Patent ID: 9731416
Date: 2017-08-15
CPC Classifications: B25J,B62D,F15B,Y10S

Claim:
1. A robot comprising: a first hydraulic actuator cylinder connecting a first member to a second member, wherein the first hydraulic actuator cylinder comprises a first piston and a first chamber; a second hydraulic actuator cylinder connecting the first member to the second member, wherein the second hydraulic actuator cylinder comprises a second piston and a second chamber; a valve system comprising a rotary valve that includes a sleeve, a spool rotatable within the sleeve, and a rotary actuator coupled to the spool for rotation the spool within the sleeve, wherein the valve system is configured to: (i) couple a supply line of pressurized hydraulic fluid to the first chamber, (ii) couple the supply line to the second chamber, (iii) couple the first chamber to a return line, and (iv) couple the second chamber to the return line; and based on the determined gait state, provide a signal to the valve system to select whether to (i) connect the first chamber to the supply line and connect the second chamber to the return line, (ii) connect the second chamber to the supply lint and connect the first chamber to the return line, or (iii) connect both the first chamber and the second chamber to the return line.