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:
Sep. 21, 2001
Takashi Yamamoto, Tokyo, JP;
Martin de Lasa, Cambridge, MA (US);
Shervin Talebinejad, Cambridge, MA (US);
Darrin Jewell, Cambridge, MA (US);
Robert Playter, Cambridge, MA (US);
Marc Raibert, Cambridge, MA (US);
Other;
Abstract
A robot apparatus that is able to perform jumping. In a leg structure of the robot apparatus, connecting bars and pivots to constitute a four-point link mechanism. A rod is inserted into an opening formed in the distal end of a leg part . A coil spring as an elastic member is provided between one end of the rod and the distal end of the leg part . A bar member is connected and secured to a preset point of a connecting member as a knee joint. The coil spring is extended/contracted by the stretching/contraction of the connecting member . By the operation of the four-point link mechanism, the trajectory of the distal end of the leg part is linear. The coil spring is mounted at a position such that the distance between a driving shaft and the distal end of the bar member has a substantially linear relationship with respect to the force virtually operating between a driving shaft and the distal end of the bar member