US 10,253,855 C1 (12,978th)
Screw actuator for a legged robot
Steven D. Potter, Bedford, MA (US); Zachary John Jackowski, Somerville, MA (US); and Adam Young, Waltham, MA (US)
Filed by Boston Dynamics, Inc., Waltham, MA (US)
Assigned to BOSTON DYNAMICS, INC., New Castle, DE (US)
Reexamination Request No. 90/019,362, Dec. 31, 2023.
Reexamination Certificate for Patent 10,253,855, issued Apr. 9, 2019, Appl. No. 15/380,561, Dec. 15, 2016.
Ex Parte Reexamination Certificate issued on Jul. 10, 2025.
Int. Cl. F16H 25/20 (2006.01); B25J 9/10 (2006.01); B25J 9/12 (2006.01); B25J 17/02 (2006.01); B62D 57/032 (2006.01)
CPC F16H 25/20 (2013.01) [B25J 9/102 (2013.01); B25J 9/106 (2013.01); B25J 9/123 (2013.01); B25J 17/0241 (2013.01); B62D 57/032 (2013.01); B25J 9/108 (2013.01); F16H 2025/204 (2013.01); F16H 2025/2043 (2013.01); F16H 2025/2075 (2013.01)]
OG exemplary drawing
AS A RESULT OF REEXAMINATION, IT HAS BEEN DETERMINED THAT:
The patentability of claims 1-4 is confirmed.
Claims 5-9 and 11-13 are cancelled.
Claim 10 is determined to be patentable as amended.
1. A robot comprising:
a leg having an upper leg member and a lower leg member coupled to the upper leg member at a knee joint;
a screw actuator disposed within the upper leg member, wherein the screw actuator has a screw shaft and a nut mounted coaxial to the screw shaft such that the screw shaft is rotatable within the nut;
a motor mounted at an upper portion of the upper leg member and coupled to the screw shaft;
a carrier coupled and mounted coaxial to the nut such that the nut is disposed at a proximal end of the carrier;
a linkage coupled to the carrier, wherein the linkage is coupled to the lower leg member at the knee joint; and
a foot member coupled to the lower leg member, wherein the upper leg member is coupled to the lower leg member at a knee pivot at the knee joint, wherein the linkage is coupled to the lower leg member at a linkage joint disposed between the knee pivot and the foot member such that as the robot rests on a surface via the foot member, the screw shaft is subjected to a compressive force,
wherein rotation of the motor causes the screw shaft to rotate, which further causes (i) the nut and the carrier to travel along an axis of the screw shaft, and (ii) the linkage to rotate the lower leg member relative to the upper leg member at the knee joint.
10. The robot of claim 9, [ A robot comprising:
a leg having an upper leg member and a lower leg member coupled to the upper leg member at a knee joint;
a screw actuator disposed within the upper leg member, wherein the screw actuator has a screw shaft and a nut mounted coaxial to the screw shaft such that the screw shaft is rotatable within the nut;
a motor mounted at an upper portion of the upper leg member and coupled to the screw shaft;
a carrier coupled and mounted coaxial to the nut such that the nut is disposed at a proximal end of the carrier, wherein the carrier includes a longitudinal channel disposed on an exterior surface of the carrier;
a nub fixedly mounted to the upper leg member and protruding radially inward within the upper leg member to engage the longitudinal channel so as to preclude rotation of the carrier about the axis of the screw shaft, ] wherein the nub is coupled to a plate configured to mount to an exterior surface of the upper leg member [ ; and
a linkage coupled to the carrier, wherein the linkage is coupled to the lower leg member at the knee joint,
wherein rotation of the motor causes the screw shaft to rotate, which further causes (i) the nut and the carrier to travel along an axis of the screw shaft, and (ii) the linkage to rotate the lower leg member relative to the upper leg member at the knee joint] .