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Single actuator per leg robotic hexapod

  • US 6,481,513 B2
  • Filed: 03/14/2001
  • Issued: 11/19/2002
  • Est. Priority Date: 03/16/2000
  • Status: Active Grant
First Claim
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1. A mobile robot comprising:

  • a body;

    at least six compliant legs each having an actuator, said compliant legs being mounted to said body for movement relative thereto, each of said compliant legs having a single actuated degree of freedom; and

    a controller operably coupled to said actuators, said controller selectively actuating said actuators to drive said compliants legs in an alternating tripod gait.

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