US 12,403,584 B2
Humanoid robotics system and methods
Eric H. Berger, Palo Alto, CA (US); and Keenan Wyrobek, Menlo Park, CA (US)
Assigned to Willow Garage, LLC, San Francisco, CA (US)
Filed by Willow Garage, LLC, San Francisco, CA (US)
Filed on Apr. 27, 2022, as Appl. No. 17/730,712.
Application 17/730,712 is a continuation of application No. 17/070,736, filed on Oct. 14, 2020, granted, now 11,396,096.
Application 17/070,736 is a continuation of application No. 16/596,946, filed on Oct. 9, 2019, granted, now 10,850,386, issued on Dec. 1, 2020.
Application 16/596,946 is a continuation of application No. 15/699,849, filed on Sep. 8, 2017, abandoned.
Application 15/699,849 is a continuation of application No. 14/814,025, filed on Jul. 30, 2015, abandoned.
Application 14/814,025 is a continuation of application No. 14/285,527, filed on May 22, 2014, abandoned.
Application 14/285,527 is a continuation of application No. 13/084,380, filed on Apr. 11, 2011, abandoned.
Claims priority of provisional application 61/322,556, filed on Apr. 9, 2010.
Prior Publication US 2022/0250231 A1, Aug. 11, 2022
Int. Cl. B25J 5/00 (2006.01); B25J 9/00 (2006.01); B25J 19/00 (2006.01)
CPC B25J 5/00 (2013.01) [B25J 5/007 (2013.01); B25J 9/0006 (2013.01); B25J 19/0016 (2013.01); Y10S 901/01 (2013.01); Y10S 901/19 (2013.01); Y10S 901/27 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A humanoid robot comprising:
a mobile base assembly (4);
a main body assembly (8) mounted to the mobile base assembly;
a turret (6) secured to the main body assembly;
a shoulder assembly (10) secured to the turret, the shoulder assembly being pivotally mounted to the main body assembly for up and down movement about a fixed horizontal upper arm pitch axis (262);
a shoulder pitch actuator assembly (194);
a pitch rotation belt (274) connected between the shoulder pitch actuator assembly and the shoulder assembly for the shoulder pitch actuator assembly to transfer movement through the pitch rotation belt to the shoulder assembly, the shoulder pitch actuator assembly mounted in position to move the shoulder assembly about the pitch axis;
an upper arm assembly (14) secured to the shoulder assembly, the upper arm assembly being rotatable mounted to the shoulder assembly for rotation about a roll axis (264) extending longitudinally trough the upper arm assembly, wherein the turret is pivotally secured to the main body assembly to allow for pan movement of the upper arm assembly about a vertical axis relative to the main body with the horizontal upper arm pitch axis being horizontally offset relative to the vertical axis about which the turret rotates relative to the main body; and
an arm roll actuator assembly (250) mounted in position to move the upper arm assembly about the roll axis.