Class / Patent application number | Description | Number of patent applications / Date published |
180800100 | Stepper | 87 |
20080245584 | Leg Type Mobile Robot - To provide a leg type mobile robot, in which a downsizing and wait-saving of floor reaction force detector to be installed on the foot is enabled. | 10-09-2008 |
20090166103 | Limbed vehicles, systems and methods using same, and post networks on which limbed vehicles travel - Embodiments disclosed herein relate to systems including a limbed vehicle having a plurality of controllably movable limbs (e.g., a limbed machine, limbed robot, etc.), a plurality of spaced posts that the limbed vehicle may travel on using the limbs, and at least one logistical-support unit associated with at least one of the posts and configured to provide logistical support to the limbed vehicle. As non-limiting examples, such disclosed embodiments of systems may be used to service an agriculture field, to enable travel over an environmentally-sensitive area or an area impassable by a conventional wheeled or tracked vehicle, and may be used in many other different applications. Embodiments disclosed herein also relate to limbed vehicles configured to receive logistical support from a logistical-support unit, methods of providing logistical support to such limbed vehicles, post networks, and posts. | 07-02-2009 |
20100126785 | LEGGED ROBOT AND CONTROL METHOD OF LEGGED ROBOT - A legged robot includes: a body; a leg portion; a foot portion; a falling direction detection unit that detects a falling direction of the body; a control unit; and a distance detection unit that detects a distance between a sole of the foot portion and a road surface. The distance detection unit includes at least three distance sensors provided on the sole, and the control unit includes distance sensor selecting means for selecting a distance sensor and gait data correcting means for correcting gait data based on a detection signal from the distance sensor selected by the distance sensor selecting means. The distance sensor selecting means selects three distance sensors among the distance sensors based on a detection result of the falling direction detection unit. | 05-27-2010 |
20100170729 | ENERGY EFFICIENT ROBOTIC SYSTEM - An energy efficient biped robotic system with passive-dynamic locomotion includes a body having a frame, an energy recapture mechanism, and a leg. The cyclical movement of the leg during passive-dynamic locomotion is transferred to a load through a mechanical energy storage mechanism, and the resulting oscillatory movement of the load is transferred by the mechanical energy input mechanism to an electric energy generating mechanism. The generated electric energy is transferred to the energy storage device for use by the robotic system. | 07-08-2010 |
20110048815 | MULTI-LEGGED WALKING DEVICE - A multi-legged walking device includes a crankshaft, a plurality of linkage bar mechanisms, a support member, and a driving device. The crankshaft includes a plurality of main journals and crankpin journals. The plurality of linkage bar mechanisms is spaced from and substantially parallel to each other. The linkage bar mechanisms include a plurality of frames. Each frame is rotatably connected to one of the plurality of main journals. Each linkage bar mechanism includes a connecting bar, a first rocker, a second rocker, and a leg. Two ends of the connecting bar are rotatably connected to one of the crankpin journals and the leg. Two ends of the first rocker are rotatably connected to one of the plurality of frames and the leg. Two ends of the second rocker are rotatably connected to one of the plurality of frames and the connecting bar. The support member is fixed to the frames. | 03-03-2011 |
20110186362 | FOOT FOR HUMANOID ROBOT - The invention relates to a foot and a humanoid robot having the foot. The invention is of particular utility in the production of humanoid robots coming as close as possible to the human morphology. According to the invention, the foot includes: a sole, toes, a motorized connection, independent of the ankle, in rotation between the sole and the toes, the toes being able to move on an angular travel about an axis of the connection, an actuator allowing the connection to be motorized, and means for controlling the actuator in a standalone manner. | 08-04-2011 |
20120073886 | ROBOTIC VEHICLE - A robotic vehicle is disclosed, which is characterized by high mobility, adaptability, and the capability of being remotely controlled in hazardous environments. The robotic vehicle includes a chassis having front and rear ends and supported on right and left driven tracks. Right and left elongated flippers are disposed on corresponding sides of the chassis and operable to pivot. A linkage connects a payload deck, configured to support a removable functional payload, to the chassis. The linkage has a first end rotatably connected to the chassis at a first pivot, and a second end rotatably connected to the deck at a second pivot. Both of the first and second pivots include independently controllable pivot drivers operable to rotatably position their corresponding pivots to control both fore-aft position and pitch orientation of the payload deck with respect to the chassis. | 03-29-2012 |
20120080242 | WALKING MACHINE - A steerable walking machine is described which comprises a leg mechanism that provides a means for locomotion of the machine across a surface and a head rotatably mounted upon the leg mechanism. The rotational position of the head upon the leg mechanism acts to defines a direction of locomotion of the machine across the surface. The steerable walking machine can therefore walk in any direction without requiring the leg mechanism to turn and so can manoeuvre in more confined spaces than those devices known in the art. A first motor is employed to control the leg mechanism while a second motor controls the rotation of the head upon the leg mechanism. The functionality of the steerable walking machine is therefore achieved through the employment of only two motors thus significantly reducing the manufacturing costs involved. | 04-05-2012 |
20120168233 | ROBOTIC DEVICES AND METHODS - A robot and method of manufacturing the same are disclosed. Embodiments of the robot include robots with piezoelectric appendages and microrobots of very small sizes, for example, robots with appendage lengths equal to approximately 300 μm. Further embodiments include a plurality of piezoelectric appendages, each appendage including a plurality of piezoelectric members coupled to one another at two locations, while other embodiments include appendages with piezoelectric members coupled to one another at three locations. Various embodiments are capable of jumping, walking upside down, carrying heavy loads, and/or walking with foreign object contamination in one or more appendages. Still further embodiments include energy storage members that store the energy generated by an appendage when the appendage is subject to external forces. | 07-05-2012 |
20120298430 | INTERNAL MEANS FOR ROTATING AN OBJECT BETWEEN GRAVITATIONALLY STABLE STATES - A vehicle incorporating a plurality of control motion gyroscopes (CMTs) contained within a support structure is described. Optionally, a mass shifting mechanism may also be incorporated in the vehicle. The vehicle and its CMTs are configured to have a plurality of gravitationally stable states on a sloped surface. | 11-29-2012 |
20130025947 | ROBOTIC PLATFORM FOR TRAVELING ON VERTICAL PIPING NETWORK - This invention relates generally to robotic systems and is specifically designed for a robotic system that can navigate vertical pipes within a waste tank or similar environment. The robotic system allows a process for sampling, cleaning, inspecting and removing waste around vertical pipes by supplying a robotic platform that uses the vertical pipes to support and navigate the platform above waste material contained in the tank. | 01-31-2013 |
20130153309 | CENTERING DEVICE FOR LOAD TRANSPORTING APPARATUS - Embodiments of the present invention are directed to a load transporting apparatus that automatically centers a support foot of the apparatus about a roller assembly during a recovery phase of an incremental walking movement. In particular, the load transporting apparatus includes guide devices positioned adjacent to a roller assembly that deflect a biasing device during non-linear load transporting movements, where the biasing device acts to automatically return the support foot to a centered position relative to the roller assembly after a non-linear movement has been completed and the support foot is raised above a ground surface. | 06-20-2013 |
20130277124 | CENTERING DEVICE FOR LOAD TRANSPORTING APPARATUS - Embodiments of the present invention are directed to a load transporting apparatus that automatically centers a support foot of the apparatus about a roller assembly during a recovery phase of an incremental walking movement. In particular, the load transporting apparatus includes guide devices positioned adjacent to a roller assembly that deflect a biasing device during non-linear load transporting movements, where the biasing device acts to automatically return the support foot to a centered position relative to the roller assembly after a non-linear movement has been completed and the support foot is raised above a ground surface. | 10-24-2013 |
20140014417 | ALIGNMENT RESTORATION DEVICE FOR LOAD TRANSPORTING APPARATUS - Embodiments of the present invention are directed to a load transporting apparatus that automatically aligns a support foot of the apparatus with a load-bearing frame connected to the load transporting apparatus during a recovery phase of an incremental walking movement. In particular, the load transporting apparatus includes a linking device attached to a support foot of the apparatus and a biasing device connected to the linking device that is deflected during non-linear load transporting movements, where the biasing device acts to automatically return the support foot to an aligned position relative to the load-bearing frame after a non-linear movement has been completed and the support foot is raised above a ground surface. | 01-16-2014 |
20140054097 | Drill Rig Moving System - The present invention discloses a drill rig relocation system. Lift frames are provided at opposite ends of a base box of a drill rig substructure. A lift cylinder and bearing mat assembly are rotatably connected beneath the lift frame. The bearing mat assemblies may be rotated to the desired direction for moving the drill rig. The lift cylinders are then expanded, placing the bearing mat assemblies onto the ground and lifting the base boxes and drill rig off the ground. The drill rig is supported on linear sleeve bearings slideably mounted in the bearing mat assemblies. Translation cylinders on the bearing mats expanded to move the rig by translating the linear sleeve bearings along the shafts. After the lift cylinder expands to place the bearing mat on the ground, the translation cylinders are retracted, providing the linear bearing with the full length of the shaft for the next movement. | 02-27-2014 |
20140124275 | WALKING MACHINE - A steerable walking machine is described which comprises a leg mechanism that provides a means for locomotion of the machine across a surface and a head rotatably mounted upon the leg mechanism. The rotational position of the head upon the leg mechanism acts to defines a direction of locomotion of the machine across the surface. The steerable walking machine can therefore walk in any direction without requiring the leg mechanism to turn and so can maneuver in more confined spaces than those devices known in the art. A first motor is employed to control the leg mechanism while a second motor controls the rotation of the head upon the leg mechanism. The functionality of the steerable walking machine is therefore achieved through the employment of only two motors thus significantly reducing the manufacturing costs involved. | 05-08-2014 |
20140262561 | LOCOMOTION SYSTEM AND METHOD OF CONTROLLING A ROBOTIC DEVICE - A locomotion system for use with a robotic device is provided. The locomotion system includes a first micropillar array including at least a first micropillar, a second micropillar array including at least a second micropillar, a control circuit associated with each micropillar of the first and second micropillar arrays, and a controller operatively coupled to each control circuit. The controller is configured to selectively activate the first and second micropillars in a sequence that causes the robotic device to move in a predetermined direction. | 09-18-2014 |
20150122558 | LIFTING JACK ASSEMBLY WITH ROTATABLE HYDRAULIC CYLINDER FOR STEERING AND METHOD OF OPERATION - A lifting jack assembly for use on a walking machine to raise it off the ground and preselect a steering direction before the walking machine is lowered onto the ground for travel therealong includes a hydraulic power-driven lift cylinder for actuating an extendable/retractable rod, wherein the lift cylinder is rotatable about its vertical axis. A roller assembly is provided with rollers mounted to the rod. A foot plate mounted below the roller assembly engages the rollers, and a power-driven shifter mechanism mounted on the foot plate and connected to the roller assembly shifts the roller assembly along the foot plate. A linkage assembly interconnects the lift cylinder to the foot plate. A steering mechanism rotates the lift cylinder about its vertical axis to impart rotation to the foot plate and the roller assembly to orient and fix the direction of travel of the walking machine in a preselected direction. | 05-07-2015 |
20150375817 | RESILIENT, UNTETHERED SOFT ROBOT - A pneumatically powered, fully untethered mobile soft robot is described. Composites consisting of silicone elastomer, polyaramid fabric, and hollow glass microspheres were used to fabricate a sufficiently large soft robot to carry the miniature air compressors, battery, valves, and controller needed for autonomous operation. Fabrication techniques were developed to mold a 0.65 meter long soft body with modified Pneumatic network actuators capable of operating at the elevated pressures (up to 138 kPa) required to actuate the legs of the robot and hold payloads of up to 8 kg. The soft robot is safe to handle, and its silicone body is innately resilient to a variety of adverse environmental conditions including snow, puddles of water, direct (albeit limited) exposure to flames, and the crushing force of being run over by an automobile. | 12-31-2015 |
20160052573 | LOAD TRANSPORTING APPARATUS AND METHODS OF USING SAME - A load transporting apparatus may be steered while transporting a load across a base surface, and the load transporting apparatus may be operated hydraulically, electrically, or by use of an encoder. In particular, the load transporting apparatus may include a track configured to a saddle housing (a support movement for a movement assembly), and a foot that may be connected to the track. During load transport, the pad saver may be maintained in a substantially similar position relative to a frame structure supporting the load, even when the transport movement is not in a parallel direction to the orientation of the pad saver. | 02-25-2016 |
180800200 | Step or abutment ascending/desending type vehicle | 15 |
20080251300 | Automated wheelchair - An automated wheelchair for moving over a contact surface. The automated wheelchair includes an operator chair for seating the wheelchair operator, a control computer, an operator input device for transmitting operator inputs to the control computer, and two wheelchair wheels for propelling the wheelchair. Each wheelchair wheel includes extendable and retractable spokes. The extension and retraction of each spoke is controlled by a motor. At the ends of each spoke are contact sensor devices. The control computer is programmed to receive inputs transmitted from the contact sensor devices to generate a terrain profile. The control computer generates and sends control signals to each spoke motor in response to the operator inputs and in response to the terrain profile generated by the contact sensor devices. In a preferred embodiment the contact sensor devices are pressure sensor devices. Also in a preferred embodiment, rotatable pneumatic wheels are attached to both ends of each spoke. Preferably, a brake is applied to at least one pneumatic wheel per wheelchair wheel while the wheelchair is moving over the contact surface. Preferably, the automated wheelchair is capable of moving over a variety of contact surface types, including: a set of stairs with uniform rise to run ratio, a set of stairs with non-uniform rise to run ratio, a set of straight stairs, a set of curved stairs, over a curb or over rough terrain. | 10-16-2008 |
20090205881 | DRIVING SYSTEM - A driving system that can allow a vehicle to go over or ascend obstacles or stairs through a step driving manner is provided. The driving system includes a power transmission unit connected to a main shaft connected to a power generation unit installed on the wheel frame, a plurality of driven units engaged with the power transmission unit and supporting wheels rotating by rotational force of the power transmission unit, and a carrier to which the power transmission unit and each of the driven units are operationally fixed and which goes over the obstacles by rotating when the driven units stop due to the obstacles. | 08-20-2009 |
20100096194 | Wheelchair for stairs and obstacles - The wheelchair for stairs and obstacles consists of a power supply assembly (FIG. | 04-22-2010 |
20100116566 | Maneuvering Robotic Vehicles Having A Positionable Sensor Head - Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided. | 05-13-2010 |
20100258363 | POWERED WHEELCHAIR CONFIGURATIONS AND RELATED METHODS OF USE - A wheelchair includes a frame, a chair, a pair of drive wheels, a pair of rear wheels, and a pair of front wheels. Each front wheel is part of a front arm assembly that is rigidly coupled to a drive via a mounting plate. The mounting plate is connected to the wheelchair frame by a pivot. The drives are transversely mounted. The batteries are disposed rearward of the drives. The wheelchair seat can be moved forward to provide access to the batteries without fully removing the wheelchair from the frame. | 10-14-2010 |
20100263948 | ROBOTIC VEHICLE - A robotic vehicle ( | 10-21-2010 |
20100294575 | Motorized six wheel hand truck - A motorized hand truck has six wheels around an axle. An electric motor, through a worm drive, drives a gear box connected to the axle. The hand truck can be used horizontally to carry long objects. It could be used to carry stretchers for example. In fact, for heavy object, using it horizontally is safer for the user who is below the load and controls it from a low center of gravity. | 11-25-2010 |
20110031044 | ROBOTIC PLATFORM & METHODS FOR OVERCOMING OBSTACLES - A robotic platform is presented, having a tiltable operational assembly. The operational assembly incorporates imaging means, designation means and operational means in a synchronized manner thus simplifying the maneuvering of the robotic platform and the operation of its operational means by a remote operator. The operational assembly can be tilted backwards in order to shift the center of gravity of the robotic platform towards its rear to decrease pressure from the front end of the robotic platform to the ground. Alternatively, the operational assembly can be used as an arm which applies pressure over obstacles to raise its distal end from the ground while overcoming obstacles. Tilting the operational assembly also provides double-sided operation of the robotic platform without the need to perform maneuvers which flip the entire robotic platform. | 02-10-2011 |
20120175172 | STAIR CLIMBING APPARATUS - The stair-climbing apparatus has a series of articulating wheel sets extending below the platform. All of the wheel sets are vertically adjustable to negotiate stairways and similar changes of elevation. The lead wheel set is fixed longitudinally relative to the platform, while following wheel sets are longitudinally adjustable to adjust for the pitch or slope of different stairways. The apparatus uses sensors (e.g., mechanical, infrared, ultrasonic, etc.) to detect the presence of the stair risers and their height, control of the assembly being accomplished by a control circuit on board the machine. The wheel sets are raised and lowered independently of one another by pantograph mechanisms extending between the platform and the wheel sets. The horizontally adjustable wheel sets are positioned by a longitudinally disposed rack on the platform. | 07-12-2012 |
20120217070 | OBSTACLE TRAVERSING WHEELCHAIR - A wheelchair suspension is provided. The wheelchair suspension includes a frame, a front caster pivot arm, a drive assembly, and a rear caster. The front caster pivot arm is pivotally connected to the frame. The front caster is coupled to a front end of the front caster pivot arm. The drive assembly is pivotally connected to the front caster pivot arm. The drive assembly comprises a drive wheel and a motor that drives the drive wheel. Torquing of the drive wheel by the motor in a forward direction causes the drive assembly to pivot with respect to the front caster pivot arm such that the drive wheel moves forward toward the front caster and a distance between a support surface and the connection between of the drive assembly and the front caster pivot arm increases. | 08-30-2012 |
20130081885 | Transformability(TM): personal mobility with shape-changing wheels - This present invention is a personal mobility device for transporting a person over different surfaces and obstacles. This invention comprises novel technology that can be used for next-generation motorized wheelchairs that enable people to travel outside during winter months, to go “off-road,” and to travel up and down staircases independently. This invention features shape-changing wheels that change shape to travel more effectively on different surfaces and obstacles. The shape of a shape-changing wheel is changed by the motorized rotation of at least two rotating members that are part of the shape-changing wheel. Rotation of these rotating members into a first configuration causes the ground-contacting perimeter of the wheel to be circular. Rotation of these rotating members into a second configuration causes the ground-contacting perimeter of the wheel to be non-circular. | 04-04-2013 |
20140158439 | PASSIVE TRANSFORMABLE WHEEL AND ROBOT HAVING THE WHEEL - A passively transformable wheel includes a wheel base including a centrally positioned transmitter rotation shaft and one or more passive leg rotation shafts positioned in the outer periphery; a force transmitter rotatably coupled to an end of the transmitter rotation shaft, the force transmitter including a trigger slide and one or more passive leg joints spaced apart from one another; a trigger leg arranged between the wheel base and the force transmitter and rotatably coupled to the trigger leg rotation shaft, the trigger leg including a trigger joint fitted to the trigger slide; and
| 06-12-2014 |
20140166375 | Arrangement for overcoming an obstruction to traveling movement - The invention relates to an arrangement ( | 06-19-2014 |
20140326521 | TRANSPORT DEVICE - The present invention relates to a transport device | 11-06-2014 |
20160194042 | THREE-WHEELED MOBILE ROBOT | 07-07-2016 |
180800300 | Wheel and stepper type | 8 |
20090114460 | Biped Mobile Mechanism - A robot having a leg mechanism having high rigidity, so as to enable moving on wheels, on the leveled ground, and also moving on the bipedalism, on the unleveled ground, and also enabling to execute exchanging between the wheel running and the bipedalism in a short time, comprising: a body; and left and right leg portions in lower portion of the body, wherein each leg portion has a wheel, which can be drive, at a tip thereof, and a supporting portion, which is movable in roll and pitch directions, the each leg portion has three (3) degrees of freedom, roll, pitch and pitch from the body side, and the supporting portion has at least two (2) of contact points to be in contact with a ground, and makes up a stable region by a contact point of the wheel and the contact point of the supporting body, and thereby oscillating the left and right leg portions, alternately, so as to make bipedalism, and further operating the supporting body, so as to run on the wheels. | 05-07-2009 |
20110100733 | MOBILE PLATFORM - A mobile platform including a body, hybrid leg-wheels and driving mechanisms is provided. The hybrid leg-wheels are disposed around the body for carrying the body moving on a working surface. The driving mechanisms are disposed between the corresponding hybrid leg-wheels and the body. Each driving mechanism includes a driving axle connecting the corresponding hybrid leg-wheels and the body. Each driving mechanism provides the corresponding hybrid leg-wheel a rotational degree of freedom and a translational degree of freedom, wherein the rotational degree of freedom and the translational degree of freedom are driven independently. The rotational degree of freedom allows the hybrid leg-wheels rotating along an axis of the driving axle, and the translational degree of freedom allows the hybrid leg-wheels translating relative to the driving axle, wherein the rotational direction is substantially perpendicular to the translational direction. | 05-05-2011 |
20110132671 | SMALL MOBILE ROBOT WITH BUILT-IN AUXILIARY WHEEL FOR OVERCOMING TOPOGRAPHY - Provided is a small mobile robot which moves back and forth and left and right while keeping its posture by two main wheels. The small mobile robot includes built-in auxiliary wheels to overcome topographical elevation differences. The auxiliary wheels of the small mobile robot are attached to a servomotor. The servomotor is driven by remote control, and the auxiliary wheel can be moved to the position required for operation. When the robot is in a normal state, the auxiliary wheels are retracted in the robot. When the robot meets a stepped topography, the auxiliary wheels are lowered out to contact a ground to support the main wheels going over the stepped topography. The small mobile robot includes a sensor for sensing obstacles and a control module to make a detour around obstacles while moving to a target point. | 06-09-2011 |
20140116792 | MATERIAL HANDLING AND STAIR CLIMBING VEHICLE - In a material handling and stair climbing vehicle, when the vehicle is shifted from a state where the wheels with two axles are grounded on a travelling surface to a standing state achieved by the wheels with one axle, a main body portion is turned around support shafts with respect to supporting portions in the two-axle wheel grounded state. Then, an inertial force around the support shafts is generated by reducing the speed of turning of the main body portion with respect to the supporting portions. Then, the vehicle is shifted to the standing state achieved by the wheels with one axle by turning the supporting portions around the axles of the wheels with one axle, which are grounded on the travelling surface, by the inertial force. | 05-01-2014 |
20150129328 | Step-Climbing Attachment for a Wheeled Chair - A step climbing attachment suitable for attachment to a wheeled chair is described. The step climbing attachment includes a chassis for mounting one or more ground engaging units, a first and a second ground engaging unit mounted to the chassis, at least one of the first and second ground engaging units adapted to move relative to the other of the first or second ground engaging units and the chassis, the relative movement being between a ground engaging position and a step-engaging support position so that in use at least one of the first and/or second ground engaging units engages a step. | 05-14-2015 |
20160159213 | HYBRID ELECTRIC GROUND MOBILITY SYSTEM - A wheel assembly for a vehicle includes a hub portion supporting a plurality of controllable variable length radially-oriented spoke elements supporting a conformable rim assembly supporting a tire element. The hub portion is concentric to an axis of rotation and includes a support structure. The controllable variable length radially-oriented spoke elements are perpendicular to the axis of rotation and each includes a first end mechanically coupled to the support structure of the hub portion, a length-varying actuator individually controllable to a selected length and a second end coupled to an inner periphery of the conformable rim assembly. The conformable rim assembly includes a plurality of segmented sections. | 06-09-2016 |
20160185405 | MOBILE ROBOT AND FRONT END TOOL - A mobile robot | 06-30-2016 |
180800400 | Nonsupporting pusher type stepper | 1 |
20080230285 | Multimodal agile robots - Examples and implementations of various robotic mechanisms, apparatus, systems and techniques including multimodal robotic devices and systems | 09-25-2008 |
180800500 | With alternately lifted supporting base and leg | 2 |
20110147103 | HUMANOID ROBOT IMPLEMENTING A BALL AND SOCKET JOINT - The invention relates to a humanoid robot comprising two elements connected by a spherical joint with three degrees of freedom in rotation, the joint being moved by three actuators each acting in one of the three degrees of freedom. The invention is of particular use in the production of humanoid robots coming as close as possible to the human anatomy. According to the invention, the first and the second of the actuators act in parallel and the third of the actuators acts in series with the first and the second of the actuators. | 06-23-2011 |
20140262562 | RIG WALKING SYSTEM WITH CANTILEVER-MOUNTED LIFTING JACK ASSEMBLIES - A walking system for moving a load over the ground includes a substructure having laterally spaced-apart, rigidly interconnected main beams for carrying the load above the ground. A jack support beam is mounted as a cantilever on top of each main beam on opposite ends thereof, and each includes a lifting jack assembly. Each lifting jack assembly includes a power-driven hydraulic cylinder having a ram with a foot plate, and each is selectively operable for extending a ram downwardly to force the foot plate against the ground to raise the substructure off the ground, and for retraction to disengage the foot plates from the ground, thereby lowering the substructure to the ground. Each jack lifting assembly further includes a shifter mechanism selectively operable for displacing the main beams and the substructure along the ground in a selected steering mode when the lifting jack assemblies have been actuated to raise the main beams and the substructure above the ground. | 09-18-2014 |
180800600 | With alternately lifted feet or skid | 33 |
20080210477 | Leg Joint Assist Device of Legged Mobile Robot - An assist device | 09-04-2008 |
20090038863 | VIRTUAL-WHEELED VEHICLE - A virtual wheel provides a leg pair as a conveyance mechanism for a land vehicle. The virtual wheel propels the vehicle across a surface using a repetitive motion of the legs that contact the ground as would a wheel, due to their geometry. Vehicle embodiments include at least two-, three-, four- and six-wheeled vehicles, both transverse and in-line. Additionally, the invention provides a bipedal walking robot. One embodiment provides a robotic mule—a payload-carrying vehicle. The invention combines the flexible mobility of bipedal vehicles with the stability and functionality of very large-wheeled vehicles. Additionally, a bimodal conveyance mechanism readily converts between walking and rolling modes | 02-12-2009 |
20090166104 | Systems and methods employing limbed vehicle and spaced posts - Embodiments disclosed herein relate to systems including a limbed vehicle having a plurality of controllably movable limbs (e.g., a limbed machine, limbed robot, etc.) and a plurality of spaced posts that the limbed vehicle may travel on using the limbs. As non-limiting examples, such disclosed embodiments of systems may be used to service an agriculture field, to enable travel over an environmentally-sensitive area or an area impassable by a conventional wheeled or tracked vehicle, and may be used in many other different applications. Embodiments disclosed herein also relate to methods of operating a limbed vehicle to travel on a plurality of spaced posts. | 07-02-2009 |
20090166105 | Limbed vehicles, systems and methods using same, and post networks on which limbed vehicles travel - Embodiments disclosed herein relate to systems including a limbed vehicle having a plurality of controllably movable limbs (e.g., a limbed machine, limbed robot, etc.) and a plurality of spaced posts that the limbed vehicle may travel on using the controllably movable limbs. As non-limiting examples, such disclosed embodiments of systems may be used to service an agriculture field, to enable travel over an environmentally-sensitive area or an area impassable by a conventional wheeled or tracked vehicle, and may be used in many other different applications. Embodiments disclosed herein also relate to methods of operating a limbed vehicle to travel on a plurality of spaced posts, limbed vehicles, post networks, and posts. | 07-02-2009 |
20090188730 | AMBULATORY VEHICLE - An ambulatory vehicle having legs and configured for transporting a load is disclosed. The ambulatory vehicle includes a load that is able to shift the center of gravity of the ambulatory vehicle along a transverse axis and a longitudinal axis of a beam assembly. Additionally, leg assemblies of the ambulatory vehicle are configured to exchange places along the length of the beam assembly. Further, the vehicle is able to perform a number of gaits including a slow stable gait and faster dynamic gaits comprising striding, trotting, and bounding. The ambulatory vehicle is able to navigate rough terrain and steep slopes and navigate submerged. | 07-30-2009 |
20090200090 | Multiple-point grounding type foot portion supporting mechanism, biped walking robot equipped with the same, and control structrure therefor - The present invention provides a multiple-point grounding type foot portion supporting mechanism having excellent reliability, in which the respective supporting points passively follow unevenness of the grounding surface such as a road surface, and which is capable of quickly supporting foot bottoms at polygonal points and preventing falling over even on a grounding surface having level differences by fixing the supporting points when all supporting points are grounded. The multiple-point grounding type foot portion supporting mechanism includes: base portions each disposed on the foot bottom of the foot portion of a walking robot; three or more foot bottom supporting portions each having its one end part disposed and protruding downward from the bottom face of the base portion, each of which independently moves upward when being grounded and is slidably or rotatably supported; grounding sensors each disposed at the base portion or the foot bottom supporting portion, which detect grounding of the respective foot bottom supporting portions; and lock mechanisms disposed at the base portion, which control and brake the movements of all foot bottom supporting portions when the grounding sensors detect grounding of all foot bottom supporting portions. | 08-13-2009 |
20090236155 | Efficient Actuation and Selective Engaging and Locking Clutch Mechanisms for Reconfiguration and Multiple-behavior Locomotion of an at least Two-Appendage Robot - The method and apparatus consist of a robot body having at least two, but preferably six appendages. The appendages are organized into appendage groups of one to six appendages. The appendages are linked mechanically into groups of two or more and each group is actuated using a single drive actuator. A selective engagement mechanism is used to selectively engaged and disengage one or more appendages at a time in a way that allows for at least one appendage and at most all but one appendage per group to be engaged to a group's drive actuator. When the appendage is disengaged it is preferably locked in place to resist a reasonable force applied to them externally, such as the force equivalent to the weight of the robot. | 09-24-2009 |
20090272585 | Actuator Control Device, Actuator Control Method, Actuator, Robot Apparatus, and Computer Program - There is provided an actuator control device for force-controlling a joint driving actuator according to a commanded joint force command value τ | 11-05-2009 |
20090294187 | Walking robot - A walking robot, in which driving structures of a pitch direction hip joint and a knee joint of a leg are enhanced. The walking robot includes a trunk, and a plurality of legs connected to the trunk, at least one leg among the plurality of legs includes a thigh link, a calf link provided at the lower portion of the thigh link, a pitch direction hip joint connecting the trunk and the thigh link and rotating the thigh link against the trunk in a pitch direction, and a knee joint connecting the thigh link and the calf link and rotating the calf link against the thigh link in the pitch direction. The pitch direction hip joint and the knee joint are interlocked with each other and are driven by one interlocking actuator. | 12-03-2009 |
20090301798 | Walking robot - Disclosed is a walking robot having an improved driving structure for a pitch-direction femoral joint and a knee joint. The walking robot includes a pitch-direction actuator driving the pitch-direction femoral joint to rotate a femoral link relative to a body in a pitch direction, and a power transmission unit transferring driving force of the pitch-direction actuator to the knee joint to rotate the lower leg link relative to the femoral link in the pitch direction. | 12-10-2009 |
20090308668 | Walking robot and method of controlling the same - Disclosed are a walking robot and a method of controlling the same, in which impedance control and torso tilt control are achieved complementarily such that impedance can be adjusted according to the tilt of a torso or the tilt of the torso can be adjusted according to the impedance. The method includes measuring a moment of a foot; measuring a tilt of a torso; adjusting the scale of the measured moment based on the tilt of the torso, and controlling the foot based on the scale-adjusted moment; and adjusting the scale of the measured tilt based on a ZMP variation amount of the foot, and controlling the tilt of the torso based on the scale-adjusted ZMP variation amount. | 12-17-2009 |
20090321150 | Walking robot and method of controlling the same - Disclosed are a walking robot and a method of controlling the same, in which one method is selected from a ZMP control method and a FSM control method. Based on characteristics of a motion to be performed, the current control mode of the walking robot is converted into a different control mode, and the motion is performed based on the converted control mode, to enhance the efficiency and performance of the walking robot. The method includes receiving an instruction to perform a motion; selecting any one mode, which is determined to be more proper to perform the instructed motion, out of a position-based first control mode and a torque-based second control mode; and performing the instructed motion according to the selected control mode. | 12-31-2009 |
20100200312 | LEGGED LOCOMOTION ROBOT - Disclosed is a legged locomotion robot which is structurally simple and is provided with a tiptoe portion in a foot at a low cost. The legged locomotion robot includes an upper body; two locomotive legs connected to the upper body through a joint; and a locomotive foot connected to a tip end of the leg through a joint; wherein the foot is provided with a foot sole serving as a ground contacting portion of the foot, a curved portion is formed at a predefined distance from a tip end of the foot sole, crossing the foot sole laterally, and the curved portion is configured to be thinner than a tiptoe portion of the foot sole. | 08-12-2010 |
20110180333 | MOBILE CLIMBING ROBOT AND SERVICE SYSTEM HAVING A CLIMBING ROBOT - The mobile climbing robot ( | 07-28-2011 |
20110214927 | BIDIRECTIONAL MOVING MICRO-ROBOT SYSTEM - Disclosed herein is a bidirectional moving micro-robot system. The bidirectional moving micro-robot system has a first body having a plurality of legs foldably/unfoldably connected thereto, a second body having a plurality of legs foldably/unfoldably connected thereto and a connection member having both end portions respectively connected to the first and second bodies. In the bidirectional moving micro-robot system, the length of the connection member exposed between the first and second bodies is extended or contracted. | 09-08-2011 |
20110240381 | EFFICIENT ACTUATION AND SELECTIVE ENGAGING AND LOCKING CLUTCH MECHANISMS FOR RECONFIGURATION AND MULTIPLE-BEHAVIOR LOCOMOTION OF AN AT LEAST TWO-APPENDAGE ROBOT - The method and apparatus consist of a robot body having at least two, but preferably six appendages. The appendages are organized into appendage groups of one to six appendages. The appendages are linked mechanically into groups of two or more and each group is actuated using a single drive actuator. A selective engagement mechanism is used to selectively engaged and disengage one or more appendages at a time in a way that allows for at least one appendage and at most all but one appendage per group to be engaged to a group's drive actuator. When the appendage is disengaged it is preferably locked in place to resist a reasonable force applied to them externally, such as the force equivalent to the weight of the robot. | 10-06-2011 |
20110297461 | LEGGED MOBILE ROBOT | 12-08-2011 |
20120312606 | Robotic Walking Apparatus - A bipod robotic walking apparatus consisting of two feet on the coupler link of a spherical four-bar linkage, for movement in a forward or rearward direction by repeated motions of the four-bar linkage. Three four-bar linkages may be connected in tandem to form a hexapod with three points of contact with the ground. | 12-13-2012 |
20130087392 | MULTI-LEGGED WALKING APPARATUS - A multi-legged walking apparatus enables a multi-legged walking robot to walk in natural motion, and includes a body portion comprising a body, a front leg portion comprising a front fixing portion fixed to the body, and a front rotating portion rotatably connected to the front fixing portion, a rear leg portion connected to the body and a rear leg portion comprising a rear rotating portion rotatably connected to the rear fixing portion, and a first link rotatably connected, at both ends, to the front and rear rotating portions, respectively, wherein the body portion additionally includes a driving portion which rotates one of the front and rear rotating portions. Accordingly, by employing the first link and the driving portion, the body of the multi-legged walking robot is moved to and fro and left and right naturally in accordance with the movement of the legs during walking operation, in a similar walking pattern as that generally shown in actual multi-legged walking animals. | 04-11-2013 |
20130206488 | LEGGED ROBOT - The legged robot includes a trunk and a leg connected to the trunk. The trunk includes: a first link and a second link connected with each other via a first revolute joint that is rotatable about a roll axis; a third link connected with the first link via a second revolute joint rotatable about a yaw axis; and a fourth link connected with the second link via a third revolute joint rotatable about a yaw axis. The leg is connected to at least one of the third link and the fourth link. | 08-15-2013 |
20130306384 | SELF-RECONFIGURABLE MOBILE MANIPULATOR - A manipulator including a mobile plate for carrying an end-effector, connected to a plurality of legs, each of which has a distal end connected to the mobile plate and a proximal end connected to a supporting object by a clamping device, a plurality of distal links, a plurality of intermediate links and a plurality of proximal links, an actuator connected between each pair of longitudinally adjacent intermediate links, the distal links, connecting the intermediate links with the mobile plate by a system of distal revolute joints including a distal lockable joint, and the proximal links, connecting the intermediate links with a system of proximal joints having lockable proximal joints, where the manipulator is able to achieve manipulation, self-reconfiguration and locomotion movements without needing actuators directly acting on each joint. | 11-21-2013 |
20140305716 | MINIATURE ROBOT HAVING MULTIPLE LEGS USING PIEZO LEGS HAVING TWO DEGREES OF FREEDOM - The present invention relates to a miniature robot using a plurality of piezo legs capable of deforming in two degrees of freedom by supplying input voltage signals, and an integrated artificial neural network behavior controller capable of modeling complex behavioral patterns and gait patterns by a simple structure. The miniature robot with multiple legs includes: a main body; a plurality of piezo legs constituted by bimorph piezoelectric elements and connected to the main body to generate motion through morphological deformation in two degrees of freedom by applied voltage signals, thereby resulting in movement on the ground; and a control part including an artificial neural network behavior controller, which controls motion patterns by feeding back information with respect to the environment transmitted from external sensors and to electrical signals transmitted when the piezo legs contact the surface of the ground, to control the voltage applied to each of the piezo legs. | 10-16-2014 |
20140311811 | Chassis for a Robot - In a chassis ( | 10-23-2014 |
20150041227 | SIX-LEGGED WALKING ROBOT HAVING ROBOTIC ARMS FOR LEGS AND PLURALITY OF JOINTS - Disclosed is a hexapod walking robot having a robot arm combined with a leg and a plurality of joints. The hexapod walking robot having a robot arm combined with a leg and a plurality of joints includes a robot body; a plurality of legs installed to the robot body such that the legs have various degrees of freedom; and at least one grip unit installed to at least one of the legs such that at least one grip unit is foldable. | 02-12-2015 |
20150101871 | STATICALLY STABLE WALKING MACHINE AND POWER SYSTEM THEREFOR - A walking machine that includes a chassis with an operator interface, a main controller in data communication with the operator interface, at least two leg members operatively connected to the chassis, and a power system in data communication and electrical communication with the main controller. Each leg member includes a leg control system that includes a leg microcontroller in data communication with the main controller and at least a first electro hydrostatic actuator in electrical communication with the leg microcontroller. The power system includes an electrical generator, power supply electronics in electrical communication with the electrical generator, an electrical storage medium in electrical communication with the electrical generator and in parallel with the power supply electronics, and an electrical power bus for distributing power from the power system to the leg control systems. | 04-16-2015 |
20150107915 | Vacuum Stepper Robot - A low profile stepper robot is described and claimed herein. The robot includes a plurality of foot assemblies. Each foot assembly includes a suction cup, a vacuum generator, and a valve, with the vacuum generator being operationally connected to the suction cup. A conduit connects a source of operational fluid flow to the vacuum generators, and the valves allow or prevent fluid flow to the vacuum generators. Actuators are positioned between the foot assemblies and the robot base. The actuators provide for linear and rotational displacement of the foot assemblies, allowing the robot to walk and turn along an inspection surface. | 04-23-2015 |
20150122559 | LOWER LIMB STRUCTURE FOR LEGGED ROBOT, AND LEGGED ROBOT - Provided is a lower limb structure for a legged robot with which a load on an actuator for driving a knee joint can be reduced. The lower limb structure for the legged robot comprises: a hip joint main body; a thigh portion; a hip joint coupling for connecting the thigh portion to the hip joint main body; and a knee joint main body joined to the thigh portion. The lower limb structure for the legged robot provides a thigh portion auxiliary link having one end portion joined to the hip joint main body or the hip joint coupling to be rotatable about a pitch axis and the other end portion joined to the knee joint main body to be rotatable about the pitch axis. A knee joint actuator increases and decreases a length from the one end portion to the other end portion of the thigh portion auxiliary link. | 05-07-2015 |
20160023699 | Predictively Adjustable Hydraulic Pressure Rails - A robotic device may traverse a path in a direction of locomotion. Sensor data indicative of one or more physical features of the environment in the direction of locomotion may be received. The implementation may further involve determining that traversing the path involves traversing the one or more physical features of the environment. Based on the sensor data indicative of the one or more physical features of the environment in the direction of locomotion, a hydraulic pressure to supply to the one or more hydraulic actuators to traverse the one or more physical features of the environment may be predicted. Before traversing the one or more physical features of the environment, the hydraulic drive system may adjust pressure of supplied hydraulic fluid from the first pressure to the predicted hydraulic pressure. | 01-28-2016 |
20160096267 | MOBILE ROBOT - A mobile robot | 04-07-2016 |
20160137242 | Transport Mode Conversion - A self-propelled paving machine includes a plurality of swing legs, each swing leg being supported from a ground surface by an associated crawler track steerably connected to an outer end of its associated swing leg. The machine may be re-oriented from a paving mode to a transport mode by driving the ground engaging units to rotate the frame substantially in place on the ground through a re-orientation angle of the frame relative to the ground, and as the frame is rotating, pivoting one or more of the swing legs from a paving position relative to the frame, to a transport position relative to the frame. | 05-19-2016 |
20160144908 | RIG MOVEMENT AND ROTATION ASSEMBLY - A rig movement and rotation assembly, which includes a first pair of vertical lifting jacks and a second pair of vertical lifting jacks. Each of the vertical lifting jacks has an upper end connected to a rig substructure and a lower end. A roller assembly is connected to the lower end of each of the vertical lifting jacks with each roller assembly rotatable on an axis. A steering cam arm bracket extends from each roller assembly. A first connecting link joins the steering cam arm brackets from the first pair of lifting jacks together and a second connecting link joins the steering cam arm brackets from the second pair of lifting jacks together. An actuator extends or retracts the length of each of the connecting links. A skid jack for each of the vertical lifting jacks engages with the roller assembly. | 05-26-2016 |
20160159420 | ADHESION SYSTEM FOR A CLIMBING VEHICLE - A system for selective anchoring a climbing vehicle or robot to a surface of a structure. The system includes a foot ( | 06-09-2016 |
20160186495 | Transport Platform Apparatus And Method - A moveable platform apparatus comprising a platform adapted to receive and support a moveable drilling rig or drilling equipment. The platform comprises a first set of legs connected to the platform, wherein the first set of legs support the platform in a first vertical position above ground, wherein each leg of the first set of legs is extendable with respect to the platform to vertically move the platform. The platform further comprises a second set of legs connected to the platform, wherein the second set of legs support the platform in a second vertical position above ground, wherein each leg of the second set of legs is extendable with respect to the platform to vertically move the platform. A method for a moving a platform apparatus along the ground. | 06-30-2016 |
180800700 | Endless or rotary type | 9 |
20080257615 | CLIMBING DEVICES BASED ON THERMO-REVERSIBLE DRY ADHESIVES - One embodiment of the invention includes an application of multilayer thermo-reversible dry adhesives in climbing devices. | 10-23-2008 |
20090107738 | Robotic Platform - An articulated vehicle including a main frame, a drive system disposed on the main frame, and at least one arm having a proximal end and a distal end. The proximal end of the at least one arm being pivotally coupled to the main frame and the distal end being pivotable above the surface. The vehicle also including an articulator motor disposed on the main frame and coupled to the at least one arm for pivoting the at least one arm above the surface and about the transverse axis, and a slip clutch coupled between the articulator motor and the at least one front arm for enabling rotation of the at least one front arm without rotation of the articulator drive motor when a torque between the at least one front arm and the main frame exceeds a threshold torque. | 04-30-2009 |
20090314554 | ROBOTIC VEHICLE - A mobile robot includes a chassis defining at least one chassis volume and first and second sets of right and left driven flippers associated with the chassis. Each flipper has a drive wheel and defines a flipper volume adjacent to the drive wheel. The first set of flippers is disposed between the second set of flippers and the chassis. Motive power elements are distributed among the chassis volume and the flipper volumes. The motive power elements include a battery assembly, a main drive motor assembly, and a load shifting motor assembly. | 12-24-2009 |
20110005846 | ROBOTIC VEHICLE - A robotic vehicle includes a chassis supported on right and left driven tracks, right and left elongated flippers disposed on corresponding sides of the chassis, and a battery unit holder disposed on the chassis for removably receiving a battery unit weighing at least 50 lbs. The battery unit holder includes a guide for receiving and guiding the battery unit to a connected position and a connector mount having locating features and communication features. The locating features receive corresponding locating features of the battery unit, as the battery unit is moved to its connected position, to align the communication features of the connector mount with corresponding communication features of the battery unit. The communication features of the connector mount are movable in a plane transverse to the guide to aid alignment of the communication features for establishment of an electrical connection therebetween when the battery unit is in its connected position. | 01-13-2011 |
20110061951 | Transformable Robotic Platform and Methods for Overcoming Obstacles - A transformable robotic platform includes a main frame and a tiltable central assembly and two pairs of parallel tracks. A first pair of tracks is fixed to the main frame while a second pair of tracks is pivotable with respect to the main frame. The central assembly incorporates imaging means, designation means and operational means in a synchronized manner, thus simplifying the maneuvering of the robotic platform and the operation of its operational means by a remote operator. Tilting the central assembly as well as the second pair of tracks shifts the center of gravity of the robotic platform rearward decreasing downward gravitational force on the front end of the platform facilitating climbing over obstacles. Tilting the central assembly also provides double-sided operation and about face operation of the robotic platform without the need to perform maneuvers which flip over the entire robotic platform. The pivoting of second pair of tracks enables transformation of the robotic platform into a quasi pyramid position in order to provide a superior position for information gathering and for operation. | 03-17-2011 |
20110073387 | Hybrid mobile robot - A hybrid mobile robot includes a base link and a second link. The base link has a drive system and is adapted to function as a traction device and a turret. The second link is attached to the base link at a first joint. The second link has a drive system and is adapted to function as a traction device and to be deployed for manipulation. In another embodiment an invertible robot includes at least one base link and a second link. In another embodiment a mobile robot includes a chassis and a track drive pulley system including a tension and suspension mechanism. In another embodiment a mobile robot includes a wireless communication system. | 03-31-2011 |
20110100734 | Robot for Climbing Posts - The invention relates to a climbing robot that can move along a post having a vertical axis, which comprises a frame fitted with motorized means for moving along the post and with a module for controlling and commanding these movement means. The motorized movement means comprise bracing means of which the center of gravity is at a distance from the axis of the post and which comprise at least two rolling contact elements designed to be in contact with the post, including at least one motorized rolling contact element called the propulsion contact element. | 05-05-2011 |
20160001831 | Multi-Legged Running Robot - A robotic system capable of traveling at high speeds using two sets of rotating legs. The system does not need to contain sensors, a controller, or feedback technology. There are at preferably two parameters controlled—the acceleration via throttle and turning via tilt of the main body of the system. A set of at least one rotating leg sits on either side of the system. The center of mass of the system is below the main axis in order to keep the system stable without use of a control system. | 01-07-2016 |
20160251044 | MOBILE PLATFORM | 09-01-2016 |