Patent ID: 11883959
Assignee: VIRGINIA TECH INTELLECTUAL PROPERTIES, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A legged robot with two closed kinematic loops comprising:
a vertically oriented floating-base link comprising an active joint and a first revolute joint arranged parallel to a frontal plane;
a driving link connected to said active joint;
a hip flexion and extension link connected at one end to said driving link;
a knee flexion and extension link connected at one end to a second revolute joint located on said hip flexion and extension link adjacent to said driving link;
a femur link connected at one end to said first revolute joint;
a tibia link connected at one end to a third revolute joint located at another end of said femur link, wherein:
another end of said hip flexion and extension link is connected to a fourth revolute joint on said femur link adjacent to said first revolute joint, forming a first closed kinematic loop;
another end of said knee flexion and extension link is connected to a fifth revolute joint on said tibia link adjacent to a connecting point said femur link, forming a second closed kinematic loop; and
said tibia link comprises a rigid link with no mechanical compliance elements; and

a compliance controller that implements a virtual spring acting between said active joint and a foot.