The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 05, 1985
Filed:
Mar. 18, 1983
Stephen J Bartholet, Orange, CA (US);
Odetics, Inc., Anaheim, CA (US);
Abstract
A vertical actuator mechanism for the legs of a walking machine, including four links arranged in a pantograph mechanism, with one corner of the pantograph providing the main mounting point for each leg, which permits the use of swinging links in the vertical actuator mechanism and retains complete isolation between the vertical and horizontal drive mechanisms. Vertical actuation of the pantograph mechanism is accomplished by means of a pair of long, swinging struts connected between a drive nut mounted on a lead screw and a point on the pantograph mechanism. The struts are connected to the pantograph mechanism at a location other than the true pantograph point, the point being selected so that the foot moves approximately linearly as the strut pivots around the drive nut.