Three-piston ankle mechanism of a legged robot and associated control system
US9878751B1 · Boston Dynamics Inc
The patent discloses a three-actuator (piston) ankle mechanism for legged robots (quadruped or biped) that enables precise control of foot pitch and roll relative to the shin. A control system determines a desired center of pressure (COP) location on the foot and computes pitch/roll torques to maint