Orthogonal legged walking robot

• US 5,005,658 A
• Filed: 12/22/1988
• Issued: 04/09/1991
• Est. Priority Date: 12/22/1988
• Status: Expired due to Fees

• Current Assignee: Carnegie Mellon University
• Original Assignee: Carnegie Mellon University
• Inventors: Whittaker, William, Bares, John E.
• Primary Examiner(s): Hill, Mitchell J.
• Application Number:
  US07/288,677
• Time in Patent Office: 838 Days
• Field of Search: 180/8.1, 180/8.6, 180/167, 180/169, 180/8.3, 901/1
• US Class Current: 180/8.1
• CPC Class Codes: B62D 57/02 with ground-engaging propulsion means, e.g. walking members

Abstract

The present invention pertains to a robot for moving along uneven terrain. The robot comprises a body having an exterior surface and a device for defining the terrain around the body. There is also a device for moving the body. The moving device includes legs, at least one of which are capable of being independently positioned adjacent to any portion of the exterior surface of the body. The robot is also comprised of a device for controlling the moving device. The controlling device is connected to the defining device such that the body moves along the terrain in a desired path. In an alternative embodiment, the moving device includes legs, each of which can exhibit an overlapping gait with respect to another leg while moving the body. In a preferred embodiment, each leg is comprised of a shoulder that is rotatable in a angular direction. Each leg is also comprised of a pedestal which has an axis that is disposed in essentially a z direction, where the z direction is perpendicular to the angular direction. There is also a device for linking the shoulder and the pedestal such that the pedestal can be moved in an r direction to a desired r position with respect to the shoulder, where the r direction is perpendicular to the z and the angular directions. The robot moves along the terrain which it defines with the defining device by positioning each leg in a desired place determined by the controlling device and then moving the body forward to reposition itself.

Claims

1. A robot for moving along terrain comprising:

a body;

means for moving the body, said moving means including legs;

each leg exhibiting an overlapping gait with respect to every other leg and comprised of a pedestal which has an axis that is disposed essentially in a z direction; and

means for positioning the axis of the pedestal at a desired ground engaged location with respect to an r, θ

plane, where r and θ

are directions mutually orthogonal to each other and the z direction;

said moving means also able to move the body in any of r, θ

heading and z dimensions, said heading defined by a direction in which the movable body is pointing.

2. A robot as described in claim 1 wherein the positioning means includes a shoulder that is rotatable in the θ

direction; and

means for linking the shoulder and the pedestal such that the pedestal can be moved in the r direction to a desired r position with respect to the shoulder.

3. A robot as described in claim 2 wherein the linking means is linked to the pedestal at a position which is essentially maintained at the same height as the shoulder.

4. A robot as described in claim 3 wherein said linking means and said shoulder define a plane in the r and θ

directions, and the linking means includes an elbow that is disposed between and connected to the shoulder and the pedestal such that the elbow is maintained in the r, θ

plane, said elbow rotatable in the θ

direction.

5. A robot as described in claim 4 wherein the linking means includes a first linkage disposed between and connected to the shoulder and the elbow such that when the shoulder rotates in the θ

direction, the first linkage and the elbow sweep a corresponding arc length in the r, θ

plane; and

a second linkage disposed between and connected to the elbow and the pedestal such that when the elbow rotates in the θ

direction, the second linkage and the pedestal sweep a corresponding arc length in the r, θ

plane.

6. A robot as described in claim 5 wherein the body includes a member having an axis, said member extends upwards such that the axis of the member is essentially in the z direction;

and wherein each shoulder has an axis and each axis of each shoulder of each leg is disposed on the axis of the member, said shoulders being stacked on top of each other;

wherein each of said pedestals have a length that corresponds to the height of its respective shoulder stacked on the member such that all the pedestals have a bottom that together form a second r, θ

plane; and

wherein each of said pedestals have

an extension disposed therein which can extend downward from the pedestal in the z direction;

means for extending the extension; and

a foot connected to the bottom of the extension such that the extension can rotate in the θ

direction about the foot so the foot remains still on the terrain when the extension rotates about it.

7. A robot as described in claim 6 wherein the moving means includes, in each first linkage of each leg, a first drive train connected to the shoulder for rotating the shoulder;

and second drive train connected to the elbow for rotating the elbow; and

wherein the extending means in each pedestal is a third drive train connected to the extension.

8. A robot for moving along terrain comprising:

a body having a member having an axis, said member extending in essentially a z direction from the body;

means for moving the body, said moving means including legs;

each leg comprised of a pedestal which has an axis that is disposed essentially in the z direction; and

means for positioning the axis of the pedestal at a desired location with respect to an r, θ

plane where r and θ

are directions mutually orthogonal to each other;

with the positioning means including a shoulder that is rotatable in the θ

direction and means for linking the shoulder and the pedestal such that the pedestal can be moved in the r direction to a desired r position with respect to the shoulder, and wherein each shoulder has an axis and each axis of each shoulder of each leg is disposed on the axis of the member, each shoulder being stacked on top of each other;

wherein each of said pedestals have a length that corresponds to the height of its respective shoulder stacked on the member such that all the pedestals have a bottom that together form a second r, θ

plane.

9. A robot as described in claim 8 wherein the linking means is linked to the pedestal at a position which is essentially maintained at the same height as the shoulder.

10. A robot as described in claim 9 wherein said linking means and said shoulder define a plane in the r and θ

directions, and the linking means includes an elbow that is disposed between and connected to the shoulder and the pedestal such that the elbow is maintained in the r, θ

plane, said elbow rotatable in the θ

direction.

11. A robot as described in claim 10 wherein the linking means includes a first linkage disposed between and connected to the shoulder and the elbow such that when the shoulder rotates in the θ

direction, the first linkage and the elbow sweep a corresponding arc length in the r, θ

plane; and

a second linkage disposed between and connected to the elbow and the pedestal such that when the elbow rotates in the θ

direction, the second linkage and the pedestal sweep a corresponding arc length in the r, θ

plane.

12. A robot as described in claim 11 wherein each pedestal has:

an extension disposed therein which can extend downward from the pedestal in the z direction;

means for extending the extension; and

a foot connected to the bottom of the extension such that the extension can rotate in the θ

direction about the foot so the foot remains still on the terrain when the extension rotates about it.

13. A robot as described in claim 12 wherein the moving means includes, in each first linkage of each leg, a first drive train connected to the shoulder for rotating the shoulder;

and second drive train connected to the elbow for rotating the elbow; and

wherein the extending means in each pedestal is a third drive train connected to the extension.