Patent ID: 9623556
Date: 2017-04-18
CPC Classifications: B62D

Claim:
1. A robotic system comprising: a robotic leg connected to a main body; a robotic foot, wherein a zero moment point (ZMP) is located at a first location in the robotic foot where a sum of a first plurality of forces acting on the robotic foot is approximately equal to zero; a robotic sole joint coupling the robotic leg to the robotic foot, wherein the robotic sole joint is located at a sole of the robotic foot, wherein the robotic leg and the robotic foot are movable around an axis of rotation defined by the robotic sole joint, wherein a movement around the axis causes the ZMP to shift from the first location to a second location in the robotic foot where a sum of a second plurality of forces acting on the robotic foot is approximately equal to zero, and wherein a measure of force applied by the robotic sole joint around the axis is approximately equal to zero.