A legged robot system has a medial body with first and second ends, slidably and rotatably attached to a lateral body with first and second ends via a locomotion mechanism configured to provide at least first and second degrees of freedom of movement for the lateral body relative to the medial body, a plurality of prismatic legs extending downward from positions on the lateral or medial bodies, each leg having a drive mechanism for extending the leg, wherein the first leg provides a third degree of freedom relative to its position on the lateral or medial body, and the second leg provides a fourth degree of freedom relative to its position on the lateral or medial body, and a differential mechanism connecting the first and second legs providing a fifth degree of freedom of movement for the first and second leg relative to each other.


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    Title :

    PASSIVELY ADAPTIVE LEGGED ROBOT WITH DIFFERENTIALS AND NON-BACKDRIVABLE PRISMATIC LEGS


    Contributors:
    NOH SEONGHOON (author) / DOLLAR AARON (author) / KANNER OREN (author)

    Publication date :

    2025-02-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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