Patent ID: 9327785
Filing Date: 2016-05-03
CPC Classification: B25J,B62D,Y10T

Claim Text:
1. A humanoid robot, comprising: a first element connected to a second element by a joint, the joint having three degrees of freedom in rotation about three distinct axes including a first axis, a second axis, and a third axis; a first actuator configured to rotate the joint exclusively about the first axis; a second actuator configured to rotate the joint exclusively about the second axis; and a third actuator configured to rotate the joint exclusively about the third axis, wherein the third actuator is arranged in series with the first actuator and the second actuator, such that a rotor of the third actuator is coupled to both the first actuator and the second actuator, wherein the first actuator and the second actuator are distinct from one another, and the first actuator and the second actuator are arranged in parallel on the second element such that the first actuator and the second actuator each independently couple the first element to the second element, wherein the joint is an ankle that effects a movement of a foot relative to a leg, and wherein the second actuator effects rotation of the foot about a sagittal axis of the robot and is operated by means of a cable and an angle transmission located in the foot.