US 11,932,332 B2
Three-piston ankle mechanism of a legged robot and associated control system
Christopher Everett Thorne, Sommerville, MA (US); John Aaron Saunders, Arlington, MA (US); Marco da Silva, Arlington, MA (US); Thomas H. Miller, Arlington, MA (US); and Alexander Douglas Perkins, Arlington, MA (US)
Assigned to Boston Dynamics, Inc., Waltham, MA (US)
Filed by Boston Dynamics, Inc., Waltham, MA (US)
Filed on Apr. 13, 2021, as Appl. No. 17/229,363.
Application 15/846,726 is a division of application No. 14/878,007, filed on Oct. 8, 2015, granted, now 9,878,751, issued on Jan. 30, 2018.
Application 17/229,363 is a continuation of application No. 15/846,726, filed on Dec. 19, 2017, granted, now 10,988,192.
Prior Publication US 2021/0229766 A1, Jul. 29, 2021
Int. Cl. B62D 57/032 (2006.01); B25J 9/16 (2006.01)
CPC B62D 57/032 (2013.01) [B25J 9/162 (2013.01); B25J 9/1633 (2013.01); Y10S 901/01 (2013.01); Y10S 901/28 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A robotic leg comprising:
a ground-engaging foot member having a longitudinal axis extending from a toe portion of the ground-engaging foot member to a heel portion of the ground-engaging foot member;
an ankle member coupled to the ground-engaging foot member along the longitudinal axis of the ground-engaging foot member by a first coupling;
a shin member coupled to the ankle member by a second coupling; and
a first actuator extending along a length of the shin member toward the foot member, the first actuator coupled to the foot member by a third coupling,
wherein the first coupling is located closer to a ground-engaging surface of the ground-engaging foot member than the second coupling.