US 12,459,113 B2
Robot leg and robotic system
Alexander Sprowitz, Stuttgart (DE); and Alborz Aghamaleki Sarvestani, Stuttgart (DE)
Assigned to MAX-PLANCK-GESELLSCHAFT ZUR FÖRDERUNG DER WISSENSCHAFTEN E.V., Munich (DE)
Appl. No. 17/429,163
Filed by MAX-PLANCK-GESELLSCHAFT ZUR FÖRDERUNG DER WISSENSCHAFTEN E.V., Munich (DE)
PCT Filed Jan. 20, 2020, PCT No. PCT/EP2020/051249
§ 371(c)(1), (2) Date Aug. 6, 2021,
PCT Pub. No. WO2020/169285, PCT Pub. Date Aug. 27, 2020.
Claims priority of application No. 19157793 (EP), filed on Feb. 18, 2019.
Prior Publication US 2022/0089234 A1, Mar. 24, 2022
Int. Cl. B25J 9/10 (2006.01); B25J 13/08 (2006.01); B25J 17/00 (2006.01); B62D 57/032 (2006.01)
CPC B25J 9/1075 (2013.01) [B25J 9/109 (2013.01); B25J 13/088 (2013.01); B62D 57/032 (2013.01); B25J 17/00 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A robot leg comprising at least two joints, each joint connecting two segments one to another, with each joint comprising a cam, the robot leg further comprising at least one actuator and a common tendon interconnecting each cam, wherein at least one cam is dimensioned such that its radius is smaller than a pre-defined threshold, with said pre-defined threshold being an equilibrium threshold for loading of the robot leg,
wherein the equilibrium threshold is defined as Fc*rc∝F*d, wherein F defines an overall force which acts on the robot leg, d defines a length of a virtual leg, Fc defines a force which acts on the respective cam and rc defines a radius of the respective cam.