Abstract: A robotic device includes four or more legs and is configured to crawl over a surface of a wind turbine blade for inspection of and/or maintenance of the wind turbine blade. The robotic device may be programmed to crawl along a leading edge of the wind turbine blade to conduct inspection and/or maintenance of the leading edge of the wind turbine blade. The device may include a body defining a longitudinal axis, a row of legs arranged on opposite sides of the body. The legs may each include two or more articulated limb segments and a foot. The foot may include a suction cup for securing the robotic device to the wind turbine blade.

Abstract: A mechanical type lifting shifter provided below a wheelchair body, including a bottom supporting assembly having a pair of oppositely arranged supporting members and gear rack columns provided on the supporting members; a movable upper supporting assembly having movable supporting members slidably sleeving the gear rack columns; a gear roller assembly having a rotating shaft and a pair of lifting gears provided on the two end portions of the rotating shaft; two ends of the rotating shaft are respectively and fixedly connected to a pair of movable supporting members and support the movable supporting members, and the lifting gears are engaged with the gear rack columns; a pedal transmission assembly mounted on the rotating shaft and in transmission connection with the rotating shaft; and a pedal clutch assembly connected to the pedal transmission assembly to switch clockwise and anti-clockwise motion transmission between the pedal transmission assembly and the rotating shaft.

Abstract: A biped robot gait control method as well as a robot and a computer readable storage medium are provided. During the movement, the system obtains a current supporting pose of a current supporting leg of the biped robot, and calculates a relative pose between the supporting legs based on the current supporting pose and a preset ideal supporting pose of a next step. The system further calculates modified gait parameters of the next step based on the relative pose between the two supporting legs and a joint distance between left and right ankle joints in an initial state of the biped robot when standing. Finally, the system controls the next supporting leg to move according to the modified gait parameters.

Abstract: A stair lift, including: a carrier portion, configured for carrying a person or an object; a lift portion, configured for moving relative to the carrier portion; and a driver mechanism, configured for inducing the relative movement. The carrier portion and the lift portion are connected and supported via a guide mechanism, and are configured for freely translating along an X-Z plane relative to each other. The driver mechanism includes a circulation moving mechanism, and the circulation moving mechanism includes a driving pin (moving member), configured for moving along a predetermined closed track under the driving of a single gear motor. The driving pin (moving member) is connected to the lift portion, such that the carrier portion and the lift portion are configured for moving relative to each other along the track, whereby enabling the stair lift to go upstairs or downstairs.

Abstract: The present disclosure provides a robot posture control method as well as a robot and a computer readable storage medium using the same. The method includes: constructing a virtual model of the robot, wherein the virtual model comprises a momentum wheel inverted pendulum model of the robot and an angle between a sole surface of the robot and a horizontal plane; and performing a posture control based on outer-loop feedback control, inner loop compensation for the external disturbance rejection in position level, inner loop external disturbance rejection via null-space in velocity level, and inner loop external disturbance rejection in force/acceleration level on the robot. In this manner, a brand-new virtual model is provided, which can fully reflect the upper body posture, centroid, foot posture, and the like of the robot which are extremely critical elements for the balance and posture control of the robot.

Abstract: The present invention relates to a gripping apparatus comprising a membrane; a flexible housing; with said membrane being fixedly connected to a periphery of the housing. The invention further relates to a method of producing a gripping apparatus.

Abstract: A walking apparatus uses a unique single substantially planar interface between the top of support foot and the bottom of load plate to move a load both laterally, longitudinally, and in any curved, angular, diagonal, or non-linear direction. The single substantially planar interface used for moving the load plate in different directions provides the walking apparatus with a low vertical profile that can be installed in load bearing frames with lower ground clearances. In one example, a load bearing device provides a single steering plane movable over a support foot in different directions. A travel mechanism is coupled between the support foot and the load bearing device and is configured to change a horizontal path of the load while the weight of the load is transferred onto the support foot and the travel mechanism is moving the load relative to the support foot.

Abstract: A humanoid robot includes: a body portion; a head portion; a left arm and a right arm that have ends connected to the left and right at an upper portion of the body portion; a left foot and a right foot that have ends connected to the left and right at a lower portion of the body portion; and a left running unit and a right running unit provided to the other ends of the left foot and the right foot. The left running unit has a left drive wheel on a front side of an advancing direction and a left follower wheel on a rear side in the advancing direction, the right running unit has a right drive wheel on a front side of the advancing direction, and a right follower wheel on a rear side in the advancing direction.

Abstract: The present disclosure discloses a fibrillar, directional adhesive assembly, a gripper, and a robot including a gripper. In one embodiment, the fibrillar, directional adhesive assembly includes a carriage, a layer of fibrillar, directional adhesive, and at least one load component. The carriage may have a first lateral side and a second lateral side adjacent to the first lateral side and the at least one load component may connect the layer of fibrillar, directional adhesive to the first lateral side and the second lateral side. The load component may be capable of loading shear force from the carriage to the layer of fibrillar, directional adhesive along a first direction and a second direction substantially perpendicular to the first direction.

Abstract: Embodiments relate to a system or method for moving a load, the apparatus may include a control panel comprising an assemblage of one or more directional switches that are configured to activate a lift mechanism structure to lift a load-bearing frame supporting the load. The one or more directional switches configured to adjust a travel mechanism that is coupled to a roller track and connected to an electrically positionable roller assembly and adjust a pin connector that is configured to connect a support foot to the roller track to allow the roller track to rotate relative to the support foot.

Abstract: A support system for an excavator is disclosed as it may include an extended center frame, a trench support, and/or a mat. The extended center frame may be bolted onto a standard excavator to widen the overall footprint of the machine and reduce ground pressure. The trench support relieves any remaining pressure toward the open trench. The extended center frame enables a larger excavator to straddle an open trench, while at the same time a smaller excavator can dig the shallower depths, thereby increasing efficiencies. By implementing the trench support and/or the mat, it might not be necessary to widen the tracks of the excavator as far, thus further reducing time-related costs. In addition, the trench support may also enhance safety of the trenching operations.

Abstract: A method and apparatus for transporting heavy machinery, equipment or other heavy loads from one location to another, whereby the apparatus may be constructed as a walking machine including a plurality of lifting assemblies operative to lift the load above the supporting surface and then move the load relative to the supporting surface by transporting the load via rollers or tracks in the walking machines. In one example, the lifting assemblies are provided with separate longitudinal and lateral drive mechanisms independently operative for translating the load in either or both longitudinal and lateral directions.

Abstract: A method and apparatus for transporting heavy machinery, equipment or other heavy load from one location to another, whereby the apparatus is constructed to steer the load in order to move the load in a desired path to a set position, one embodiment directed to a walking machine including a plurality of lifting assemblies operative to lift the load above the supporting surface and then move or rotate the load relative to the supporting surface by transporting the load via rollers or tracks in the walking machines, the lifting assembly including a steering mechanism using an actuator operative for rotating, via a multi-linkage assembly, whereby the lifting assembly lower structure is rotated relative to the lifting assembly structure to set the walking machine at a desired angle so that lifting assemblies may be driven in a desired walking direction.

Abstract: A flexible touch sensor comprises: a first sheet material that has a first major surface, and that has a cushioning property; a second sheet material that includes a conductive material, and that is disposed on the first major surface of the first sheet material; and a conductive wire that is disposed on the first major surface of the first sheet material, and that is sunk into the first sheet material.

Abstract: A wheeled jumping robot includes a body with two wheels, and a board is connected between the two wheels. A driving unit and a jumping unit are respectively connected on two sides of the board. The jumping unit has two rails, and a tubular member is located between the two rails and connected to a threaded rod. A bridge is connected between two rails. Rollers are located between a threaded portion of the threaded rod and a tapered contact face of the bridge. When the threaded rod is rotated, the rollers move toward a pre-set position, the bridge compresses resilient members on the two rails. When the tubular member moves toward the pre-set position, the rollers are separated from the threaded rod due to the tapered contact face, the resilient members bounce back. The wheeled jumping robot includes a processing unit for being communicated with a remote control unit.

Abstract: A mounting structure for a rig may include a base configured to support the mounting structure on an operating surface and a plurality of transport systems operatively connected to the base and configured to lift the mounting structure off of the operating surface. An elevated rig platform may be connected to the base by a plurality of support struts, wherein at least some of the support struts comprise a mounting connection that is configured to pivot to lower the elevated rig platform toward the base and place the mounting structure in a partially collapsed state. Additionally, a connecting member may be attached to one or more of the plurality of transport systems, wherein in response to the elevated rig platform being lowered to the partially collapsed state, the connecting member may be configured to displace at least a portion of the one or more transport systems.

Abstract: A load transporting apparatus includes a base structure that supports a load and a plurality of transport devices that move the base structure over a base surface. A first group of transport devices concurrently contact the base surface during a first movement step. Following the first movement step the first group of transport devices are disengaged from the base structure during a second movement step of the base structure. A second group of transport devices are disengaged from the base surface during the first movement step. Following the first movement step the second group of transport devices contact the base surface during the second movement step, and the weight of the load supported by the first group of transport devices is transferred from the first group of transport devices to the second group of transport devices.

Abstract: Described herein is a walker for moving a structure over the ground. The structure to be moved may be an oil and gas rig for instance. The walker includes a pontoon for engaging the ground, a jack with rollers disposed on the pontoon for lifting the structure and sitting on rollers, a longitudinal drive assembly for longitudinally moving the pontoon relative to the jack with or without the structure on the rollers, and lateral and rotational drive assemblies for moving the jack and the pontoon relative to the structure when the structure sits on the ground.

Abstract: Embodiments of the present invention are directed to a load transporting apparatus that automatically aligns a support foot of the apparatus with a load-bearing frame connected to the load transporting apparatus during a recovery phase of an incremental walking movement. In particular, the load transporting apparatus includes a linking device attached to a support foot of the apparatus and a biasing device connected to the linking device that is deflected during non-linear load transporting movements, where the biasing device acts to automatically return the support foot to an aligned position relative to the load-bearing frame after a non-linear movement has been completed and the support foot is raised above a ground surface.

Abstract: A rig movement and rotation assembly, which includes a first pair of vertical lifting jacks and a second pair of vertical lifting jacks. Each of the vertical lifting jacks has an upper end connected to a rig substructure and a lower end. A roller assembly is connected to the lower end of each of the vertical lifting jacks with each roller assembly rotatable on an axis. A steering cam arm bracket extends from each roller assembly. A first connecting link joins the steering cam arm brackets from the first pair of lifting jacks together and a second connecting link joins the steering cam arm brackets from the second pair of lifting jacks together. An actuator extends or retracts the length of each of the connecting links. A skid jack for each of the vertical lifting jacks engages with the roller assembly.

Abstract: A device for carrying high-voltage equipment in an electrically-insulated manner includes electrically non-conductive support insulators that are configured for mounting a carrier platform, which receives the high-voltage equipment, on a foundation in an electrically-insulated manner. Each support insulator extends towards the foundation from a bearing connected to the carrier platform. In order to provide such a device which is cost-effective and easy to produce, two support insulators extend at an incline from each bearing and the two support insulators form an acute angle with respect to their shared bearing.

Abstract: A methane content of a bottom sample comprising methane hydrate crystals is determined by:—taking a core sample (5) from a bottom sediment (3) in a deepwater area;—storing the core sample (5) in a storage chamber (4);—lifting the storage chamber (4) to a predetermined waterdepth (BGHZ=Base of Gas Hydrate stability Zone) at which any methane hydrate crystals in the core sample (5) dissociate into water and methane; and—measuring an amount of methane released by the lifted core sample (5).

Abstract: The present invention includes a load bearing mid-section weldment connected between a pair of telescoping incremental stepper assemblies to create a clearance space beneath the load bearing mid-section weldment and the telescoping incremental stepper assemblies thereby allowing the heavy machinery substructure to move and work over ground obstructions. Each telescoping incremental stepper assembly includes a bridge weldment connected between a pair of telescoping legs. Each telescoping leg includes at least one pair of nested leg sections and a linear actuator to adjust the length of the telescoping leg. Each telescoping leg further includes a fixed foot and an articulating pad assembly. The articulating pad assembly is configured to alternatively lift the foot and itself from the ground and moves the foot and itself relative to one another to move the heavy machinery substructure in incremental steps over the ground and any obstructions.

Abstract: The present invention discloses a drill rig relocation system. Lift frames are provided at opposite ends of a base box of a drill rig substructure. A lift cylinder and bearing mat assembly are rotatably connected beneath the lift frame. The bearing mat assemblies may be rotated to the desired direction for moving the drill rig. The lift cylinders are then expanded, placing the bearing mat assemblies onto the ground and lifting the base boxes and drill rig off the ground. The drill rig is supported on linear sleeve bearings slideably mounted in the bearing mat assemblies. Translation cylinders on the bearing mats expanded to move the rig by translating the linear sleeve bearings along the shafts. After the lift cylinder expands to place the bearing mat on the ground, the translation cylinders are retracted, providing the linear bearing with the full length of the shaft for the next movement.

Abstract: A chassis front assembly, a chassis rear assembly and a chassis intermediate assembly are disclosed. The chassis front assembly and the chassis rear assembly are connected to the chassis intermediate assembly for forming a chassis. A kit is also disclosed. A method is also disclosed.

Abstract: A walking system for moving a load over the ground includes a substructure having laterally spaced-apart, rigidly interconnected main beams for carrying the load above the ground. A jack support beam is mounted as a cantilever on top of each main beam on opposite ends thereof, and each includes a lifting jack assembly. Each lifting jack assembly includes a power-driven hydraulic cylinder having a ram with a foot plate, and each is selectively operable for extending a ram downwardly to force the foot plate against the ground to raise the substructure off the ground, and for retraction to disengage the foot plates from the ground, thereby lowering the substructure to the ground. Each jack lifting assembly further includes a shifter mechanism selectively operable for displacing the main beams and the substructure along the ground in a selected steering mode when the lifting jack assemblies have been actuated to raise the main beams and the substructure above the ground.

Abstract: A method, apparatus, and system for adhering a vacuum to a surface is provided. A seal is positioned relative to a surface. The seal is associated with a structure and is in communication with a channel within the structure. The seal is rotated relative to the structure such that the seal at least partially conforms to the surface. Air is drawn into the channel within the structure through the seal such that the seal adheres to the surface.

Abstract: A hexapod robot device includes a main body and six legs coupled thereto. Each leg has a first connecting rod pivotally connected with the main body, a first driver electrically pivotally connected between the main body and the first connecting rod, with the first driver controllably driving the first connecting rod to move forward and backward along a longitudinal direction, a second connecting rod pivotally connected with the first connecting rod, and a second driver pivotally connected between the first connecting rod and the second connecting rod, with the second driver controllably driving the second connecting rod to move upward and downward along a vertical direction. The second connecting rod further has an end to engage with the ground.

Abstract: A method and an apparatus for performing operations on a workpiece is provided. A first frame in a frame system may be held on the workpiece by applying a vacuum to the first frame. A second frame in the frame system may be detached from the workpiece by applying a pressure to the second frame. The second frame may be moved to a location on the workpiece. The second frame may be attached to the workpiece by applying the vacuum to the second frame. An operation may be performed on the workpiece.

Abstract: A manipulator including a mobile plate for carrying an end-effector, connected to a plurality of legs, each of which has a distal end connected to the mobile plate and a proximal end connected to a supporting object by a clamping device, a plurality of distal links, a plurality of intermediate links and a plurality of proximal links, an actuator connected between each pair of longitudinally adjacent intermediate links, the distal links, connecting the intermediate links with the mobile plate by a system of distal revolute joints including a distal lockable joint, and the proximal links, connecting the intermediate links with a system of proximal joints having lockable proximal joints, where the manipulator is able to achieve manipulation, self-reconfiguration and locomotion movements without needing actuators directly acting on each joint.

Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.

Abstract: A steerable walking machine is described which comprises a leg mechanism that provides a means for locomotion of the machine across a surface and a head rotatably mounted upon the leg mechanism. The rotational position of the head upon the leg mechanism acts to defines a direction of locomotion of the machine across the surface. The steerable walking machine can therefore walk in any direction without requiring the leg mechanism to turn and so can maneuver in more confined spaces than those devices known in the art. A first motor is employed to control the leg mechanism while a second motor controls the rotation of the head upon the leg mechanism. The functionality of the steerable walking machine is therefore achieved through the employment of only two motors thus significantly reducing the manufacturing costs involved.

Abstract: Embodiments of the present invention are directed to a load transporting apparatus that is capable of being steered while transporting a load across a base surface. In particular, the load transporting apparatus includes a roller track configured to support movement of a roller assembly, and a support foot that is connected to the roller track with a pin connector. During load transport, the support foot can be maintained in a substantially similar position relative to a frame structure supporting the load even when the transport movement is not in a parallel direction to the orientation of the support foot.

Abstract: Embodiments of the present invention are directed to a load transporting apparatus that automatically aligns a support foot of the apparatus with a load-bearing frame connected to the load transporting apparatus during a recovery phase of an incremental walking movement. In particular, the load transporting apparatus includes a linking device attached to a support foot of the apparatus and a biasing device connected to the linking device that is deflected during non-linear load transporting movements, where the biasing device acts to automatically return the support foot to an aligned position relative to the load-bearing frame after a non-linear movement has been completed and the support foot is raised above a ground surface.

Abstract: A two-legged walking transportation device includes an upper body unit for supporting the trunk of the rider, and leg units provided below the upper body unit, each of the leg units includes a link mechanism connected at one end to the upper body unit via a hip joint with at least three degrees of freedom, a foot mechanism connected to the other end of the link mechanism via an ankle joint with at least two degrees of freedom, and a fixing mechanism for fixing the rider's foot to the link mechanism via a multi-axis force sensor so as to be only rotatable with respect to directions in which the ankle joint is movable, the hip join is voluntarily controlled in accordance with operating force and/or operating torque provided by the rider's foot and sensed by the multi-axis force sensor, and control of the ankle joint while standing is automatically performed as balance maintenance control without directly involving the rider.

Abstract: The mobile climbing robot (15) according to the invention comprises a central joint (3), by which a first leg (1) is connected to a second leg (2). In addition, the robot comprises a first foot (8) which is connected to the first leg (1) by way of a first foot joint for rotation (5) and a first foot joint for tilting (4). A second foot (9) is connected to the second leg (2) by way of a second foot joint for rotation (7) and a second foot joint for tilting (6). A mounting (11) for attaching an implement (10; 12) is disposed on the first foot (8).

Abstract: A climbing robot for travelling over adhesive surfaces with endless traction mechanisms and, fastened to them at a distance, controllable adhesive feet that circulate with the endless traction mechanisms along guides in the travel plane, by means of which the adhesive sides of their adhesive elements always point towards the travel surface and wherein the adhesive elements that support and move the climbing robot are switched “ON” and lowered onto the adhesive surface and all of the other adhesive elements are switched “OFF” and raised from the adhesive surface. The climbing robot has square running gear, and a foot plate with a guide running around the edges for a multitude of adhesive feet driven by traction mechanisms exists in each of the four corners of the running gear.

Abstract: A climbing robot for travelling over adhesive surfaces with endless traction mechanisms (14) and, fastened to them at a distance, controllable adhesive feet (21) that circulate with the endless traction mechanisms (14) along guides (17) in the travel plane, by means of which the adhesive sides of their adhesive elements (15) always point towards the travel surface and wherein the adhesive elements (15) that support and move the climbing robot are switched “ON” and lowered onto the adhesive surface and all of the other adhesive elements (15) are switched “OFF” and raised from the adhesive surface, wherein the climbing robot has square running gear (11), one foot plate (13) each with a guide (17) running around the edges for a multitude of adhesive feet (21) driven by traction mechanisms is arranged in two diagonally opposite corner areas (18) of the running gear (11), wherein the foot plates (13) are attached to a support bar (12) of the running gear (11) and the adhesive feet (21) and therefore their adhesive

Abstract: There is provided a legged robot that performs motion by changing a joint angle, which includes a trajectory generating section to calculate a center-of-gravity trajectory in designated stepping motion from the stepping motion including at least one of walking motion, running motion and stopping motion, and generate a center-of-gravity trajectory by superimposing a designated travel velocity onto a travel velocity of a center of gravity in the calculated center-of-gravity trajectory in stepping motion, and a trajectory updating section to store the generated center-of-gravity trajectory and update all the stored center-of-gravity trajectories so as to be continuous, and a trajectory reproducing section to calculate time-varying data of a target value of the joint angle based on the updated center-of-gravity trajectory, and a joint driving section to rotate a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle.

Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.

Abstract: One embodiment of the invention includes an application of multilayer thermo-reversible dry adhesives in climbing devices.

Abstract: A multi-legged walking device includes a crankshaft, a plurality of linkage bar mechanisms, a support member, and a driving device. The crankshaft includes a plurality of main journals and crankpin journals. The plurality of linkage bar mechanisms is spaced from and substantially parallel to each other. The linkage bar mechanisms include a plurality of frames. Each frame is rotatably connected to one of the plurality of main journals. Each linkage bar mechanism includes a connecting bar, a first rocker, a second rocker, and a leg. Two ends of the connecting bar are rotatably connected to one of the crankpin journals and the leg. Two ends of the first rocker are rotatably connected to one of the plurality of frames and the leg. Two ends of the second rocker are rotatably connected to one of the plurality of frames and the connecting bar. The support member is fixed to the frames.

Abstract: A frame walker robot based on two sections connected by a parallel mechanism is described. The walker can step in any direction and can pose its free section in any orientation. Prismatic, rather than revolute, joints are used, leading to a scalable design.

Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.

Abstract: A vehicle for positioning a transportable and relocatable equipment having at least four walking assemblies attached to a frame, each walking assembly having a walking pad, a roller tread, a lift assembly connected to a central collar, a rotatable motion gear assembly disposed around the lift assembly, a motor for actuating the rotatable motion gear assembly, a pivoting collar disposed around the rod operated by a controlling means with a processor, a push pull traveling system for receiving fluid and extending a specified distance causing movement of the vehicle in a first direction, and enabling the walking assemblies to raise, reorient, lower, and travel in a second direction.

Abstract: A legged robot that ensures a large step length while keeping the height of the trunk low is realized. The legged robot is provided with a trunk, a pair of legs, and a pair of sliding joints. Each of the sliding joints links one end of each of the legs to the trunk so as to slide in a front and rear direction with respect to the trunk. For each step, one leg is caused to slide forward, and the other leg is caused to slide backward. It is possible to ensure a predetermined distance between the end portion of the one leg and the end portion of the other leg. The legged robot can make the step length large by an amount that is equivalent to this distance irrespective of the length of the legs.

Abstract: The robot comprises a chassis (1) with a first set of legs (2a, 2b) with suction pads (6) on tilting supports (7) mounted in a linearly displaceable manner with regard to the chassis and a second set of legs (4) with suction pads (17) mounted in a rotary manner with regard to the chassis. Certain control means are adapted in order to control the functioning of said first and second sets of legs in a coordinated manner for displacing the chassis in any direction on the work surface (S). It includes support feet (9) and a system for leveling the chassis in relation to a curvature of the work surface. Fitted on the chassis is a work unit (44) with a head (19) for working on the work surface via an opening (12) in the chassis. It includes means for displacing said head along three axes and pivoting the head on two axes with respect to the chassis.

Abstract: In a legged mobile robot, a pivoting motion of a foot (22) relative to a leg is controlled such that, from an intermediate time point in a period of departure of a leg from a floor to a starting time point of a period of landing of the leg on the floor, an angle (?) of inclination of the foot (22) of the leg relative to the floor surface gradually approaches zero. This eases impact to the foot of the leg at the time of landing on the floor and prevents a slip or spin of the sole, thereby enabling stable walking or running.

Abstract: The invention relates to a humanoid robot comprising two elements connected by a spherical joint with three degrees of freedom in rotation, the joint being moved by three actuators each acting in one of the three degrees of freedom. The invention is of particular use in the production of humanoid robots coming as close as possible to the human anatomy. According to the invention, the first and the second of the actuators act in parallel and the third of the actuators acts in series with the first and the second of the actuators.

Abstract: Embodiments of the present invention are directed to a load transporting apparatus that automatically aligns a support foot of the apparatus with a load-bearing frame connected to the load transporting apparatus during a recovery phase of an incremental walking movement. In particular, the load transporting apparatus includes a linking device attached to a support foot of the apparatus and a biasing device connected to the linking device that is deflected during non-linear load transporting movements, where the biasing device acts to automatically return the support foot to an aligned position relative to the load-bearing frame after a non-linear movement has been completed and the support foot is raised above a ground surface.