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公开(公告)号：US10766133B2
公开(公告)日：2020-09-08
申请号：US14704925
申请日：2015-05-05
Applicant: Sarcos LC
Inventor： Fraser M. Smith
Abstract: A legged robotic device is disclosed. The legged robotic device can include a mechanism formed at least in part by a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, at least some of the plurality of degrees of freedom corresponding to degrees of freedom of a human leg. The legged robotic device can also include a primary drive actuator operable to apply a force or a torque to the support members in a first of the plurality of degrees of freedom. In addition, the legged robotic device can include a second actuator operable to apply a force or a torque to the support members in a second of the plurality of degrees of freedom. The mechanism can be configured to move in a gait-like motion that emulates human gait. The primary drive actuator can be sufficient to actuate the mechanism to move the mechanism in the gait-like motion. The mechanism can be dynamically modified by actuating the second actuator.
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公开(公告)号：US09919753B2
公开(公告)日：2018-03-20
申请号：US15061914
申请日：2016-03-04
Applicant: Sarcos LC
Inventor： Stephen C. Jacobsen , Marc X. Olivier , John McCullough , Fraser M. Smith
IPC: B62D59/04 , B62D37/04 , B62D55/065 , F41H7/00
CPC classification number: B62D59/04 , B62D37/04 , B62D55/0655 , F41H7/005
Abstract: A robotic mobile low-profile transport vehicle is disclosed. The vehicle can comprise a first transport module having a frame assembly, a mobility system, and a propulsion system and a second transport module having a frame assembly and a mobility system. A multi-degree of freedom coupling assemblage can join the first and second transport modules together. The vehicle can include a first platform supported about the frame assembly of the first transport module, and a second platform supported about the frame assembly of the second transport module. Each of the platforms can be configured to receive a load for transport. Additionally, the vehicle can include a control system that can operate to facilitate intra-module communication and coordination to provide a coordinated operating mode of the first and second transport modules and the coupling assemblage about a given terrain.
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公开(公告)号：US20170021881A1
公开(公告)日：2017-01-26
申请号：US15061914
申请日：2016-03-04
Applicant: Sarcos LC
Inventor： Stephen C. Jacobsen , Marc X. Olivier , John McCullough , Fraser M. Smith
IPC: B62D59/04 , B62D55/065 , F41H7/00 , B62D37/04
CPC classification number: B62D59/04 , B62D37/04 , B62D55/0655 , F41H7/005
Abstract: A robotic mobile low-profile transport vehicle is disclosed. The vehicle can comprise a first transport module having a frame assembly, a mobility system, and a propulsion system and a second transport module having a frame assembly and a mobility system. A multi-degree of freedom coupling assemblage can join the first and second transport modules together. The vehicle can include a first platform supported about the frame assembly of the first transport module, and a second platform supported about the frame assembly of the second transport module. Each of the platforms can be configured to receive a load for transport. Additionally, the vehicle can include a control system that can operate to facilitate intra-module communication and coordination to provide a coordinated operating mode of the first and second transport modules and the coupling assemblage about a given terrain.
Abstract translation: 公开了一种机器人移动小型运输车辆。 车辆可以包括具有框架组件，移动系统和推进系统的第一传送模块和具有框架组件和移动系统的第二传送模块。 多自由度联接组合可以将第一和第二传输模块连接在一起。 车辆可以包括围绕第一运输模块的框架组件支撑的第一平台和围绕第二运输模块的框架组件支撑的第二平台。 可以将每个平台配置为接收运输负载。 另外，车辆可以包括控制系统，其可以操作以促进模块内通信和协调，以提供关于给定地形的第一和第二传输模块和联接组合的协调操作模式。
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公开(公告)号：US09409292B2
公开(公告)日：2016-08-09
申请号：US14026284
申请日：2013-09-13
Applicant: Sarcos LC
Inventor： Fraser M. Smith , Marc Olivier , John McCullough
CPC classification number: B25J9/065 , B25J3/04 , B25J5/005 , B25J5/007 , B25J9/0087 , B25J13/025 , Y10S901/01 , Y10T74/20329
Abstract: A serpentine robotic crawler having multiple dexterous manipulators supported about multiple frame units. The frame units are connected via an articulating linkage at proximal ends wherein the articulating linkage is capable of positioning the frames into various configurations. Dexterous manipulators are coupled to distal ends of the frame units and are positionable via the articulating linkage and articulating joints therein into various positions about the frame ends. The configurations and positioning of the dexterous manipulators allows the robotic crawler to perform coordinated dexterous operations.
Abstract translation: 一个蛇形机器人爬行器具有多个支撑在多个框架单元上的灵巧操纵器。 框架单元通过在近端处的铰接连杆连接，其中铰接连杆机构能够将框架定位成各种构造。 敏捷的操纵器联接到框架单元的远端，并且可经由铰接连杆机构定位，并且其中的铰接接头可以围绕框架端部进入各种位置。 灵巧操纵器的配置和定位允许机器人爬行器执行协调的灵巧操作。
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15.发明申请Target-Specific Fire Fighting Device for Launching a Liquid Charge at a Fire 审中-公开用于在火灾时发射液体药物的特定目标消防装置公开(公告)号：US20150182768A1
公开(公告)日：2015-07-02
申请号：US14643965
申请日：2015-03-10
Applicant: Sarcos LC
Inventor： Stephen C. Jacobsen , Marc X. Olivier , Ralph W. Pensel , Fraser M. Smith
CPC classification number: A62C8/005 , A62C3/025 , A62C5/00 , A62C5/004 , A62C31/24 , F41B9/0087 , F42B12/36
Abstract: The present disclosure relates to a firefighting system. The firefighting system can include first and second fire-suppressing liquid charges. Each fire-suppressing liquid charge can be modified with a flight integrity component to inhibit substantial break-up of the fire-suppressing liquid charge during flight. The first and second fire-suppressing liquid charges can be comprised of contents that, when unmixed, are relatively inert, but that when mixed together possess a functional fire suppressant attribute.
Abstract translation: 本公开涉及消防系统。 消防系统可以包括第一和第二灭火液体充电。 可以用飞行完整性部件来改变每个灭火液体装料，以防止在飞行过程中的灭火液体电荷的显着分解。 第一和第二灭火液体电荷可以由内容物组成，当不混合时，它们是相对惰性的，但是当混合在一起时具有功能性的消光剂属性。
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Patent Agency Ranking
公开(公告)号：US11738446B2
公开(公告)日：2023-08-29
申请号：US17900727
申请日：2022-08-31
Applicant: Sarcos, LC
Inventor： Fraser M. Smith , Marc X. Olivier
CPC classification number: B25J3/04 , B25J5/005 , B25J9/1633 , B25J13/025
Abstract: A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms are mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.
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公开(公告)号：US10533542B2
公开(公告)日：2020-01-14
申请号：US14704960
申请日：2015-05-05
Applicant: Sarcos LC
Inventor： Fraser M. Smith , Marc X. Olivier , Shane Olsen
Abstract: A rapidly modulated hydraulic supply is disclosed. The rapidly modulated hydraulic supply can include a chamber for receiving fluid. The rapidly modulated hydraulic supply can also include a displacement member operable to displace the fluid from the chamber. In addition, the rapidly modulated hydraulic supply can include a flow modulation system operable to vary the flow rate of the fluid output from the chamber. A first flow rate corresponds to a first output pressure, and is different from a second flow rate corresponding to a second output pressure for a like movement of the displacement member.
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公开(公告)号：US20200001450A1
公开(公告)日：2020-01-02
申请号：US16566518
申请日：2019-09-10
Applicant: Sarcos LC
Inventor： Fraser M. Smith , Marc X. Olivier
Abstract: A legged robotic device is disclosed. The legged robotic device can include a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, which can correspond to degrees of freedom of a human leg. The legged robotic device can also include actuators to apply forces or torques to the support members in the degrees of freedom. In addition, the legged robotic device can include potential energy storage mechanisms associated with the degrees of freedom operable to store potential energy as a result of relative movement of the support members in the degrees of freedom and to provide at least a portion of the stored potential energy to the support members as compensating forces or torques to assist the actuators. In one aspect, elastic potential energy can be stored. A spring rate and/or a zero position of the potential energy storage mechanisms can be dynamically variable.
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公开(公告)号：US10406676B2
公开(公告)日：2019-09-10
申请号：US14704872
申请日：2015-05-05
Applicant: Sarcos LC
Inventor： Fraser M. Smith , Marc X. Olivier
Abstract: A legged robotic device is disclosed. The legged robotic device can include a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, which can correspond to degrees of freedom of a human leg. The legged robotic device can also include actuators to apply forces or torques to the support members in the degrees of freedom. In addition, the legged robotic device can include potential energy storage mechanisms associated with the degrees of freedom operable to store potential energy as a result of relative movement of the support members in the degrees of freedom and to provide at least a portion of the stored potential energy to the support members as compensating forces or torques to assist the actuators. In one aspect, elastic potential energy can be stored. A spring rate and/or a zero position of the potential energy storage mechanisms can be dynamically variable.
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公开(公告)号：US10072744B2
公开(公告)日：2018-09-11
申请号：US13800851
申请日：2013-03-13
Applicant: Sarcos LC
Inventor： Fraser M. Smith , Shane Olsen , Michael Morrison , Glenn Colvin, Jr. , Brian Maclean , Alan Hart
CPC classification number: F16H21/44 , B25J9/106 , F15B15/06 , Y10T29/49826 , Y10T74/1892
Abstract: A rotary actuation mechanism comprising an actuator having a body, and a slider movable on a linear path relative to the body. A first linkage can be pivotally coupled to the body at a first pivot having a first axis. A second linkage can be pivotally coupled to the slider at a second pivot having a second axis, and pivotally coupled to the first linkage at a third pivot. A length of the first linkage between the first pivot and the third pivot can be equal to a length of the second linkage between the second pivot and the third pivot. The slider can be movable to position the second axis in a collinear relationship with the first axis. The rotary actuation mechanism can include an anti-singularity device to constrain movement of the body when the first axis and the second axis are in the collinear relationship.
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