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:
Nov. 19, 2002
Filed:
Mar. 14, 2001
Applicant:
Inventors:
Martin Buehler, Ann Arbor, MI (US);
Daniel E. Koditschek, Ann Arbor, MI (US);
Uluc Saranli, Ann Arbor, MI (US);
Assignee:
Other;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B62D 5/702 ;
U.S. Cl.
CPC ...
B62D 5/702 ;
Abstract
A mobile robot comprising a body and at least six compliant legs each having only one actuator. The compliant legs are mounted to the body for movement relative thereto in a single degree of freedom. A controller is operably coupled to the actuator of each compliant leg, the controller selectively actuates the actuators to drive the compliant legs in an alternating tripod gait.