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    Screw actuator for a legged robot
    4.
    发明授权
    Screw actuator for a legged robot 有权

    公开(公告)号：US10253855B2

    公开(公告)日：2019-04-09

    申请号：US15380561

    申请日：2016-12-15

    Applicant: Boston Dynamics, Inc.

    Inventor： Steven D. Potter ,  Zachary John Jackowski ,  Adam Young

    IPC: B25J9/10 ,  F16H25/20 ,  B62D57/032 ,  B25J9/12 ,  B25J17/02

    Abstract: An example robot includes: a leg having an upper leg member and a lower leg member coupled to the upper leg member at a knee joint; a screw actuator disposed within the upper leg member, where the screw actuator has a screw shaft and a nut mounted coaxial to the screw shaft such that the screw shaft is rotatable within the nut; a motor mounted at an upper portion of the upper leg member and coupled to the screw shaft; a carrier coupled and mounted coaxial to the nut such that the nut is disposed at a proximal end of the carrier; and a linkage coupled to the carrier, where the linkage is coupled to the lower leg member at the knee joint.

    Modular robot system
    6.
    发明授权
    Modular robot system 有权

    公开(公告)号：US11298826B1

    公开(公告)日：2022-04-12

    申请号：US16139142

    申请日：2018-09-24

    Applicant: Boston Dynamics, Inc.

    Inventor： Zachary John Jackowski ,  John Aaron Saunders ,  Benjamin Swilling

    IPC: B25J9/08 ,  B25J9/14 ,  B25J9/16

    Abstract: A robotic system includes a body including at least one attachment mechanism configured to removably couple a modular component to the body. The modular component includes at least one movable part operable to move relative to the body when the modular component is attached to the body. The system includes a communication interface coupled to the body and configured to be communicatively coupled to the modular component to receive information relating to the modular component and operation of the at least one movable part. The system includes a control system coupled to the body and the communication interface. The control system is configured to: in response to the modular component being attached to the body, receive the information from the modular component by way of the communication interface, and operate the at least one movable part of the modular component according to the information.

    Screw Actuator for a Legged Robot
    7.
    发明申请
    Screw Actuator for a Legged Robot 有权

    公开(公告)号：US20220003297A1

    公开(公告)日：2022-01-06

    申请号：US17448224

    申请日：2021-09-21

    Applicant: Boston Dynamics, Inc.

    Inventor： Steven D. Potter ,  Zachary John Jackowski ,  Adam Young

    IPC: F16H25/20 ,  B25J9/12 ,  B25J17/02 ,  B25J9/10 ,  B62D57/032

    Abstract: A robot leg assembly including a hip joint and an upper leg member. A proximal end portion of the upper leg member rotatably coupled to the hip joint. The robot leg assembly including a knee joint rotatably coupled to a distal end portion of the upper leg member, a lower leg member rotatably coupled to the knee joint, a linear actuator disposed on the upper leg member and defining a motion axis, and a motor coupled to the linear actuator and a linkage coupled to the translation stage and to the lower leg member. The linear actuator includes a translation stage moveable along the motion axis to translate rotational motion of the motor to linear motion of the translation stage along the motion axis, which moves the linkage to rotate the lower leg member relative to the upper leg member at the knee joint.

    Hydraulic pressure variation in a legged robot
    8.
    发明授权
    Hydraulic pressure variation in a legged robot 有权

    公开(公告)号：US10704570B2

    公开(公告)日：2020-07-07

    申请号：US16176500

    申请日：2018-10-31

    Applicant: Boston Dynamics, Inc.

    Inventor： Zachary John Jackowski ,  Alex Yu Khripin ,  Alfred Anthony Rizzi

    IPC: B25J9/14 ,  F15B11/20 ,  B62D57/032 ,  F15B1/02

    Abstract: An example robot includes movable members, a hydraulic system including at least (i) hydraulic actuators configured to operate the movable members, and (ii) a source of hydraulic fluid, and a controller. The controller may be configured to: determine a task to be performed by the robot, where the task includes a plurality of phases; cause hydraulic fluid having a first pressure level to flow from the source to the hydraulic actuators for the robot to perform a first phase of the plurality of phases of the task; based on a second phase of the task, determine a second pressure level for the hydraulic fluid; and adjust, based on the second pressure level, operation of the hydraulic system before the robot begins the second phase of the task.

    Transmission with integrated overload protection for a legged robot
    10.
    发明授权
    Transmission with integrated overload protection for a legged robot 有权

    公开(公告)号：US10655684B2

    公开(公告)日：2020-05-19

    申请号：US16416765

    申请日：2019-05-20

    Applicant: Boston Dynamics, Inc.

    Inventor： Zachary John Jackowski ,  Adam Young

    IPC: F16D7/00 ,  F16D7/02 ,  B25J19/06 ,  B25J9/10 ,  F16H35/10 ,  F16H49/00 ,  F16H25/20

    Abstract: An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.

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