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 Title: |
US5158493:
Remote controlled, multi-legged, walking robot
[ Derwent Title ]
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| Country: |
US United States of America
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| Inventor: |
Morgrey, Richard; Mount Vernon, WA 98273
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| Assignee: |
None
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| Published / Filed: |
1992-10-27
/ 1991-05-30
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| Application Number: |
US1991000707770
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| IPC Code: |
Advanced:
A63H 11/18;
B62D 57/02;
Core:
A63H 11/00;
B62D 57/00;
IPC-7:
A63H 11/18;
B62D 57/02;
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| U.S. Class: |
Current:
446/355;
180/008.6;
446/279;
901/001;
Original:
446/355;
446/279;
180/008.6;
901/001;
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| Field of Search: |
446/285,293,294,355,356,276
180/8.6,8.1,8.5
901/001
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| Priority Number: |
| 1991-05-30 |
US1991000707770 |
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| Abstract: |
A robotic biped, quadruped or the like including a skeletal frame having right and left leg/foot assemblies, skeletal structure interconnecting the right and left leg/foot assemblies with freedom for movement relative to one another in respective ones of spaced parallel vertical planes and with one leg/foot assembly leading the other when both are firmly planted on the ground, right and left leg actuating mechanisms for raising and advancing respective ones of the left and right leg/foot assemblies mounted on respective ones of the right and left leg/foot assemblies, a remotely operable motor/transmission carried by the skeletal frame with freedom for right-to-left and left-to-right translation into the one of the right and left spaced parallel vertical planes containing the leading ground-engaged leg/foot assembly, a clutch or coupling mechanism for coupling the motor/transmission to the one of the right and left actuating mechanisms mounted on the leading one of the ground-engaged right and left leg/foot assemblies so as to cause the other trailing leg/foot assembly to be raised off the ground, advanced, and replanted on the ground in advance of the one initially leading leg/foot assembly, and a transfer mechanism for uncoupling the motor/transmission from the one actuating mechanism when the other initially trailing leg/foot assembly is replanted on the ground in advance of the initially leading, now trailing, one leg/foot assembly and shifting the motor/transmission laterally into the other of the right and left spaced parallel vertical planes.
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| Attorney, Agent or Firm: |
Cassidy, J. Robert ;
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| Primary / Asst. Examiners: |
Yu, Mickey;
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| Maintenance Status: |
E1 Expired Check current status
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| INPADOC Legal Status: |
Show legal status actions
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| Family: |
None
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First Claim:
Show all 21 claims |
I claim:
1. An actuating mechanism for a multi-legged comprising, in combination:
- a) a skeletal frame;
- b) first and second leg/foot assemblies forming part of said skeletal frame and residing in respective ones of first and second spaced parallel vertical planes;
- c) means forming part of said skeletal frame for articulatably interconnecting said first and second leg/foot assemblies in such a manner that whenever both of said first and second leg/foot assemblies are firmly planted on the ground, one of said ground-engaged leg/foot assemblies is advanced relative to the other of said ground-engaged leg/foot assemblies, and for maintaining both of said first and second leg/foot assemblies in respective ones of said first and second spaced parallel vertical planes at all times;
- d) means supported by said skeletal frame for establishing the robot's center of gravity substantially in the one of said first and second spaced parallel vertical planes containing the leading one of said ground-engaged first and second leg/foot assemblies and for shifting the robot's center of gravity laterally into the other of said first and second spaced parallel vertical planes when the trailing one of said ground-engaged first and second leg/foot assemblies is advanced into a ground-engaged position in advance of the previously leading one of said first and second leg/foot assemblies;
- e) first actuating means mounted on said first leg/foot assembly adapted to be drivingly coupled to said second leg/foot assembly when said first leg/foot assembly is firmly planted on the ground in advance of said ground-engaged second leg/foot assembly for raising said trailing ground-engaged second leg/foot assembly off the ground and advancing said raised second leg/foot assembly into a ground-engaged position in advance of said ground-engaged first leg/foot assembly;
- f) second actuating means mounted on said second leg/foot assembly adapted to be drivingly coupled to said first leg/foot assembly when said second leg/foot assembly is firmly planted on the ground in advance of said ground-engaged first leg/foot assembly for raising said trailing ground-engaged first leg/foot assembly off the ground and advancing said raised first leg/foot assembly into a ground-engaged position in advance of said ground-engaged second leg/foot assembly;
- g) a source of motive power carried by said skeletal frame and,
- h) means for coupling said source of motive power to said first actuating means when said first leg/foot assembly is firmly planted on the ground in advance of said ground-engaged second leg/foot assembly so as to raise and advance said second leg/foot assembly and for coupling said source of motive power to said second actuating means when said second leg/foot assembly is firmly planted on the ground in advance of said ground-engaged first leg/foot assembly so as to raise and advance said first leg/foot assembly.
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| Background / Summary: |
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| Drawing Descriptions: |
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| Description: |
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| Forward References: |
Show 73 U.S. patent(s) that reference this one
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