Method and System for Improving Locomotion in a Robot

A method is disclosed for reducing impact forces to legged robots as a result of traversing a terrain. The method includes employing actuators and compliant elements to use the contact of a first portion of a foot assembly with a terrain during a step to reduce the vertical velocity of a subsequent...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	Bernards, Mitchell, Abate, Andrew, Hurst, Jonathan
Format:	Patent
Sprache:	eng
Schlagworte:	BLASTING ENGINEERING ELEMENTS AND UNITS GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVEFUNCTIONING OF MACHINES OR INSTALLATIONS HEATING LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS LIGHTING MEANS FOR DAMPING VIBRATION MECHANICAL ENGINEERING MOTOR VEHICLES PERFORMING OPERATIONS SHOCK-ABSORBERS SPRINGS THERMAL INSULATION IN GENERAL TRAILERS TRANSPORTING WEAPONS
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Beschreibung
Zusammenfassung:	A method is disclosed for reducing impact forces to legged robots as a result of traversing a terrain. The method includes employing actuators and compliant elements to use the contact of a first portion of a foot assembly with a terrain during a step to reduce the vertical velocity of a subsequent portion of the foot assembly so that the vertical velocity of the subsequent portion as it touches the terrain is substantially zero relative to the terrain. Foot assemblies that employ these methods are also provided.