University of Pennsylvania

Daniel E Koditschek

Kevin Galloway

Gavin Kenneally

Jonathan E Clark

Avik De

Thomas Turner Topping

A robot control system may be configured to control a robot having a plurality of limbs. The robot control system may control the robot to crawl, to open a door, to bound and or to climb stairs.

Systems and methods for controlling robotic behaviors

According to one aspect, this invention provides an apparatus for varying the stiffness of a leg of a robotic system. The apparatus includes a compliant spine assembly including a compliant spine mounted for movement adjacent the leg and a rack coupled to the compliant spine. It also includes a motor assembly positioned to move the compliant spine of the compliant spine assembly with respect to the leg, the motor assembly including a gear engaging the rack of the compliant spine assembly and a motor coupled to drive the gear. The compliant spine of the compliant spine assembly is configured to vary the stiffness of the leg of the robotic system as it is moved by the motor assembly with respect to the leg.

Growing community of inventors

Philadelphia, PA, United States of America

Daniel E Koditschek