Robot Including Electrically Activated Joints
First Claim
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1. A suspension system for a robot including a pivot joint pivotally joining first and second links, the system comprising:
- an actuator attached to the first link;
a belt engaged with the actuator and includinga first end coupled to a first attachment point on the second link disposed on one side of the pivot joint, anda second end coupled to a second attachment point on the second link disposed on a side of the pivot joint opposite the first attachment point;
a first tensioner configured to tension the belt between the first end and the actuator; and
a second tensioner configured to tension the belt between the second end and the actuator.
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Abstract
Robots comprising two links joined by a pivot joint are provided. In some cases, the pivot joint allows the robot to lean to either side. One link of the robot includes an electrically activated actuator such as an electric motor configured to rotate a pulley. A belt is engaged with the actuator, and the ends of the belt are coupled to the other link on either side of the pivot joint. Tensioners, such as springs, provide tension on either side of the belt. Actuating the actuator changes the position of the belt to respond to sloping surfaces and turns, for example.
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Citations
24 Claims
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1. A suspension system for a robot including a pivot joint pivotally joining first and second links, the system comprising:
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an actuator attached to the first link; a belt engaged with the actuator and including a first end coupled to a first attachment point on the second link disposed on one side of the pivot joint, and a second end coupled to a second attachment point on the second link disposed on a side of the pivot joint opposite the first attachment point; a first tensioner configured to tension the belt between the first end and the actuator; and a second tensioner configured to tension the belt between the second end and the actuator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A robot comprising:
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first and second links pivotally joined together at a pivot joint; and a suspension system comprising an actuator attached to the first link, a belt engaged with the actuator and including a first end and a second end, a first spring attached between the first end of the belt and a first attachment point on the second link, and a second spring attached between the second end of the belt and a second attachment point on the second link, the first and second attachment points being on opposite sides of the pivot joint. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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21. A method of controlling an adjustable suspension of a robot comprising first and second links joined at a pivot joint, the method comprising:
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determining a change in an acceleration vector for the second link; determining a set point, based on the change in the acceleration vector, for an actuator attached to the first link and engaged with a belt having ends coupled to the second link on either side of the pivot joint; and actuating the actuator to reach the set point. - View Dependent Claims (22, 23, 24)
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Specification