公开(公告)号：US09981389B2

公开(公告)日：2018-05-29

申请号：US14637278

申请日：2015-03-03

Applicant: California Institute of Technology

Inventor： Brett A. Kennedy ,  Matthew A. Frost ,  John M. Leichty ,  Michael J. Hagman ,  James W. Borders ,  Jamie S. Piacentine ,  Charles F. Bergh ,  Allen R. Sirota ,  Kalind C. Carpenter

IPC: B25J9/06 ,  B25J15/08 ,  B62D57/032

CPC classification number: B25J15/08 ,  B25J9/06 ,  B62D57/032 ,  Y10S901/28 ,  Y10S901/31

Abstract: Manipulators in accordance with various embodiments of the invention can be utilized to implement statically stable robots capable of both dexterous manipulation and versatile mobility. Manipulators in accordance with one embodiment of the invention include: an azimuth actuator; three elbow joints that each include two actuators that are offset to allow greater than 360 degree rotation of each joint; a first connecting structure that connects the azimuth actuator and a first of the three elbow joints; a second connecting structure that connects the first elbow joint and a second of the three elbow joints; a third connecting structure that connects the second elbow joint to a third of the three elbow joints; and an end-effector interface connected to the third of the three elbow joints.

公开(公告)号：US20160023352A1

公开(公告)日：2016-01-28

申请号：US14810349

申请日：2015-07-27

Applicant: California Institute of Technology

Inventor： Brett A. Kennedy ,  Paul Hebert ,  Jeremy C. Ma ,  James W. Borders ,  Charles F. Bergh ,  Nicolas H. Hudson

IPC: B25J9/06

CPC classification number: B25J9/06 ,  B25J5/005 ,  B25J9/0087 ,  B25J9/1666 ,  B25J9/1682 ,  B25J15/0009 ,  B25J19/021 ,  G05B2219/40254 ,  Y10S901/09 ,  Y10S901/28 ,  Y10S901/30 ,  Y10S901/47

Abstract: Robotics platforms in accordance with various embodiments of the invention can be utilized to implement highly dexterous robots capable of whole body motion. Robotics platforms in accordance with one embodiment of the invention include: a memory containing a whole body motion application; a spine, where the spine has seven degrees of freedom and comprises a spine actuator and three spine elbow joints that each include two spine joint actuators; at least one limb, where the at least one limb comprises a limb actuator and three limb elbow joints that each include two limb joint actuators; a tracked base; a connecting structure that connects the at least one limb to the spine; a second connecting structure that connects the spine to the tracked base; wherein the processor is configured by the whole body motion application to move the at least one limb and the spine to perform whole body motion.

Abstract translation: 根据本发明的各种实施例的机器人平台可以用于实现能够进行全身运动的高度灵巧的机器人。 根据本发明的一个实施例的机器人平台包括：包含全身运动应用的存储器; 脊柱，其脊柱具有七个自由度并且包括脊柱致动器和三个脊柱肘关节，每个包括两个脊柱关节致动器; 至少一个肢体，其中所述至少一个肢体包括肢体致动器和三个肢体肘关节，每个肢体肘关节包括两个肢体关节致动器; 被追踪的基地; 将所述至少一个肢体连接到所述脊柱的连接结构; 将脊柱连接到被跟踪基座的第二连接结构; 其中所述处理器由所述全身运动应用构成以移动所述至少一个肢体和所述脊柱以执行全身运动。

公开(公告)号：US09862090B2

公开(公告)日：2018-01-09

申请号：US14810349

申请日：2015-07-27

Applicant: California Institute of Technology

Inventor： Brett A. Kennedy ,  Paul Hebert ,  Jeremy C. Ma ,  James W. Borders ,  Charles F. Bergh ,  Nicolas H. Hudson

IPC: G05B15/00 ,  G05B19/00 ,  B25J9/06 ,  B25J5/00 ,  B25J9/00 ,  B25J15/00 ,  B25J19/02

CPC classification number: B25J9/06 ,  B25J5/005 ,  B25J9/0087 ,  B25J9/1666 ,  B25J9/1682 ,  B25J15/0009 ,  B25J19/021 ,  G05B2219/40254 ,  Y10S901/09 ,  Y10S901/28 ,  Y10S901/30 ,  Y10S901/47

Abstract: Robotics platforms in accordance with various embodiments of the invention can be utilized to implement highly dexterous robots capable of whole body motion. Robotics platforms in accordance with one embodiment of the invention include: a memory containing a whole body motion application; a spine, where the spine has seven degrees of freedom and comprises a spine actuator and three spine elbow joints that each include two spine joint actuators; at least one limb, where the at least one limb comprises a limb actuator and three limb elbow joints that each include two limb joint actuators; a tracked base; a connecting structure that connects the at least one limb to the spine; a second connecting structure that connects the spine to the tracked base; wherein the processor is configured by the whole body motion application to move the at least one limb and the spine to perform whole body motion.

公开(公告)号：US20160008988A1

公开(公告)日：2016-01-14

申请号：US14637278

申请日：2015-03-03

Applicant: California Institute of Technology

Inventor： Brett A. Kennedy ,  Matthew A. Frost ,  John M. Leichty ,  Michael J. Hagman ,  James W. Borders ,  Jamie S. Piacentine ,  Charles F. Bergh ,  Allen R. Sirota ,  Kalind C. Carpenter

IPC: B25J17/00 ,  B25J15/08 ,  B25J18/00

CPC classification number: B25J15/08 ,  B25J9/06 ,  B62D57/032 ,  Y10S901/28 ,  Y10S901/31

Abstract: Manipulators in accordance with various embodiments of the invention can be utilized to implement statically stable robots capable of both dexterous manipulation and versatile mobility. Manipulators in accordance with one embodiment of the invention include: an azimuth actuator; three elbow joints that each include two actuators that are offset to allow greater than 360 degree rotation of each joint; a first connecting structure that connects the azimuth actuator and a first of the three elbow joints; a second connecting structure that connects the first elbow joint and a second of the three elbow joints; a third connecting structure that connects the second elbow joint to a third of the three elbow joints; and an end-effector interface connected to the third of the three elbow joints.

Abstract translation: 可以利用根据本发明的各种实施例的操纵器来实现能够进行灵巧操纵和通用移动性的静态稳定的机器人。 根据本发明的一个实施例的操纵器包括：方位致动器; 三个肘关节各自包括两个致动器，其被偏移以允许每个关节的大于360度的旋转; 连接方位致动器和三个肘关节中的第一个的第一连接结构; 连接第一肘关节和三个肘关节中的第二肘关节的第二连接结构; 将第二肘关节连接到三个肘关节中的三分之一的第三连接结构; 以及连接到三个肘关节中的第三个的末端效应器接口。