With Alternately Lifted Feet Or Skid Patents (Class 180/8.6)
  • Patent number: 10668624
    Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.
    Type: Grant
    Filed: July 30, 2019
    Date of Patent: June 2, 2020
    Assignee: Boston Dynamics, Inc.
    Inventors: Kevin Blankespoor, Benjamin Stephens, Marco da Silva
  • Patent number: 10537987
    Abstract: A control system for controlling an exoskeleton worn by a user and having one or more actuators associated with various body members of the exoskeleton each corresponding to a body part of the user. The control system comprises a user interface for receiving input data indicative of a desired movement sequence, a memory component for storing pre-programmed movement data indicative of one or more sequential instructions required to effect the movement sequence, each instruction being associated with relative actuator movements for performing the instruction, and an actuator controller for moving the one or more actuators according to the relative actuator movements for each instruction. The control system also comprises a terrain sub-system for adjusting the actuator movements upon detection of a change in terrain slope and a balance control sub-system for periodically adjusting the balance of the exoskeleton during relative movement of the one or more actuators.
    Type: Grant
    Filed: July 1, 2009
    Date of Patent: January 21, 2020
    Assignee: REX BIONICS LIMITED
    Inventors: Faisal Almesfer, Alan John Grimmer
  • Patent number: 10487592
    Abstract: A land-based drilling rig includes a plurality of columns. Each of the columns is a polyhedron having a square base or is cylindrical. The land-based drilling rig further includes a drill rig floor coupled to the plurality of columns. The land-based drilling rig also includes a mast, the mast mechanically coupled to the drill rig floor.
    Type: Grant
    Filed: May 3, 2018
    Date of Patent: November 26, 2019
    Assignee: NABORS DRILLING TECHNOLOGIES USA, INC.
    Inventors: Ashish Gupta, Enrique Abarca
  • Patent number: 10421510
    Abstract: A robotic apparatus moveable between a bipod mode and a tripod mode includes a housing, a first leg and a second leg extending from the housing, and a retractable third leg positioned between the first leg and the second leg. The third leg is configured to extend from the housing in the tripod mode and retract at least partially into the housing in the bipod mode. The robotic apparatus also includes a motor disposed within the housing and a transmission system coupled between the motor and at least one of the first leg, the second leg, and the third leg. The transmission system is configured to move the robotic apparatus between the bipod mode where the first leg and the second leg support the housing and the tripod mode where the first leg, the second leg, and the third leg support the housing.
    Type: Grant
    Filed: July 25, 2017
    Date of Patent: September 24, 2019
    Assignee: SPHERO, INC.
    Inventors: Gustavo Augusto Aramayo, II, David Clarke, Ross MacGregor, Judd Nutting
  • Patent number: 10421509
    Abstract: In some embodiments, a method and apparatus are described for moving heavy objects while providing for precise movements and alignments along any desired path, making the apparatus ideally suited for moving heavy equipment including tunnel boring equipment or structures, such as land drilling rigs. In certain embodiments, an apparatus may include at least two load bearing subassemblies. Each load bearing subassembly can include a support structure configured to support a load, a bearing mat; and a plurality of linear actuators coupled between the support structure and the bearing mat. The plurality of linear actuators may be configured to raise, shift, and lower the load relative to the bearing mat or reference base to move the load.
    Type: Grant
    Filed: October 19, 2016
    Date of Patent: September 24, 2019
    Inventors: Axel Michael Sigmar, Richard Dwaine Souchek
  • Patent number: 10406690
    Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.
    Type: Grant
    Filed: September 25, 2017
    Date of Patent: September 10, 2019
    Assignee: Boston Dynamics, Inc.
    Inventors: Kevin Blankespoor, Benjamin Stephens, Marco da Silva
  • Patent number: 10300969
    Abstract: An example method may include i) determining a first distance between a pair of feet of a robot at a first time, where the pair of feet is in contact with a ground surface; ii) determining a second distance between the pair of feet of the robot at a second time, where the pair of feet remains in contact with the ground surface from the first time to the second time; iii) comparing a difference between the determined first and second distances to a threshold difference; iv) determining that the difference between determined first and second distances exceeds the threshold difference; and v) based on the determination that the difference between the determined first and second distances exceeds the threshold difference, causing the robot to react.
    Type: Grant
    Filed: February 27, 2017
    Date of Patent: May 28, 2019
    Assignee: Boston Dynamics, Inc.
    Inventors: Kevin Blankespoor, Marco da Silva, Alex Perkins
  • Patent number: 10279487
    Abstract: A foot structure for contacting the ground and connecting to a leg structure of a humanoid robot, includes: a foot assembly for contacting the ground; a first servo mounted on the foot assembly and including a first output shaft; a connecting assembly rotatably connected to the foot assembly and to constitute an ankle portion; and a second servo mounted on the connecting assembly and connected with the leg structure, the second servo including a second output shaft perpendicular to the first output shaft; the connecting assembly being arranged perpendicularly to the foot assembly and including a first connecting structure used to mount the first output shaft and rotatably connected to the foot assembly, and a second connecting structure connected to the first connecting structure and used to mount the second output shaft.
    Type: Grant
    Filed: March 22, 2017
    Date of Patent: May 7, 2019
    Assignee: UBTECH Robotics Corp.
    Inventors: Youjun Xiong, Feng Hu, Xinpu Chen
  • Patent number: 10214970
    Abstract: A land-based drilling rig includes a drill rig floor, the drill rig floor including a V-door, a side of the drill rig floor having the V-door defining a V-door side of the drill rig floor and an opposite V-door side of the drill rig floor opposite the V-door side of the drill rig floor. The land-based drilling rig also includes a mast, the mast mechanically coupled to the drill rig floor. Further, the land-based drilling rig includes at least four support bases, each support base coupled to the drill rig floor by a telescoping support arm, the support base and telescoping arm forming a support, wherein the support bases are square or cylindrical.
    Type: Grant
    Filed: June 12, 2018
    Date of Patent: February 26, 2019
    Assignee: NABORS DRILLING TECHNOLOGIES USA, INC.
    Inventors: Ashish Gupta, Enrique Abarca
  • Patent number: 10189519
    Abstract: Devices and methods for legged locomotion, including a robotic leg for spring-mass legged locomotion incorporating passive dynamics.
    Type: Grant
    Filed: May 27, 2016
    Date of Patent: January 29, 2019
    Assignee: OREGON STATE UNIVERSITY
    Inventors: Jonathan Hurst, Mikhail Sobiegraj Jones, Andrew Martin Abate
  • Patent number: 10081104
    Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.
    Type: Grant
    Filed: January 23, 2017
    Date of Patent: September 25, 2018
    Assignee: Boston Dynamics, Inc.
    Inventor: Benjamin Swilling
  • Patent number: 9975238
    Abstract: The present disclosure relates to the field of robot technology, and in particularly to a screw-free assembled modular robot, including a steering gear, a contour structural member, a controller and a power module, where the steering gear, the contour structural member, the controller and the power module are snap-connected by connecting members, so that the screw-free assembly of the robot can be achieved, thus the efficiency of establishing the robot can be improved and the process of establishing the robot can be simplified, thereby improving the use convenience and interestingness of the robot.
    Type: Grant
    Filed: June 9, 2015
    Date of Patent: May 22, 2018
    Assignees: SHANGHAI XPARTNER ROBOTICS CO., LTD., ABILIX EDUCATIONAL ROBOT CO., LTD.
    Inventors: Xufeng Fei, Zuowei Pang, Xianjian Cai
  • Patent number: 9957002
    Abstract: A mobile platform intended for civilian, industrial, research or other use. An ambulation system or mobile platform such as for traveling over uneven terrain includes one or more leg arrangements attached to a main body or chassis. In an embodiment, a leg arrangement comprises one or more legs, such as legs that rotate in the same and singular direction around their respective rotary joints when the vehicle is moving in a single direction. The rotational axis for both legs is located near each other and preferably coaxially and allows ground contact of two or more legs at all times.
    Type: Grant
    Filed: February 1, 2016
    Date of Patent: May 1, 2018
    Assignee: Genesis Robotics LLP
    Inventor: James Brent Klassen
  • Patent number: 9943769
    Abstract: A system for controlling ride experiences through a ride space of an amusement park ride based on a passenger's present state. The system includes a sensor mounted on an automated trackless vehicle, being controlled to travel along a first ride path, sensing passenger data for a passenger. The system includes a controller processing the passenger data to determine a passenger state at a particular point in time during the ride experience. The controller determines a location of the automated trackless vehicle on the first ride path. The controller, based on the passenger state and the location of the automated trackless vehicle on the first ride path, determines a second ride path for the automated trackless vehicle for the ride space. The controller then controls the automated trackless vehicle to move from the first ride path to the second ride path to alter the passenger's state to enhance their ride experience.
    Type: Grant
    Filed: February 17, 2017
    Date of Patent: April 17, 2018
    Assignee: Disney Enterprises, Inc.
    Inventor: Dumene Comploi
  • Patent number: 9919416
    Abstract: Example implementations may relate to a robotic system that provides feedback. The robotic system is configured to receive information related to a path in an environment of the robotic system. The robotic system is also configured to initiate a recording process for storing data related to motion of a component in the environment. The robotic system is additionally configured to detect, during the recording process, movement of the component along the path in the environment, where the movement results from application of an external force to the robotic system. The robotic system is further configured to determine, during the recording process, deviation of the movement away from the path by at least a threshold amount and responsively provide feedback including one or more of (i) resisting the deviation of the movement away from the path and (ii) guiding the at least one component back towards the path.
    Type: Grant
    Filed: January 25, 2017
    Date of Patent: March 20, 2018
    Assignee: X Development LLC
    Inventors: Jeffrey Thomas Bingham, Rob Wilson
  • Patent number: 9845122
    Abstract: A mobile robot 1 having a plurality of kinds of moving forms includes a body unit 11 having a front face and a back face, four limb units 12 having a plurality of limb-side drive shafts, and front end tools 13 provided on a front end side of the limb units 12. A base end side of the limb unit 12 is connected to the body unit 11. The four limb units 12 are the same units. The body unit 11 and the four limb units 12 are movable by switching a front face side and a back face side so that a moving operation of the front face side and a moving operation of the back face side are symmetrical across the center of a thickness direction of the body unit 11.
    Type: Grant
    Filed: August 24, 2015
    Date of Patent: December 19, 2017
    Assignees: MITSUBISHI HEAVY INDUSTRIES, LTD., WASEDA UNIVERITY
    Inventors: Atsuo Takanishi, Kenji Hashimoto, Kazuhiro Uryu, Tomotaka Teramachi, Takashi Matsuzawa, Ayanori Koizumi, Shinya Hamamoto, Takuya Otani, Tatsuhiro Kishi, Tomohiro Tami, Hiroyuki Yamada, Shigetoshi Shiotani, Yusuke Kinouchi, Yasuo Fujishima
  • Patent number: 9833899
    Abstract: An example implementation includes determining a force allocation for at least one foot of a legged robotic device, where the legged robotic device includes two feet coupled to two legs extending from a body of the legged robotic device. The implementation also includes determining a change in mass distribution of the legged robotic device, and based on the determined change in mass distribution, determining a force and a torque on the body of the legged robotic device with respect to a ground surface. The implementation also includes updating the determined force allocation for the at least one foot of the two feet based on the determined force and torque. The implementation also includes causing the at least one foot to act on the ground surface based on the updated force allocation.
    Type: Grant
    Filed: April 2, 2015
    Date of Patent: December 5, 2017
    Assignee: Boston Dynamics, Inc.
    Inventors: Kevin Blankespoor, Alexander Douglas Perkins, Marco da Silva, Shervin Talebinejad
  • Patent number: 9789611
    Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.
    Type: Grant
    Filed: June 22, 2016
    Date of Patent: October 17, 2017
    Assignee: Google Inc.
    Inventors: Kevin Blankespoor, Benjamin Stephens, Marco da Silva
  • Patent number: 9738336
    Abstract: Embodiments provided herein generally relate to robotic limbs and uses thereof. In some embodiments, the motor for driving movement of the limb can itself be repositioned, thereby altering the forces and/or torque involved in moving and/or operating the limb.
    Type: Grant
    Filed: July 21, 2015
    Date of Patent: August 22, 2017
    Assignee: EMPIRE TECHNOLOGY DEVELOPMENT LLC
    Inventor: Masaaki Mihara
  • Patent number: 9689526
    Abstract: A housing includes a housing body, and at least two support assemblies mounted on a side of the housing body and spaced from each other. Each support assembly includes a first rotating member rotatably mounted on the same side of the housing body, and a second rotating member rotatably mounted on the first rotating member. A rotating shaft of the second rotating member is not parallel to the rotating shaft of the first rotating member. An angle between the housing body and the second rotating member can be changed via rotating the second rotating member.
    Type: Grant
    Filed: June 30, 2015
    Date of Patent: June 27, 2017
    Assignee: HON HAI PRECISION INDUSTRY CO., LTD.
    Inventor: Guo-Liang Yeh
  • Patent number: 9623556
    Abstract: Disclosed are robotic systems, methods, bipedal robot devices, and computer-readable mediums. For example, a robotic system may include a robotic leg connected to a main body and a robotic foot. A robotic sole joint may be connected to the robotic leg, where the robotic sole joint is located at a sole of the robotic foot. The robotic leg and the robotic foot may be movable around an axis of rotation defined by the robotic sole joint. A movement around the axis may cause a ZMP to shift from a first location to a second location in the robotic foot. A measure of force applied by the robotic sole joint around the axis may be approximately equal to zero.
    Type: Grant
    Filed: February 4, 2015
    Date of Patent: April 18, 2017
    Assignee: X Development LLC
    Inventors: Junichi Urata, Masaki Hamafuji
  • Patent number: 9618937
    Abstract: An example method may include i) determining a first distance between a pair of feet of a robot at a first time, where the pair of feet is in contact with a ground surface; ii) determining a second distance between the pair of feet of the robot at a second time, where the pair of feet remains in contact with the ground surface from the first time to the second time; iii) comparing a difference between the determined first and second distances to a threshold difference; iv) determining that the difference between determined first and second distances exceeds the threshold difference; and v) based on the determination that the difference between the determined first and second distances exceeds the threshold difference, causing the robot to react.
    Type: Grant
    Filed: August 25, 2014
    Date of Patent: April 11, 2017
    Assignee: Google Inc.
    Inventors: Kevin Blankespoor, Alex Perkins, Marco da Silva
  • Patent number: 9616567
    Abstract: A robotic hand includes an interior casing, a cladding layer wrapped around the interior casing, a plurality of pressure sensors, and a controller. The pressure sensors are located at different locations on an exterior surface of the interior casing, and are wrapped by the cladding layer. The pressure sensors can sense pressure at different locations on the exterior surface of the interior casing, and generate corresponding electrical signals. The controller can obtain the generated electrical signals, and generate a control signal according to the obtained electrical signals causing the robot to generate feedback.
    Type: Grant
    Filed: June 26, 2015
    Date of Patent: April 11, 2017
    Assignee: HON HAI PRECISION INDUSTRY CO., LTD.
    Inventors: Yi-Cheng Lin, Shih-Pin Lin
  • Patent number: 9616566
    Abstract: A robotic hand includes an interior casing, a cladding layer wrapped around an end of the interior casing, a plurality of photoelectric sensors, and a controller. The photoelectric sensors are located at different locations on an exterior surface of the interior casing, and are wrapped by the cladding layer. The photoelectric sensors can sense light signals striking different locations on the exterior surface of the interior casing, and convert the sensed optical signals into electrical signals. The controller can obtain the generated electrical signals, determine a pressure value applied according to the obtained electric signals, and generate a control signal according to the determined pressure value causing the robot to generate feedback.
    Type: Grant
    Filed: June 26, 2015
    Date of Patent: April 11, 2017
    Assignee: HON HAI PRECISION INDUSTRY CO., LTD.
    Inventor: Yi-Cheng Lin
  • Patent number: 9610510
    Abstract: A method for controlling a ride experience through a ride space of an amusement park ride. The method includes, with a sensor mounted on an automated trackless vehicle being controlled to travel along a first ride path, sensing passenger data for a passenger. The method involves processing the passenger data to determine a passenger state at a particular point in time during the ride experience. The method includes determining a location of the automated trackless vehicle on the first ride path. The method involves, based on the passenger state and the location of the automated trackless vehicle on the first ride path, determining a second ride path for the automated trackless vehicle to move through the ride space. The method includes controlling the automated trackless vehicle to move off the first ride path and along the second ride path, e.g., to alter the passenger's state to enhance the ride experience.
    Type: Grant
    Filed: July 21, 2015
    Date of Patent: April 4, 2017
    Assignee: Disney Enterprises, Inc.
    Inventor: Dumene Comploi
  • Patent number: 9605952
    Abstract: A displacement measuring cell may be used to measure linear and/or angular displacement. The displacement measuring cell may include movable and stationary electrodes in a conductive fluid. Electrical property measurements may be used to determine how far the movable electrode has moved relative to the stationary electrode. The displacement measuring cell may include pistons and/or flexible walls. The displacement measuring cell may be used in a touch-sensitive robotic gripper. The touch-sensitive robotic gripper may include a plurality of displacement measuring cells mechanically in series and/or parallel. The touch-sensitive robotic gripper may be include a processor and/or memory configured to identify objects based on displacement measurements and/or other measurements. The processor may determine how to manipulate the object based on its identity.
    Type: Grant
    Filed: September 12, 2014
    Date of Patent: March 28, 2017
    Assignee: Quality Manufacturing Inc.
    Inventors: Jeffrey A. Rose, James Adam Rose, Stephen D. Rose, Raymond Cooper, Jeffrey John Sweda
  • Patent number: 9592608
    Abstract: Example implementations may relate to a robotic system that provides feedback. The robotic system is configured to receive information related to a path in an environment of the robotic system. The robotic system is also configured to initiate a recording process for storing data related to motion of a component in the environment. The robotic system is additionally configured to detect, during the recording process, movement of the component along the path in the environment, where the movement results from application of an external force to the robotic system. The robotic system is further configured to determine, during the recording process, deviation of the movement away from the path by at least a threshold amount and responsively provide feedback including one or more of (i) resisting the deviation of the movement away from the path and (ii) guiding the at least one component back towards the path.
    Type: Grant
    Filed: December 15, 2014
    Date of Patent: March 14, 2017
    Assignee: X Development LLC
    Inventors: Jeffrey Thomas Bingham, Rob Wilson
  • Patent number: 9586316
    Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.
    Type: Grant
    Filed: September 15, 2015
    Date of Patent: March 7, 2017
    Assignee: Google Inc.
    Inventor: Benjamin Swilling
  • Patent number: 9554922
    Abstract: Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
    Type: Grant
    Filed: September 1, 2009
    Date of Patent: January 31, 2017
    Assignee: BionX Medical Technologies, Inc.
    Inventors: Rick Casler, Hugh M. Herr
  • Patent number: 9527538
    Abstract: A setting unit 33 configured to set a first landing permissible region in order to ground a free leg side foot 16 within an upper tread surface or a lower tread surface of a step existing ahead of a legged mobile robot 1 in a traveling direction, and a setting unit 34 configured to set a second landing permissible region in order to ground the free leg side foot 16 on an edge of the upper tread surface or the lower tread surface are provided to switch landing permissible regions for movement control of the robot 1 according to a step height.
    Type: Grant
    Filed: September 2, 2014
    Date of Patent: December 27, 2016
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Hiroyuki Kaneko, Chihiro Kurosu
  • Patent number: 9492760
    Abstract: Apparatus for ambulatory motion includes an exit slot of non-zero width and a bar or leg of non-zero and non-uniform width extending through the slot and connected to a crank constrains the bar or leg in a manner that produces nearly rectilinear motion of a distal end of the bar or leg when a proximal end of the bar or leg is connected to a crank and the crank is rotated.
    Type: Grant
    Filed: January 6, 2011
    Date of Patent: November 15, 2016
    Inventor: Mitch Randall
  • Patent number: 9434073
    Abstract: A robot apparatus (1) includes a control apparatus (3) which carries out correction with use of an estimated value of a joint torque estimation unit (53) which estimates a joint torque acting upon each of joints (20 to 25). The joint torque estimation unit (53) includes a Coulomb frictional force torque estimation unit (70), a viscous frictional torque estimation unit (71), and a transition interval arithmetic operation unit (72) which smoothens transition from the Coulomb frictional force torque estimation unit (70) to the viscous frictional force estimation unit (71) and transition from the viscous frictional force torque estimation unit (71) to the Coulomb frictional force torque estimation unit (70).
    Type: Grant
    Filed: August 1, 2013
    Date of Patent: September 6, 2016
    Assignee: TOSHIBA KIKAI KABUSHIKI KAISHA
    Inventors: Yuta Matsumoto, Yasunori Nishihara, Jun Fujita
  • Patent number: 9387588
    Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.
    Type: Grant
    Filed: August 25, 2014
    Date of Patent: July 12, 2016
    Assignee: Google Inc.
    Inventors: Kevin Blankespoor, Benjamin Stephens, Marco da Silva
  • Patent number: 9359028
    Abstract: Disclosed is a hexapod walking robot having a robot arm combined with a leg and a plurality of joints. The hexapod walking robot having a robot arm combined with a leg and a plurality of joints includes a robot body; a plurality of legs installed to the robot body such that the legs have various degrees of freedom; and at least one grip unit installed to at least one of the legs such that at least one grip unit is foldable.
    Type: Grant
    Filed: April 25, 2013
    Date of Patent: June 7, 2016
    Assignee: Korea Institute of Ocean Science & Technology
    Inventors: Bong-Huan Jun, Jung-Yup Kim, Jin-Yeong Park, Hyung-Won Shim, Bang-Hyun Kim, Hyuk Baek, Pan-Mook Lee
  • Patent number: 9132871
    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. A jack support beam is mounted as a cantilever on top of each main beam, and each includes a lifting jack assembly. Each lifting jack assembly includes a power-driven hydraulic cylinder having a ram and 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 includes a shifter mechanism operable for displacing the main beams and the substructure along the ground in a selected steering mode when the lifting jack assemblies are actuated to raise the main beams and the substructure above the ground.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: September 15, 2015
    Assignee: Columbia Trailer Co., Inc.
    Inventors: Ira Crisp, Steven A. Csergei, Duane Wasson
  • Patent number: 9061544
    Abstract: A robot has an electronic surveillance system embedded within a chassis disposed between two wheels. The wheels include a main body and a plurality of treads. The treads are generally disposed radially around the main body and extend distally from outer portion of the main body. The main body generally defines a plurality of compression cells and may present a substantially frustoconical outer surface.
    Type: Grant
    Filed: August 28, 2013
    Date of Patent: June 23, 2015
    Assignee: ReconRobotics, Inc.
    Inventors: Casey R. Carlson, Andrew Drenner, Alex J. Kossett, Ian T. Burt
  • Publication number: 20150122559
    Abstract: Provided is a lower limb structure for a legged robot with which a load on an actuator for driving a knee joint can be reduced. The lower limb structure for the legged robot comprises: a hip joint main body; a thigh portion; a hip joint coupling for connecting the thigh portion to the hip joint main body; and a knee joint main body joined to the thigh portion. The lower limb structure for the legged robot provides a thigh portion auxiliary link having one end portion joined to the hip joint main body or the hip joint coupling to be rotatable about a pitch axis and the other end portion joined to the knee joint main body to be rotatable about the pitch axis. A knee joint actuator increases and decreases a length from the one end portion to the other end portion of the thigh portion auxiliary link.
    Type: Application
    Filed: April 11, 2013
    Publication date: May 7, 2015
    Applicant: THK CO., LTD.
    Inventor: Masaki Nagatsuka
  • Patent number: 9022151
    Abstract: A multi-legged apparatus enables a multi-legged robot to provide a natural motion, and includes a body portion comprising a body, a front leg portion comprising a front fixing portion fixed to the body, and a front rotating portion rotatably connected to the front fixing portion, a rear leg portion connected to the body and a rear leg portion comprising a rear rotating portion rotatably connected to the rear fixing portion, and a first link rotatably connected, at both ends, to the front and rear rotating portions, respectively. The body portion additionally includes a driving portion which rotates one of the front and rear rotating portions. By employing the first link and the driving portion, the body of the multi-legged robot is moved to and fro and left and right naturally in accordance with the movement of the legs, in a similar pattern as that generally shown in actual multi-legged animals.
    Type: Grant
    Filed: November 16, 2011
    Date of Patent: May 5, 2015
    Assignee: Korea Institute of Indistrial Technology
    Inventors: Sang-Won Lee, Kwan-Young Joung, Jin-Young Kim, O-Hung Kwon
  • Publication number: 20150107915
    Abstract: A low profile stepper robot is described and claimed herein. The robot includes a plurality of foot assemblies. Each foot assembly includes a suction cup, a vacuum generator, and a valve, with the vacuum generator being operationally connected to the suction cup. A conduit connects a source of operational fluid flow to the vacuum generators, and the valves allow or prevent fluid flow to the vacuum generators. Actuators are positioned between the foot assemblies and the robot base. The actuators provide for linear and rotational displacement of the foot assemblies, allowing the robot to walk and turn along an inspection surface.
    Type: Application
    Filed: October 21, 2014
    Publication date: April 23, 2015
    Inventors: S. William Glass, III, Bradley A. Thigpen, Robert A. Furter
  • Patent number: 9009940
    Abstract: A method and apparatus for performing operations on a workpiece. 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.
    Type: Grant
    Filed: March 16, 2014
    Date of Patent: April 21, 2015
    Assignee: The Boeing Company
    Inventors: Branko Sarh, David Hassan Amirehteshami
  • Publication number: 20150101871
    Abstract: A walking machine that includes a chassis with an operator interface, a main controller in data communication with the operator interface, at least two leg members operatively connected to the chassis, and a power system in data communication and electrical communication with the main controller. Each leg member includes a leg control system that includes a leg microcontroller in data communication with the main controller and at least a first electro hydrostatic actuator in electrical communication with the leg microcontroller. The power system includes an electrical generator, power supply electronics in electrical communication with the electrical generator, an electrical storage medium in electrical communication with the electrical generator and in parallel with the power supply electronics, and an electrical power bus for distributing power from the power system to the leg control systems.
    Type: Application
    Filed: October 14, 2014
    Publication date: April 16, 2015
    Inventor: Brian Riskas
  • Publication number: 20150041227
    Abstract: Disclosed is a hexapod walking robot having a robot arm combined with a leg and a plurality of joints. The hexapod walking robot having a robot arm combined with a leg and a plurality of joints includes a robot body; a plurality of legs installed to the robot body such that the legs have various degrees of freedom; and at least one grip unit installed to at least one of the legs such that at least one grip unit is foldable.
    Type: Application
    Filed: April 25, 2013
    Publication date: February 12, 2015
    Inventors: Bong-Huan Jun, Jung-Yup Kim, Jin-Yeong Park, Hyung-Won Shim, Bang-Hyun Kim, Hyuk Baek, Pan-Mook Lee
  • Publication number: 20150016887
    Abstract: A dry-dock walking machine for installation on the deck surface of a dry-dock is operable for transporting a ship to a selected location relative to the dry-dock. There is provided a plurality of laterally spaced-apart, parallel support beams rigidly interconnected and dimensioned to extend transversely beneath the ship and across at least a portion of its width to engage its hull and support it above the deck surface. A lifting jack assembly is mounted on each end of each support beam, and they are spaced apart so that each support beam has a lifting jack assembly positioned adjacent each lateral side of the ship. A stabilizer mechanism is mounted on each support beam adjacent each lifting jack assembly operable for selectively engaging a lateral side the ship's hull to establish and maintain lateral stability of the ship relative to the support beams.
    Type: Application
    Filed: July 11, 2013
    Publication date: January 15, 2015
    Inventors: Paul Schmidt, Ken Van Raden, Nathan Georges, David Hogenkamp
  • Patent number: 8925658
    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.
    Type: Grant
    Filed: February 14, 2013
    Date of Patent: January 6, 2015
    Assignee: T&T Engineering Services, Inc.
    Inventors: F. Allan Bryant, Keith J. Orgeron, Mark W. Trevithick
  • Publication number: 20140326521
    Abstract: The present invention relates to a transport device 1, comprising a load carrying body 10, at least one central walking element 80, 90, 100, a first side walking element 20 and a second side walking element 50, wherein the at least one central walking element 80, 90, 100 is arranged in-between the two side walking elements 20, 50 and the walking elements 20, 50, 80, 90, 100 are arranged at the load carrying body 10 in a manner to be capable of moving up and down with respect to the load carrying body 10, wherein the side walking elements 20, 50 can move up and down independently from the central walking element(s) 80, 90, 100 by means of vertical actuators 26, 56 and the walking elements 20, 50, 80, 90, 100 are arranged at the load carrying body 10 in a manner to be capable of moving back and forth in horizontal direction with respect to the load carrying body 10, wherein the walking elements 20, 50 can move back and forth independently from the central walking element(s) 80, 90, 100 by means of horizontal ac
    Type: Application
    Filed: November 20, 2012
    Publication date: November 6, 2014
    Inventors: Necati Hacikadiroglu, Enes Canidemir
  • Publication number: 20140311811
    Abstract: In a chassis (1) for a robot for traveling over smooth, curved or firm surfaces with two track guides that are mirror-symmetric to one another and firmly arranged in the chassis (1) in parallel with the traveling surface and self-contained in each case, along which controllable adhesive modules (14) circulate one behind the other in such a way that their adhesive feet (15), which can be lifted and lowered vis-a-vis the traveling surface, always point towards the traveling surface, the individual adhesive modules (14) have their own controllable lifting and traveling drives in each case.
    Type: Application
    Filed: November 6, 2012
    Publication date: October 23, 2014
    Inventor: Anton Niederberger
  • Publication number: 20140305716
    Abstract: The present invention relates to a miniature robot using a plurality of piezo legs capable of deforming in two degrees of freedom by supplying input voltage signals, and an integrated artificial neural network behavior controller capable of modeling complex behavioral patterns and gait patterns by a simple structure. The miniature robot with multiple legs includes: a main body; a plurality of piezo legs constituted by bimorph piezoelectric elements and connected to the main body to generate motion through morphological deformation in two degrees of freedom by applied voltage signals, thereby resulting in movement on the ground; and a control part including an artificial neural network behavior controller, which controls motion patterns by feeding back information with respect to the environment transmitted from external sensors and to electrical signals transmitted when the piezo legs contact the surface of the ground, to control the voltage applied to each of the piezo legs.
    Type: Application
    Filed: November 9, 2012
    Publication date: October 16, 2014
    Inventors: Dong Uck Kong, Byung-Rak Son, Sang-Jun Moon, Dong-Ha Lee
  • Patent number: 8839892
    Abstract: Embodiments of the present invention are directed to a load transporting apparatus that automatically centers a support foot of the apparatus about a roller assembly during a recovery phase of an incremental walking movement. In particular, the load transporting apparatus includes guide devices positioned adjacent to a roller assembly that deflect a biasing device during non-linear load transporting movements, where the biasing device acts to automatically return the support foot to a centered position relative to the roller assembly after a non-linear movement has been completed and the support foot is raised above a ground surface.
    Type: Grant
    Filed: June 13, 2013
    Date of Patent: September 23, 2014
    Assignee: Entro Industries, Inc.
    Inventors: Shawn R. Smith, Harlan B. Smith
  • Patent number: 8807614
    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.
    Type: Grant
    Filed: July 24, 2012
    Date of Patent: August 19, 2014
    Assignee: The Chinese University of Hong Kong
    Inventors: Yangsheng Xu, Tin Lun Lam
  • Patent number: 8793016
    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.
    Type: Grant
    Filed: August 26, 2011
    Date of Patent: July 29, 2014
    Assignee: National Kaohsiung University of Applied Science
    Inventor: Chih-Hsiung Yang