherein a portion of the first leg member and a portion of the second leg member are structured to engage a surface,wherein the portion of the first leg member has a center of curvature and the portion of the second leg member has a center of curvature, andwherein the center of mass of the chassis is disposed below the center of curvature of the first leg member and the center of curvature of the second leg member.
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Abstract
A robotic mechanism comprising a chassis having a first side and an opposite second side, a first leg member rotatably coupled to the chassis proximate the first side and a second leg member rotatably coupled to the chassis proximate the second side. The first leg member and the second leg member being of generally spiral shape. The first leg member and the second leg member rotating generally about a common axis. The chassis having a center of mass lying below the common axis.
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Citations
21 Claims
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1. A robotic mechanism comprising:
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a chassis having a first side, an opposite second side and a center of mass; a first leg member rotatably coupled to the chassis proximate the first side, the first leg member being of generally spiral shape; and a second leg member rotatably coupled to the chassis proximate the second side, the second leg member being of generally spiral shape, wherein a portion of the first leg member and a portion of the second leg member are structured to engage a surface, wherein the portion of the first leg member has a center of curvature and the portion of the second leg member has a center of curvature, and wherein the center of mass of the chassis is disposed below the center of curvature of the first leg member and the center of curvature of the second leg member. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A robotic mechanism comprising:
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a chassis having a first side and an opposite second side; a first leg member rotatably coupled to the chassis proximate the first side; and a second leg member rotatably coupled to the chassis proximate the second side; wherein the first leg member and the second leg member are structured upon rotation to move the chassis from a first position in which the chassis is resting on a surface to a second position in which the chassis is positioned a distance above said surface. - View Dependent Claims (11)
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12. A method of actuating a robotic mechanism, said method comprising:
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rotating a first leg member with respect to a chassis; rotating a second leg member with respect to said chassis; and responsive to said rotation of said first leg member and said rotation of said second leg member, effectuating a movement of said chassis, wherein said first leg member is rotatably coupled to said chassis proximate a first side, wherein said second leg member is rotatably coupled to said chassis proximate a second side, and wherein said first leg member and said second leg member are of generally spiral shape and rotate generally about a common axis that lies above a center of mass of said chassis. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification