Walking robots having double acting fluid driven twistor pairs as combined joints and motors and method of locomotion
First Claim
1. A six-legged walking robot comprising:
- a left front leg,a left mid leg,a left rear leg,a right front leg,a right mid leg, anda right rear leg,each of said six legs comprising;
a first twistor-pair joint forming a first pivot axis, said first pivot axis being vertical,a second twistor-pair joint forming a second pivot axis, said second pivot axis being horizontal,said second twistor-pair joint being connected by a first rigid element to said first twistor-pair joint with said second pivot axis being offset from said first pivot axis for moving said second twistor-pair joint alternately forwardly and rearwardly relative to said vertical first pivot axis,a third twistor-pair joint forming a third pivot axis, said third pivot axis being horizontal,said third twistor-pair joint being connected by a second rigid element to said second twistor pair joint with said third pivot axis being offset from said second pivot axis for moving said third twistor-pair joint alternately upwardly and downwardly relative to said second pivot axis, anda third rigid element being connected to said third twistor-pair joint and extending downwardly to a foot end of said third rigid element for positioning said foot end relative to said third pivot axis.
4 Assignments
0 Petitions
Accused Products
Abstract
A six-legged, insect-like, self-propelled walking robot (hexapodal arthrobot), includes twistor-pairs in the waist, hip and knee of each leg and walks by pr0gramming fluid pressure in these twistor-pairs at the joints of respective legs in a predetermined controlled sequence. As a result of a predetermined sequence of six controlled variable pressures, this six-legged robot firmly plants three of its legs on the ground for providing stable ground support for walking. The three legs on the ground are propelling the robot forward with walking motion, while the other three legs are lifted and swing forward to an advanced position and are then lowered onto the ground for taking over their support and walking role in their turn, while the first three legs are then being lifted and swung forward to an advanced position, and so forth, for providing a stable forward walking motion. By reversing the sequence of six controlled variable pressures, a stable reverse walking motion is produced. Due to the fact that angular deflection of each twistor-pair joint is a predictable and predetermined linear function of the respective two fluid pressures fed into the two respective twistors of such twistor-pair joint, an open loop control method and system can be employed for operating these robots. In other words, closed loop feedback control systems with position sensors and electronic controls are not necessary to be employed for many different applications of the present invention.
98 Citations
17 Claims
-
1. A six-legged walking robot comprising:
-
a left front leg, a left mid leg, a left rear leg, a right front leg, a right mid leg, and a right rear leg, each of said six legs comprising; a first twistor-pair joint forming a first pivot axis, said first pivot axis being vertical, a second twistor-pair joint forming a second pivot axis, said second pivot axis being horizontal, said second twistor-pair joint being connected by a first rigid element to said first twistor-pair joint with said second pivot axis being offset from said first pivot axis for moving said second twistor-pair joint alternately forwardly and rearwardly relative to said vertical first pivot axis, a third twistor-pair joint forming a third pivot axis, said third pivot axis being horizontal, said third twistor-pair joint being connected by a second rigid element to said second twistor pair joint with said third pivot axis being offset from said second pivot axis for moving said third twistor-pair joint alternately upwardly and downwardly relative to said second pivot axis, and a third rigid element being connected to said third twistor-pair joint and extending downwardly to a foot end of said third rigid element for positioning said foot end relative to said third pivot axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A six-legged walking robot, in which:
-
there are three left legs and three right legs, said three left legs comprising a front left leg (L1), a mid-left leg (L2) and a hind left leg (L3), said three right legs comprising a front right leg (R1), a mid-right leg (R2) and a hind right leg (R3), and in which; each of said legs comprises; a first twistor-pair joint having a vertical axis, a second twistor-pair joint having a first horizontal axis offset from said vertical axis, and a third twistor-pair joint having a second horizontal axis offset from and parallel to said first horizontal axis, and said robot further comprising; a controllable source of pressurized fluid connected to said first twistor-pair joint, to said second twistor-pair joint and to said third twistor-pair joint, said controllable source of pressurized fluid providing first, second, third, fourth, fifth and sixth pressures (P1, P2, P3, P4, P5 and P6) each varying in a predetermined manner during a cycle which repeats for producing walking motion, said first and second (P1 and P2), said third and fourth (P3 and P4), said fifth and sixth (P5 and P6) cyclically varying pressures being supplied to the respective first, second and third twistor-pair joints of two respective leg groups comprising; a left front leg, a right mid leg, and a left hind leg (L1, R2 and L3), and a right front leg, a left mid leg, and a right hind leg (R1, L2 and R3).
-
-
10. A twistor waling robot having at least three left jointed legs and at least three right jointed legs, each of said jointed legs comprising:
-
a first twistor-pair joint forming a first pivot motor in said robot and having a first axis extending in an up and down orientation, a second twistor-pair joint forming a second pivot motor connected to said first pivot motor by a first shank extending generally horizontally for causing said second twistor-pair joint to move forwardly and backwardly relative to said robot by twisting motion of said first twistor-pair joint, said second twistor-pair joint having a second axis extending generally horizontally, said second axis being offset horizontally from said first axis, a third twistor-pair joint forming a third pivot motor connected to said second twistor-pair joint by a second shank extending downwardly from said third twistor-pair joint to said second twistor-pair joint, said downwardly extending second shank also being inclined inwardly toward said robot, and a foot connected to said third twistor pair joint by a third shank extending upwardly from said foot to said third twistor-pair joint. - View Dependent Claims (11, 12, 13, 14)
-
-
15. A six-legged walking robot comprising:
-
front, mid and rear left jointed legs, front, mid and rear right jointed legs, each of said six jointed legs comprising; a first twistor-pair joint having a first pivot axis extending in an up and down orientation, a second twistor-pair joint connected to said first twistor-pair joint and having a second pivot axis extending generally horizontally, said second pivot axis being spaced horizontally from said first pivot axis, a third joint connected to said second twistor-pair joint by a shank, said third joint being a flexural joint and having a third pivot axis extending generally horizontally and being spaced from said second pivot axis, a foot connected to said third joint by another shank extending upwardly from said foot to said third joint, said first twistor-pair joint being a flexural support for said second twistor-pair joint and also being a double-acting turning motor for moving said second pivot axis relative to said first pivot axis, said second twistor-pair joint being a flexural support for said third joint and also being a double-acting turning motor for moving said third pivot axis relative to said second pivot axis. - View Dependent Claims (16, 17)
-
Specification