公开(公告)号：US09821866B1

公开(公告)日：2017-11-21

申请号：US14939077

申请日：2015-11-12

Applicant: Schaft Inc.

Inventor： Junichi Urata ,  Yoshito Ito

IPC: B25J5/00 ,  B25J9/16 ,  B62D57/032

CPC classification number: B62D57/032 ,  B25J5/00 ,  B25J9/16 ,  B25J13/085

Abstract: Example embodiments relate to a robotic device with at least two legs. Each leg includes a foot including a first sole and a second sole perpendicular to the first sole. Each leg additionally includes an ankle joint configured to rotate the foot from a first position in which the first sole is contacting a ground surface to a second position in which the second sole is contacting the ground surface. The robotic device includes a control system. When the foot of a given leg of the at least two legs is in the first position, the control system may determine to cause the foot of the given leg to switch from the first position to the second position, and may cause the ankle joint of the given leg to rotate the foot of the given leg from the first position to the second position.

公开(公告)号：US10000248B1

公开(公告)日：2018-06-19

申请号：US15729958

申请日：2017-10-11

Applicant: Schaft Inc.

Inventor： Junichi Urata ,  Yoshito Ito

IPC: B25J9/16 ,  B25J5/00 ,  B62D57/032

CPC classification number: B62D57/032 ,  B25J5/00 ,  B25J9/16 ,  B25J13/085

Abstract: Example embodiments relate to a robotic device with at least two legs. Each leg includes a foot including a first sole and a second sole perpendicular to the first sole. Each leg additionally includes an ankle joint configured to rotate the foot from a first position in which the first sole is contacting a ground surface to a second position in which the second sole is contacting the ground surface. The robotic device includes a control system. When the foot of a given leg of the at least two legs is in the first position, the control system may determine to cause the foot of the given leg to switch from the first position to the second position, and may cause the ankle joint of the given leg to rotate the foot of the given leg from the first position to the second position.