US 12,263,899 B2
Energy efficient legged mobile robot
Swaminathan Balasubramanian, Plano, TX (US)
Assigned to Swaminathan Balasubramanian, Plano, TX (US)
Filed by Swaminathan Balasubramanian, Plano, TX (US)
Filed on Jun. 14, 2021, as Appl. No. 17/346,461.
Prior Publication US 2022/0395974 A1, Dec. 15, 2022
Prior Publication US 2023/0241768 A2, Aug. 3, 2023
Int. Cl. B62D 57/028 (2006.01); B25J 5/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); B60R 16/033 (2006.01); B65G 61/00 (2006.01); B66F 9/06 (2006.01)
CPC B62D 57/028 (2013.01) [B25J 5/007 (2013.01); B25J 9/162 (2013.01); B25J 13/088 (2013.01); B60R 16/033 (2013.01); B65G 61/00 (2013.01); B66F 9/063 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A mobile legged robot comprising of:
a non-inverted Pendulum Body (NPB), comprising at least one Primary Pivot Axis (PPA), wherein the PPA divides the NPB into a first portion and a second portion, wherein the first portion contains a center of mass (CoM) of the NPB, and the PPA lies above the CoM of the NPB along a gravitational axis;
at least one leg having at least a first end and a second end and the first end of the at least one leg is connected to the NPB through a Primary Pivot Joint (PPJ), wherein the at least one leg is rotatabily coupled to the NPB though the PPJ, and the second end of the at least one leg is coupled to at least one drive wheel and wherein the at least one drive wheel contacts ground surface to support the NPB, and wherein the PPJ is actuated by a first actuator to rotate the at least one leg relative to the NPB.