Robot leg and robotic system
View Patent ↗The invention relates to 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.
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 F c *r c ∝F*d, wherein F defines an overall force which acts on the robot leg, d defines a length of a virtual leg, F c defines a force which acts on the respective cam and r c defines a radius of the respective cam.
2 . The robot leg in accordance with claim 1 , wherein the at least one cam is a final cam.
3 . The robot leg in accordance with claim 1 , wherein at least some of the cams are linear cams.
4 . The robot leg in accordance with claim 1 , wherein all of the cams are linear cams.
5 . The robot leg in accordance with claim 4 , wherein a linear cam is a cam that has a center of rotation and a constant radius.
6 . The robot leg in accordance with claim 1 , wherein at least some of the cams enable a movement of the two segments adjoining each joint relative to one another.
7 . The robot leg in accordance with claim 6 , wherein the movement is a pivot movement between the two segments adjoining each joint.
8 . The robot leg in accordance with claim 1 , wherein the common tendon is formed by two or more part tendons, wherein two directly adjacent part tendons are respectively connected to the same one of the cams.
9 . The robot leg in accordance with claim 8 , wherein each directly adjacent part tendon is configured to produce a torque at each cam such that it is configured to straighten the two segments adjoining each joint relative to one another.
10 . The robot leg in accordance with claim 9 , wherein said joint extending torque is configured to counteract a load exerted on the overall length of the robot leg.
11 . The robot leg in accordance with claim 1 , wherein the at least one of the actuators is configured to bring about at least one of a movement and a force.
12 . The robot leg in accordance with claim 1 , wherein two actuators are provided including a first actuator comprising a spring and a second actuator comprising a motor.
13 . The robot leg in accordance with claim 1 , wherein the at least one of the actuators is a spring, and/or wherein the at least one of the actuators is a motor.
14 . The robot leg in accordance with claim 1 , wherein between two and eight joints are provided.
15 . The robot leg in accordance with claim 1 , wherein three or more joints are provided, a further actuator is provided that is arranged between two directly adjacent joints adjacent to the segment interconnecting said two directly adjacent joints.
16 . The robot leg in accordance with claim 1 , further comprising a further tendon, interconnecting the at least one cam with a last segment and the at least one cam having a radius at the pre-defined threshold of the series of cams.
17 . The robot leg in accordance with claim 1 , further comprising a control and evaluation unit and at least one sensor, with the control and evaluation unit being configured to control and actuate at least one of said actuators.
18 . A robotic system with at least two robot legs, each 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 can, 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, the robotic system further comprising a control and evaluation unit, wherein the control and evaluation unit is configured to synchronize the robot legs in such a way, that a common locomotion of the robot legs is brought about,
wherein the equilibrium threshold is defined as F c *r c ∝F*d, wherein F defines the overall force which acts on the robot leg, d defines the length of the virtual leg, F c defines the force which acts on the respective cam and r c defines the radius of the respective cam.