Abstract: A robotic device includes a control system. The control system receives a first measurement indicative of a first distance between a center of mass of the machine and a first position in which a first leg of the machine last made initial contact with a surface. The control system also receives a second measurement indicative of a second distance between the center of mass of the machine and a second position in which the first leg of the machine was last raised from the surface. The control system further determines a third position in which to place a second leg of the machine based on the received first measurement and the received second measurement. Additionally, the control system provides instructions to move the second leg of the machine to the determined third position.

Abstract: A stiffening element to provide variable resistance to movement between a pair of members at a joint. The stiffening element comprises a filler with particles flowable in a bladder. A pressure source is coupled to the bladder to vary a pressure within the bladder and collapse the bladder. Collapsing the bladder varies a flow characteristic of the filler within the bladder, Varying the flow characteristics of the filler varies resistance of the bladder to movement of the bladder, and thus a pair of movable members and the joint.

Abstract: A dual-wheel differential system includes an in inner hub, an outer hub, and a differential assembly mechanically coupled between the inner hub and the outer hub to allow the inner hub and the outer hub to rotate at different angular speeds. A user-actuatable locking system is configured to mechanically lock the inner hub to the outer hub. The user-actuatable locking system may include at least one axially-translating or radially-translating locking pin configured to engage at least one of the inner hub and the outer hub. The locking system may be pneumatically, hydraulically, or electromechanically actuated.

Abstract: Disclosed is a drive assembly for providing a drive for a device, such as a vehicle or an advancing device such as a conveyor. The drive assembly includes a frame; a motor fixed relative to the frame for driving the drive assembly; at least two drive members providing a transmission interface between the drive assembly and a ground surface or a conveyor for driving; and at least one movement control assembly per drive member. The movement control assembly is coupled to the motor and at least one drive member, and provides movement control of the respective drive member relative to the frame.

Abstract: An obstacle traversing wheel assembly can include at least one primary wheel member mounted with a primary axis of rotation and capable of rolling engagement with a supporting surface, and at least one secondary wheel member mounted with a secondary axis of rotation. The secondary wheel member can have a plurality of surface engaging protrusions which enable the wheel assembly to traverse an obstacle by imparting climbing movement to the primary wheel member in response to engagement with the obstacle. The surface engaging protrusions can be defined by rolling wheel members. The obstacle traversing wheel assembly can be incorporated on a wide variety of wheel-bearing devices, such as wheelchairs, personal transportation devices, and intravenous fluid support racks.

Abstract: A support module includes a first rigid body, a space formation body connected to the first rigid body and forming an enclosed space, and a plurality of hard particles located within the enclosed space. When at least a predetermined pressure is applied to the support module such that a volume of the enclosed space is decreased to a predetermined value, the plurality of hard particles and space formation body form a second rigid body. Such a support module may improve the stability of a walking robot, the grip of a gripping structure, or the stability of a load-bearing structure.

Abstract: A gripping device comprising: a house; at least one gripper configured with at least one claw, the claw being configured with a pair of first phalanxes linked to the house at a first joint, and a pair of second phalanxes linked to the first phalanxes at a second joint; a first actuator arranged on the first joint; a second actuator arranged on the second joint; and a motor configured to enable the first and the second actuators co-operate so as to push the second phalanxes off a gripping substrate, or to push the second phalanxes back to the gripping substrate.

Abstract: The invention relates to a foot and a humanoid robot having the foot. The invention is of particular utility in the production of humanoid robots coming as close as possible to the human morphology. According to the invention, the foot includes: a sole, toes, a motorized connection, independent of the ankle, in rotation between the sole and the toes, the toes being able to move on an angular travel about an axis of the connection, an actuator allowing the connection to be motorized, and means for controlling the actuator in a standalone manner.

Abstract: A rotary walking device having multiple sequential ground engaging elongated struts interconnected between pairs of annular drive disks. Each pair of drive disks having multiple pivot attachment points for the respective opposing apertured ends of each strut. Each strut having angularly offset parallel engagement ends which engage with spaced co-parallel drive disks affording a unique rotational linear travel path that allows each of the struts to sequentially engage the ground and propel the assembly forward in a progressive walking like motion when used in combination with corresponding second strut drive assembly.

Abstract: A wheel has a rigid rim, a soft tire arranged on the rigid rim, and a unit for generating different pressures from inside in the soft tire in contact zone of tire with road surface, at opposite sides of a vertical transverse plane of symmetry of the rim so as to cause pushing of the tire with rim of wheel along a roadway, the tire being subdivided in a plurality of separate chambers spaced from one another in a circumferential direction, the unit for generating different pressures being operative for generating different pressures in a computerized way in any chamber of the tire at any time.

Abstract: A wheel comprising (i) an axle secured to a movable body, (ii) a rotator journaled on the axle so as to be freely rotatable and having at least three apexes disposed rotationally symmetrically around the axle, and (iii) rollers, each roller being mounted on one of the apexes of the rotator so as to be freely rotatable. Each side between apexes of the rotator is provided with a guiding surface which has small frictional resistance and is slidable.

Abstract: The ambulatory robot is provided with front legs and rear legs that are constituted so that the lengths from the origins of the front legs and the rear legs to their terminal portions can be varied. In walking, the front legs and the rear legs are rotated and the lengths of the front legs and the rear legs are changed so that the front legs are raised from the ground surface while the rear legs are maintained in contact with the ground. Then, the front legs and the rear legs are rotated and the lengths of the legs are changed so that the front legs raised from the ground surface are replaced on the ground in the direction of ambulation and the rear legs that were maintained in contact with the ground are raised from the ground surface. Then, the front legs and the rear legs rotate and the lengths of the legs change so that the rear legs so raised from the ground surface are replaced on the ground in the direction of ambulation.

Abstract: A railroad right of way is constructed of rails which have a top surface upon which the railroad car's wheels ride that undulates up and down. The plurality of wheels along the length of the rail car only bear the weight of the rail car when they happen to be the wheels that are momentarily positioned above the descending portions of the undulating track. A mechanical device attached separately to each wheel are employed to alternatively raise some of the wheels while simultaneously lowering others depending on each wheel's position over the undulations in the track at any one time. Undulations can change in frequency and height and position to those undulations in parallel rails forming the same right of way. Monorail right of ways are also practical using this undulating rail design concept.

Abstract: A suspension for propelling a vehicle so as to overcome an obstruction in its desired path of progress. The suspension includes connections between the chassis and body of the vehicle with its wheels or wheel like elements. A cam guides the rollers to overcome obstructions in the vehicle's path.

Abstract: A method of forming a phase-separated composite material which utilizes sputtering in a thermal gradient at relatively high sputtering pressures generally above about 0.1 Torr sufficient to produce nanoscale particles which are embedded in a continuous phase matrix produced by normal sputtering. This method avoids the alloying and/or compound formation which prevents preparation of phase-separated composites by conventional co-sputtering, and the invention thus enables particulate composites to be formed from entirely new classes of materials. Microhardness testing shows that the phase-separated composites produced by the present invention have an increased hardness compared to the pure matrix material.

Abstract: An optical fiber amplifier has a lossy nonlinear medium connected between its input port and its output port. The resultant optical feedback loop permits remote gain switching of the optical amplifier.

Abstract: A wheel for use with a variety of devices for moving a load up or down a series of stairs is disclosed, which wheel is comprised of a plurality of lobes like teeth on a gear. Each lobe has two surfaces which are symmetrical around a lobe center line, with each surface being made up of a portion of an involute curve defined by a circle having a particular radius. The involute curves making up the surfaces of each lobe mirror each other on opposite sides of the center line and intersect to form the lobe at the largest radii of the portions of the involute curves making up the surfaces of the lobe. The wheel may be made to specifications allowing exact fit on a particular size stairstep and a properly fitting wheel will move in a close approximation of a straight line parallel to the staircase incline as it moves up a flight of stairs.

Abstract: A walking device employs a linkage mechanism to drive a vehicle on skis supporting it. The linkage mechanism, of which Peaucellier's mechanism is a special case, is caused to raise the skis when a motor drives linkages to raise one of its pivot axes. During that portion of the cycle in which a given ski supports the vehicle, a locking mechanism locks its movable axis against movement, and the weight of the vehicle is thereby not transmitted to the motor.

Abstract: A wheel assembly for driven or non-driven trolleys or the like, comprising at least one set of wheels (10, 11) having at least three wheels (11) which are mounted on the trolley by a bearing means (13). The bearing means (13) has a center of rotation (C) which is located on the axial center line of the set of wheels (10, 11) and is connected to the trolley, at a distance from this center of rotation (C). When the wheels (11) encounter an abstacle as the trolley is run, the bearing means (13) will rotate relative to the set of wheels (10, 11), which causes shifting of the center of gravity so as to permit the set of wheels to climb over the abstract without the need of any appreciable additional effort.

Abstract: Bottom plates for walking mechanisms for the movement of heavy loads, which bottom plates are connected by means of connection pieces. The bottom plates are elastically connected with connection pieces, the latter being formed as open profiles.

Abstract: A walking drag line having an oxcillating wheel segment, a vertical axis roller slot coupling the wheel segment and the walking drag line, a shoe for stepping the walking drag line and a track frame assembly coupling the oscillating wheel segment and the shoe. The crankpin which is journalled into the wheel segment imparts a reciprocal motion in the wheel segment having both horizontal and vertical components. The wheel segment rotates about the axis of a roller axis pin journalled in the vertical axis roller slot and rotates on a track surface of the shoe on the curved outer surface of the wheel segment without slippage.