US 11,702,160 B2
Robot maneuverable by combined sprawl and four-bar extension mechanisms
David Zarrouk, Bnei Brak (IL)
Assigned to B.G. NEGEV TECHNOLOGIES AND APPLICATIONS LTD., AT BEN-GUIRON UNIVERSITY, Beer-Sheva (IL)
Appl. No. 16/958,431
Filed by B.G. NEGEV TECHNOLOGIES AND APPLICATIONS LTD., AT BEN-GURION UNIVERSITY, Beer-Sheva (IL)
PCT Filed Dec. 26, 2018, PCT No. PCT/IL2018/051393
§ 371(c)(1), (2) Date Jun. 26, 2020,
PCT Pub. No. WO2019/130303, PCT Pub. Date Jul. 4, 2019.
Claims priority of provisional application 62/610,961, filed on Dec. 28, 2017.
Prior Publication US 2021/0009219 A1, Jan. 14, 2021
Int. Cl. B62D 57/028 (2006.01); B62D 57/024 (2006.01)
CPC B62D 57/028 (2013.01) [B62D 57/024 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A robot device comprising a main body portion and two elongated legs, wherein:
a) each of the elongated legs is connected to the main body portion by a four-bar extension mechanism; and
b) each of the elongated legs is rotatable around a corresponding axis positioned along a distal-proximal direction,
wherein each four-bar extension mechanism comprises a distal bar and a proximal bar;
wherein the proximal bar is connected at one end to the main body portion in a first joint connection and at the other end to the elongated leg in a second joint connection;
wherein the distal bar is connected at one end to the elongated leg in a third joint connection and at the other end to the main body portion in a fourth joint connection;
wherein the main body portion comprises two side rotatable shafts, each rotatable around a corresponding axis of said corresponding axes; and
wherein in the each four-bar extension mechanism the connections of the proximal and distal bars with the main body portion are at a corresponding rotatable shaft of the two rotatable shafts.