Agility Robotics, Inc.

Kevin Sweeney

Jonathan Hurst

Dylan Thrush

Andrew Abate

A robot has a body and at least two legs extending from the robot body, each leg comprising a plurality of links that are rotatably connected. A ground contacting assembly is rotatably connected to the distal link of each leg. The ground contacting assembly is configured to provide an increase in roll range of motion and to facilitate abduction and adduction of the leg for traversing terrain.

Method and system for improving stability in a legged robot

A torque-limiting actuator assembly includes a transmission coupled to a housing and a motor. The transmission includes an input member, an intermediate member, and an output member, all rotatable around a common axis. The input member is coupled to the motor and is configured to engage the intermediate member that engages the output member and causes it to rotate at a predictable rate. The intermediate member is configured to rotate if the output member experiences torque greater than a torque limit.

Torque protection for strain wave drives

A gear assembly in accordance with at least some embodiments of the present technology includes first and second supports extending circumferentially around an assembly axis in first and second planes, respectively. The gear assembly includes a first transfer member having first lobes and first troughs circumferentially alternating around the assembly axis in a third plane. The gear assembly includes a second transfer member having second lobes and second troughs circumferentially alternating around the assembly axis in a fourth plane. The third and fourth planes are between the first and second planes along the assembly axis. The gear assembly includes first and second pins circumferentially interspersed around the assembly axis and extending between the first and second supports. The gear assembly transfers torque at least primarily via contact between the first pins and the first lobes and via contact between the second pins and the second lobes.

Cycloid gear assembly with partial contact and related technology

A gear assembly in accordance with at least some embodiments of the present technology includes first and second supports extending circumferentially around an axis in first and second planes, respectively. The gear assembly further includes a first transfer member including first lobes and first troughs circumferentially alternating around the axis in a third plane. The gear assembly also includes a second transfer member including second lobes and second troughs circumferentially alternating around the axis in a fourth plane. The planes intersect the axis with the third and fourth planes between the first and second planes. The gear assembly further includes first and second pins circumferentially interspersed around the axis and extending between the first and second supports. The gear assembly transfers torque at least primarily via contact between the first pins and the first lobes and via contact between the second pins and the second lobes.

Cycloid gear assembly with alternating contact between transfer members and pins and related technology

A robot in accordance with at least some embodiments of the present technology is configured for bimanual manipulation of objects. The robot includes a body and two arms individually defining an arm length and including an end effector, an end effector joint proximally adjacent to the end effector along a kinematic chain corresponding to the arm, and a gripper proximal to the end effector along the arm length. The end effector joint is configured to rotate the end effector relative to the gripper. The robot is configured to move at least a portion of a bottom surface of an object away from a support surface by applying force to the object via frictional interfaces between convex gripping surfaces of the grippers and side surfaces of the object. This creates a gap into which paddles of the end effectors can be inserted to support the object from below.

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Albany, OR, United States of America

Kevin Sweeney