A mobile robot includes a non-inverted pendulum body hereafter referred to as NPB with at least one pivot axis and this pivot axis divides the NPB into two portions. One portion of the NPB contains the center of mass of the NPB that can have structures to carry external payloads. The second portion of the NPB can have one or more manipulator arm and vision units. On the pivot axis is disposed at least one leg rotatabily coupled to the NPB. The other end of the leg has a foot joint on which is disposed a drive wheel or a foot. With additional degrees of freedom for each leg the robot can move similar to humanoids, be able to carry and sustain heavy loads with minimal leg joint torques and/or manipulate heavy loads and forces with self-compensating mass of the NPB while using minimal leg joint torques.


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    Title :

    Energy Efficient Legged Mobile Robot


    Contributors:

    Publication date :

    2023-08-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B62D MOTOR VEHICLES , Motorfahrzeuge / B65G TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS , Transport- oder Lagervorrichtungen, z.B. Förderer zum Laden oder Abladen / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last



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