Energy efficient robot
A locomotion subassembly for a biped robot is disclosed. The locomotion subassembly includes several unique energy transfer mechanisms and arrangements for efficiently powering the motion of the robot.
1. A robot, comprising:
a locomotion subassembly comprising:
at least one speed reducing transmission system, comprising:
a bobbin coupled to a motor;
a pulley;
a first cable coupling the bobbin to the pulley such that when the bobbin is rotated, the first cable rotates the pulley in a first direction, and
a second cable coupling the bobbin the pulley, such that when the bobbin is rotated, the second cable rotates the pulley in a second direction opposite the rotation in the first direction urged by the first cable;
wherein the bobbin comprises grooves for winding the first and second cables thereupon;
wherein the locomotion subassembly further comprises:
a hip adduction spring in parallel with a hip drive system.
2. The robot of claim 1 , wherein the locomotion subassembly further comprises:
a 4-bar transmission subassembly comprising:
a drive pulley;
an output rotating link coupled to the drive pulley;
an intermediate rotating link coupled to the output rotating link;
an input rotating link coupled to the intermediate rotating link; and
a pulley subassembly coupled to the input rotating link;
wherein the pulley subassembly is coupled to a speed reducing transmission system of the at least one speed reducing transmission system.
3. The robot of claim 2 , wherein the 4-bar transmission subassembly has an adjustable output angle.
4. The robot of claim 1 , wherein the hip adduction spring in parallel with the hip drive system is configured to have an adjustable contact angle.
5. The robot of claim 1 , wherein the hip adduction spring in parallel with the hip drive system is configured to have an adjustable equilibrium angle.
6. The robot of claim 1 , wherein the locomotion subassembly further comprises:
an ankle pitch spring in parallel with an ankle drive system.
7. The robot of claim 6 , wherein the ankle drive system is configured to have an adjustable contact angle.
8. The robot of claim 6 , wherein the ankle pitch spring in parallel with the ankle drive system is configured so that the ankle pitch spring engages only during the stance phase of legged locomotion.
9. A robot, comprising:
a locomotion subassembly comprising:
a 4-bar transmission subassembly comprising:
a drive pulley;
an output rotating link coupled to the drive pulley;
an intermediate rotating link coupled to the output rotating link;
an input rotating link coupled to the intermediate rotating link; and
a pulley subassembly coupled to the input rotating link;
wherein the pulley subassembly is coupled to a speed reducing transmission system.
10. The robot of claim 9 , wherein the 4-bar transmission subassembly has an adjustable output angle.
11. The robot of claim 9 , wherein the speed reducing transmission system
comprises:
a bobbin coupled to a motor;
a pulley;
a first cable coupling the bobbin to the pulley such that when the bobbin is rotated, the first cable rotates the pulley in a first direction, and
a second cable coupling the bobbin the pulley, such that when the bobbin is rotated, the second cable rotates the pulley in a second direction opposite the rotation in the first direction urged by the first pulley;
wherein the bobbin comprises grooves for winding the first and second cables thereupon.
12. The robot of claim 9 , wherein the locomotion subassembly further comprises:
a hip adduction spring in parallel with a hip drive system.
13. The robot of claim 12 , wherein the hip adduction spring in parallel with the hip drive system is configured to have an adjustable contact angle.
14. The robot of claim 12 , wherein the hip adduction spring in parallel with the hip drive system is configured to have an adjustable equilibrium angle.
15. The robot of claim 9 , wherein the locomotion subassembly further comprises:
an ankle pitch spring in parallel with an ankle drive system.
16. The robot of claim 15 , wherein the ankle drive system is configured to have an adjustable equilibrium angle.
17. The robot of claim 15 , wherein the ankle pitch spring in parallel with the ankle drive system is configured so that the ankle pitch spring engages only during the stance phase of legged locomotion.
18. A system, comprising:
a speed reducing transmission system comprising:
a bobbin coupled to a motor;
a pulley;
a first cable coupling the bobbin to the pulley such that when the bobbin is rotated, the first cable rotates the pulley in a first direction, and
a second cable coupling the bobbin the pulley, such that when the bobbin is rotated, the second cable rotates the pulley in a second direction opposite the rotation in the first direction urged by the first cable;
wherein the bobbin comprises grooves for winding the first and second cables thereupon;
and
a locomotion subassembly comprising:
a 4-bar transmission subassembly comprising:
a drive pulley;
an output rotating link coupled to the drive pulley;
an intermediate rotating link coupled to the output rotating link;
an input rotating link coupled to the intermediate rotating link; and
a pulley subassembly coupled to the input rotating link;
wherein the pulley subassembly is coupled to the speed reducing transmission system.
19. The system of claim 18 , further comprising:
a first and a second tensioning system for adjusting the tension on the first and second cables, respectively.
20. The system of claim 18 , wherein the pulley further comprises a coupling for transferring rotational energy to a drive system.