US 12,128,974 B2
Method and system for improving locomotion in a robot
Jonathan Hurst, Albany, OR (US); Andrew Abate, Albany, OR (US); and Mitchell Bernards, Albany, OR (US)
Assigned to AGILITY ROBOTICS, INC., Salem, OR (US)
Appl. No. 17/433,809
Filed by Agility Robotics, Inc., Tangent, OR (US)
PCT Filed Feb. 25, 2020, PCT No. PCT/US2020/019753
§ 371(c)(1), (2) Date Aug. 25, 2021,
PCT Pub. No. WO2020/176542, PCT Pub. Date Sep. 3, 2020.
Claims priority of provisional application 62/810,299, filed on Feb. 25, 2019.
Prior Publication US 2022/0144358 A1, May 12, 2022
Int. Cl. B62D 57/032 (2006.01); F16F 3/12 (2006.01)
CPC B62D 57/032 (2013.01) [F16F 3/12 (2013.01)] 14 Claims
OG exemplary drawing
 
1. In an ambulatory robot having at least two legs for traversing a terrain, a foot assembly attached to a distal end of each leg for minimizing sudden forces to the robot during a touch-down phase of a terrain-contacting portion of a stride, the foot assembly comprising:
a first foot portion having a first portion vertical velocity and a second foot portion having a second portion vertical velocity, the first foot portion operable upon the second foot portion via one or more of a first actuator and a first compliant element;
wherein contact with the terrain by the first foot portion, at the beginning of the touch-down phase, changes the first portion vertical velocity so that it matches a terrain velocity, thereby engaging the one or more of a first actuator and a first compliant element to reduce the second portion vertical velocity to match a terrain velocity as it contacts the terrain;
whereupon the second foot portion remains securely in contact with the terrain during a remainder of the terrain-contacting portion of the stride.