Walking robots having double acting fluid driven twistor pairs a

Details Walking robots having double acting fluid driven twistor pairs a Walking robots having double acting fluid driven twistor pairs a

1988-06-13

1991-08-20

Hill, Mitchell J.

Motor vehicles

Special driving device

Stepper

74469, 92 48, 901 1, 901 15, 901 22, 901 28, 180 86, B25J 304, B62D 5702

Patent

active

050406264

ABSTRACT:
A six-legged, insect-like, self-propelled walking robot (hexapodal arthrobot), includes twistor-pairs in the waist, hip and knee of each leg and walks by pr0gramming fluid pressure in these twistor-pairs at the joints of respective legs in a predetermined controlled sequence. As a result of a predetermined sequence of six controlled variable pressures, this six-legged robot firmly plants three of its legs on the ground for providing stable ground support for walking. The three legs on the ground are propelling the robot forward with walking motion, while the other three legs are lifted and swing forward to an advanced position and are then lowered onto the ground for taking over their support and walking role in their turn, while the first three legs are then being lifted and swung forward to an advanced position, and so forth, for providing a stable forward walking motion. By reversing the sequence of six controlled variable pressures, a stable reverse walking motion is produced. Due to the fact that angular deflection of each twistor-pair joint is a predictable and predetermined linear function of the respective two fluid pressures fed into the two respective twistors of such twistor-pair joint, an open loop control method and system can be employed for operating these robots. In other words, closed loop feedback control systems with position sensors and electronic controls are not necessary to be employed for many different applications of the present invention.

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patent: 4738583 (1988-04-01), Macconochie et al.
patent: 4751868 (1988-06-01), Paynter
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