阅读说明：本技术 腿足式机器人 (Leg and foot type robot ) 是由 G·肯尼利 J·帕里克 于 2019-09-26 设计创作，主要内容包括：一种腿足式机器人,该腿足式机器人具有：框架,该框架具有与多个支架机械连接的多个连杆,该框架形成前部、后部、顶部、底部和侧部；支腿,该支腿与多个支架中的一个或多个机械连接,每个支腿均具有膝部电机、外展电机和髋部电机；计算机模块,该计算机模块与多个支架中的一个或多个机械连接并且与支腿电性连接；以及电源模块,该电源模块与多个支架中的一个或多个机械连接并且与支腿和计算机模块电性连接。(A legged robot, comprising: a frame having a plurality of links mechanically coupled to a plurality of brackets, the frame forming a front, a rear, a top, a bottom, and sides; a leg mechanically connected to one or more of the plurality of brackets, each leg having a knee motor, a abduction motor, and a hip motor; a computer module mechanically coupled to one or more of the plurality of brackets and electrically coupled to the leg; and a power module mechanically coupled to one or more of the plurality of brackets and electrically coupled to the leg and the computer module.)

1. A legged robot, comprising:

a frame comprising a plurality of links mechanically connected to a plurality of brackets, the frame forming a front, a rear, a top, a bottom, and sides;

legs mechanically connected to one or more of the plurality of brackets, each leg including a knee motor, a abduction motor, and a hip motor;

a computer module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the leg; and

a power module mechanically coupled to one or more of the plurality of brackets and electrically coupled to the leg and the computer module.

2. The legged robot as claimed in claim 1 further comprising a motor housing enclosing said hip motor and said abduction motor.

3. The legged robot according to claim 2 wherein the motor housing encloses a motor controller electrically connected to the computer module.

4. The legged robot as claimed in claim 3 wherein each of said abduction, hip and knee motors has an associated encoder and each associated encoder is in electrical connection with said motor controller.

5. The legged robot according to claim 2 wherein said abduction motor actuates movement of said motor housing.

6. The legged robot according to claim 2 wherein the motor housing is mechanically connected to one or more of the plurality of brackets via mechanical fasteners.

7. The legged robot as claimed in claim 6, wherein said mechanical fasteners facilitate communication of one of electrical power and electrical signals to said motor housing.

8. The legged robot according to claim 1 wherein the hip motor is mechanically connected to an output of the abduction motor.

9. The legged robot as claimed in claim 1 wherein said knee motor is mechanically connected to an output of said hip motor.

10. The legged robot of claim 1 wherein the knee motor is mechanically connected to an upper leg member and the upper leg member is mechanically connected to a lower leg member by a joint.

11. The legged robot according to claim 1, further comprising a sensor head mechanically connected to one or more of the plurality of supports and electrically connected to one or more of the computer module and the power module.

12. The legged robot according to claim 1 wherein said computer module and said power module are located at least partially within an interior space of said frame.

13. The legged robot of claim 1 wherein one or more of the plurality of braces include a payload fastener.

Background

Due to the electromechanical complexity of legged robots, it is difficult to maintain and repair them without relying on trained technicians. This may limit the function and use of such robots, particularly when technicians are not immediately available or in high pressure environments such as military or police situations where complex designs would increase repair time or make field repairs difficult or impossible. The problem may be further complicated when it is desired that the robot operates in a harsh environment where components may deteriorate rapidly or where the robotic device has a high probability of damage during operation. It may be advantageous for the robotic system to have a modular design so that core components may be replaced by users with less maintenance experience or system design knowledge. Since the robotic system may be expected to be used in environments that are not conducive to human presence, it may also be advantageous to have component replacements that may be performed without requiring human physical access to the robotic system.

Users of robots, particularly legged robots, may want to exchange variants of critical components for different use cases and environments without having to purchase a new robot. For example, the exoskeleton frame may be larger in size to accommodate larger sensors, batteries, or robotic actuators and legs, or robotic actuators. Similarly, the length of the legs may be sized for a particular application, such as underground tunnel exploration or for climbing stairs, while different sizes and types of motors may be used for particular tasks and power requirements, such as moving on certain substrates (such as sand or mud), swimming in water, or carrying heavier payloads. This interchangeability increases the usability of the robot over a wider range of use cases and reduces the cost to the user.

Furthermore, it may be desirable to have a sealing subassembly that separately injects an inert gas to create a positive pressure to prevent external combustible gases, dust and particles from entering the subassembly and causing potential fire or explosive emissions, and to allow the sealing subassembly to be used in environments such as coal mines, gas manufacturing plants and oil refineries where equipment must be intrinsically safe to operate.

Finally, it may be desirable to have a subassembly design in which all electronics are separated and sealed with mechanical means that can operate without an external cover (skin), thereby reducing weight and supporting faster interchange of specific subassemblies.

Disclosure of Invention

Some or all of the above needs and/or problems may be addressed by certain embodiments of the present disclosure. In one aspect, the present invention may have a legged robot having: a frame having a plurality of links mechanically coupled to a plurality of brackets, the frame forming a front, a rear, a top, a bottom, and sides; a leg mechanically connected to one or more of the plurality of brackets, each leg having a knee motor, a abduction motor, and a hip motor; a computer module mechanically coupled to one or more of the plurality of brackets and electrically coupled to the leg; and a power module mechanically coupled to one or more of the plurality of brackets and electrically coupled to the leg and the computer module.

Drawings

The detailed description is set forth with reference to the accompanying drawings, which are not necessarily drawn to scale. The use of the same reference symbols in different drawings indicates similar or identical items.

Fig. 1 is an exploded perspective view of a legged robot according to an aspect of the present disclosure.

Fig. 2 is a perspective view of a frame according to an aspect of the present disclosure.

Fig. 3 is a perspective view of a leg subassembly according to an aspect of the present disclosure.

Fig. 4 is a perspective view of an energy cartridge according to an aspect of the present disclosure.

Fig. 5 is a perspective view of a computing box according to an aspect of the present disclosure.

Fig. 6 is a side view of a portion of a frame according to an aspect of the present disclosure.

FIG. 7 is a side view of a pod of the leg subassembly according to an aspect of the present disclosure.

Fig. 8 is a top view of a portion of a frame according to an aspect of the present disclosure.

FIG. 9 is a top view of a pod within a leg subassembly according to an aspect of the present disclosure.

Fig. 10 is a front view of a sensor panel according to an aspect of the present disclosure.

Detailed Description

In order that the present invention may be fully understood and readily put into practical effect, there shall now be described by way of non-limitative example only preferred embodiments of the present invention, the description being with reference to the accompanying illustrative drawings.

Fig. 1 illustrates an exploded perspective view of a robotic system 500 in accordance with an aspect of the present disclosure. The robotic system 500 may have a frame 1, the frame 1 being capable of securing and interfacing with the leg subassembly 2, computing pod 3, energy pod 4, and other components. The frame 1 may be made of a material suitable for the intended environment, including but not limited to metal, ceramic, plastic, composite, and wood. In general, materials that are generally suitable for many applications may be aluminum, steel, or composite materials.

The robotic system 500 may have a sensor panel 5, a sensor strip 6, and a sensor housing 7 that may support various components and connections including, but not limited to, sensors, screens, buttons, interface ports and buses, switches, electrical components capable of transmitting power to or receiving power from an external source in the presence of an electromagnetic field.

Non-limiting examples of sensor components may include: a light sensor, such as a camera, photoresistor, photocell, phototransistor, or photovoltaic cell; acoustic sensors, such as microphones; a temperature sensor such as a LM34 sensor, a LM35 sensor, a TMP35 sensor, or a TMP36 sensor; a touch sensor, such as a push button switch, a tactile bumper switch, or a capacitive touch sensor such as a touch screen; a proximity sensor, such as an Infrared (IR) transceiver, an ultrasonic sensor, or a photoresistor; distance sensors, such as laser range sensors including LIDAR and stereo cameras; pressure sensors, such as barometers; tilt sensors, such as analog mercury suspended glass bulb sensors; positioning sensors such as Global Positioning System (GPS) sensors and digital magnetic compasses; acceleration sensors, such as accelerometers; a gyroscope; an inertial measurement unit; an electrical sensor, such as a voltmeter; a radio frequency sensor; a radar; a chemical sensor; or any other device capable of receiving or transmitting information or converting environmental information into an analytically useful signal.

The sensor panel 5 may be a panel that holds electrical, sensing and user interface components that can be attached to the front, back or sides of the frame 1. The sensor strip 6 may be a housing or attachment point for electrical and sensing components that may be attached to the side brackets 8 or the corner brackets 9 by various attachment techniques including, but not limited to, welding, clips, adhesives, threaded fasteners, interference fits, magnetism, hook and loop, or similar joining techniques. The sensor housing 7 may be a housing of electrical and sensing components, which may be attached to the computing box 3, the energy box 4, the frame 1, or to a panel of the frame 1. Attachment of the sensor housing 7 may be accomplished by various connection techniques including, but not limited to, adhesives, threaded fasteners, interference fits, magnetism, hook and loop, or similar connection mechanisms, or the sensor housing 7 may be embedded directly in the robotic system 500 or in another component on the robotic system 500. In one non-limiting aspect as shown in fig. 1, the sensor housing 7 may be attached to the computing box 3, but it should be understood that the sensor housing 7 may be moved to other components within the robotic system 500.

Still referring to fig. 1, the frame 1 may include side brackets 8 and corner brackets 9, and the side brackets 8 and corner brackets 9 may provide structural support for the frame 1 and components secured to the frame 1. The side brackets 8 and the corner brackets 9 may be made of similar material as the frame 1, depending on the intended use of the robotic system 500. In general, the side brackets 8 and the corner brackets 9 may be designed to take into account the specific function of the robotic system 500. For example, if the robotic system 500 is intended to carry a large payload, the side brackets 8 and corner brackets 9 may be made of a stronger material than the other components of the frame 1 to better support the payload against gravity. In general, common materials suitable for many applications include steel, aluminum, and composite materials.

Still referring to fig. 1, a frame 1 may be connected to one or more leg subassemblies 2. Each leg subassembly 2 may implement robotic motions such that the robotic system 500 can move in translation or in rotation within the environment in a controlled manner.

Still referring to fig. 1, the robotic system 500 may include a computing box 3, the computing box 3 may house electrical and computing components that assist in the operation and control of the robotic system 500. The robotic system 500 may also include an energy bin 4, and the energy bin 4 may house components capable of storing power and supplying power to the robotic system 500. Although fig. 1 shows the computation box 3 and the energy box 4 located substantially at the center of the frame 1, other configurations are possible depending on the intended use of the robotic system 500. For example, energy box 4 may be switched to the top and computing box 3 to the bottom; both the energy bin 4 and the computation bin 3 may be displaced forwards or backwards; or the energy and computing enclosures 4, 3 may rotate in various configurations within, on, or around the frame 1.

Fig. 2 is a view of the frame 1 according to an aspect of the present disclosure. The frame 1 may be constructed of links and brackets such as side links 10 fastened or fastened to the side brackets 8 by the side brackets 8, and end links 11 fastened or fastened to the side links 10 by the side links 10 through the corner brackets 9. In one non-limiting aspect, an additional end link 11 (not shown) may be fastened perpendicularly to the side link 10 via the side bracket 8, and this may increase the stability of the frame 1 with increased weight and cost. Fastening may be accomplished by welding, adhesives, clips, interference fit, or other joining techniques or mechanisms. The side links 10 and end links 11 may be formed of any material suitable for the operating environment, including but not limited to metals, ceramics, plastics, composites, and wood. In general, common materials suitable for many applications include steel, aluminum, and composite materials. In one non-limiting aspect, the side links 10 and end links 11 may be configured as hollow tubes.

The side links 10 and end links 11 are capable of carrying power and electrical signals from one component of the robotic system 500 to the other. This may be accomplished in a variety of ways, including but not limited to an integrated circuit within side link 10 and end link 11, or wires or optical fibers housed within side link 10 and end link 11. In some non-limiting examples, power and other signals may be carried via external cables, cables embedded within side links 10 and/or end links 11, and/or embedded connections that engage when a sensor or sensor head is connected to frame 1.

The side brackets 8 may provide structural support for the frame 1 and may provide connection points to internal and external components such as the energy bin 4 and the computing bin 3. In some non-limiting examples, the side brackets 8 may be connected to the energy and computing cases 4, 3 by threaded fasteners, clips, adhesives, hook and loop, electromagnetic, interference fit, or other similar connection mechanisms. In some non-limiting examples, the side bracket 8 may be connected to the sensor panel 5, sensor strip 6, and sensor housing 7 (as shown in fig. 1) using threaded fasteners, clips, adhesives, hook and loop, electromagnetic, interference fit, or other similar connection mechanisms.

The corner brackets 9 may provide structural support for the frame 1 and may provide connection points to internal and external components such as the sensor panel 5, sensor strip 6 and sensor housing 7 (as shown in fig. 1). In some non-limiting examples, the corner brackets 9 may be connected to the sensor panel 5, sensor strip 6, and sensor housing 7 using threaded fasteners, clips, adhesives, hook and loop, electromagnetic, interference fit, or other similar connection mechanisms.

Although not shown in fig. 1 or 2, it should be understood that the internal or external components, including the computing box 3, the energy box 4, the sensor panel 5, the sensor strip 6, and the sensor housing 7, may be attached to the side brackets 8, the corner brackets 9, or the frame 1 as required by the intended purpose design of the robotic system 500.

The side bracket 8 may also provide connection to the leg subassembly 2 through alignment guides 12 and alignment fasteners 13. The alignment guide 12 may be a geometric feature including, but not limited to, a hole, pin, or peg capable of providing an alignment and load-bearing connection when attached to the leg sub-assembly 2 through the use of a pin, spline, edge contact, or similar mechanism. The alignment fasteners 13 may be retention mechanisms including, but not limited to, holes, pins or pegs to align the leg subassembly 2 with the frame 1 through the use of connectors including, but not limited to, threaded fasteners, clips, adhesives, hook and loop, interference fit, electromagnetic, or other fasteners. Fig. 2 illustrates one non-limiting aspect in which the alignment guide 12 may be a pin or peg and the alignment fastener 13 may be a hole. Although not shown in fig. 2, in one non-limiting aspect, the alignment guide 12 and the alignment fastener 13 may be included on the corner bracket 9 so as to be connectable to the leg subassembly 2 via the corner bracket 9. Such a configuration may be advantageous in certain operating situations.

Still referring to fig. 2, the frame 1 may further include a payload fastener 14, which payload fastener 14 may be a retaining mechanism to retain an external device or payload on the frame 1 through the use of threaded fasteners, clips, adhesives, hook and loop, electromagnetic, interference fit, or other similar connectors. Although fig. 2 shows payload fasteners 14 as part of side brackets 8 and corner brackets 9, payload fasteners 14 may be located anywhere on frame 1 and in any configuration desired by the user so that the payload is fastened and secured according to the user's unique needs.

Referring now to fig. 1 and 2, the energy tank 4 can be connected to the side bracket 8 in such a manner that the connection is easily and intentionally engaged or disengaged. In fig. 1, the energy tank 4 can be slid through the underside of the frame 1 into a port on the side bracket 8. Similarly, the computing box 4 may have similar connectors that are easily intentionally engaged or disengaged to allow the computing box 4 to slide into the top of the frame 1.

Referring again to fig. 2, a panel may be mounted between each side bracket 8 and the corner bracket 9 such that the interior of the frame 1 is an isolated or quasi-isolated environment. These panels may be made of any material deemed suitable for use by a user, depending on the intended purpose. For example, the panels may be used for decorative, support, or protective purposes. FIG. 1 illustrates an example panel in which a sensor panel 5 is mounted to the front of a frame 1 via corner brackets 9, according to one non-limiting aspect. Panels may also be secured to side links 10 and end links 11 for additional support by attachment methods such as snap-fit, interference fit, electromagnetic, hook and loop, or the like.

Fig. 3 is a view of the leg subassembly 2 according to an aspect of the present disclosure. The leg subassembly 2 may contain a pod 15, and the pod 15 may contain motor control electronics, as well as a subset of motors, mechanical reducers, transmissions, and encoders in a safe and isolated environment. The leg subassembly 2 may also include an interface bracket 16, which interface bracket 16 may enable connection to the frame 1 through one or more of the alignment guides 12 and the alignment fasteners 13. The pod 15 may have electrical connectors to the interface bracket 16 so that electrical power and/or electrical signals may be received and directed to components within the pod 15 to supply power and control to the components of the pod 15. Nacelle 15 may also contain a nacelle connector 18, and nacelle connector 18 may provide an additional or alternative interface for providing electrical power and electrical signals to the internal components of nacelle 15.

The leg subassembly 2 may also have a leg member 17, the leg member 17 comprising an upper leg hingeably connected to a lower leg, which may be made of materials such as metal, composite, plastic, ceramic or other materials as deemed suitable for the intended use, and may include additional internal electrically powered components such as motors, reducers, transmissions and encoders. Depending on the electrical inputs received by the components of the nacelle 15, the leg subassembly 2 can perform translational or rotational movements relative to the frame 1 such that the robotic system 500 can move independently in its environment. The upper leg may be disconnected from the lower leg, thereby enabling the exchange of lower leg parts. This may be done to repair a damaged lower leg, or may be done to replace the lower leg with a configuration more suitable for the intended environment, e.g., with a component having a different geometry. Similarly, the distal end of leg member 17 may include a removable tread adapted to contact an environmental surface or ground. The shape of the removable tread may be optimized for the environment and may include robot feet, fins, wheels, claws, or others.

Fig. 4 is a view of an energy bin 4 according to an aspect of the present disclosure. The energy box 4 may have a protective case 19 in which electrical and computational components are stored, including but not limited to chemical batteries, capacitors, fuel cells, internal combustion engines, and all necessary computational and control systems. The protective case 19 may be constructed of materials specifically designed for the environment in which the robotic system 500 will be used. For example, if such an environment is near or under water, the protective shell 19 may be made waterproof from a material that is strong against corrosion and has suitable buoyancy characteristics.

The energy box 4 may comprise an energy box guide 20, which energy box guide 20 may guide a user to mount the energy box 4 within the frame 1. In one non-limiting aspect, the energy box guide 20 may be a unique geometry or frame that allows installation when the energy box 4 is oriented in a particular and correct manner with respect to the frame 1. The energy box 4 may include a detachable energy box fastener 21, which may provide additional structural support to the energy box 4. The energy box fastener 21 may be a clip, adhesive, threaded fastener, interference fit, magnetic, hook and loop, push pin or "push on" connection, or similar releasable support technology. In one non-limiting aspect, the energy box fasteners 21 may be holes that mate with bracket fasteners 26 located on the side brackets 8.

The energy box 4 may also have electrical connections 22, which electrical connections 22 allow for the transmission of electrical power and electrical signals to and from components within the energy box 4. Electrical connection 22 may include any method or mechanism for transmitting electrical signals and power from outside of energy bin 4 to components therein or from components therein to outside of energy bin 4, including but not limited to wired connectors, integrated circuits, wireless power transmission, or dynamic induction power generation. In one non-limiting example, the energy connection 22 may be an electrically conductive material embedded within the protective case 19 that is capable of transmitting electrical signals and power from outside the energy tank 4 to components within the energy tank when in contact. In one non-limiting example, the energy connection 22 may be made of a highly conductive metal such as silver or copper or other electrically usable material.

Fig. 5 is a perspective view of the computing box 3. The computing box 3 may contain a protective case 23 in which the electric components, the computing components, and the control components are stored in the protective case 23. The protective shell 23 may be constructed of a material specifically designed for the environment in which the robotic system 500 will be used. For example, if such an environment is near or under water, the protective shell 23 may be made waterproof from a material that is strong against corrosion and has suitable buoyancy characteristics. In one non-limiting aspect, the sensor housing 7 can be attached to the protective shell 23 or integral with the protective shell 23, as shown in fig. 5.

The computing box 3 may include a computing box guide 24, and the computing box guide 24 may easily guide a user to mount the computing box 3 within the frame 1. In one non-limiting aspect, the computing cartridge guide 24 may be a unique geometry or frame that allows installation only when the computing cartridge 3 is oriented in a particular and correct manner with respect to the frame 1. The computing box 3 may include detachable computing box fasteners 27 that may provide additional structural support for the computing box 3. The computing box fastener 27 may be a clip, adhesive, threaded fastener, interference fit, magnetic, hook and loop, push pin or "push on" connection, or similar releasable support technology. In one non-limiting aspect, the computing box fastener 27 may be a hole that mates with the bracket fastener 26 located on the side bracket 8.

Fig. 6 is a side view of the inboard end of the frame 1 showing the side brackets 8 and corner brackets 9 including alignment guides 12 and alignment fasteners 13 according to an aspect of the present disclosure. The side brackets 8 and corner brackets 9 may also include alignment guides 12 and alignment fasteners 13 toward the top of the frame 1. This may enable the frame 1 to be connected with other power sub-assemblies than the leg sub-assembly 2, which may otherwise provide controlled movement. The interface bracket 16 may be present on different types of power sub-assemblies to enable controlled connection and interfacing with the frame 1 via the alignment guides 12 and alignment fasteners 13. Other subassemblies may utilize wheels, treads, rotating rotors, gyroscopes, fans, turbines, thrust components, or other mechanisms to achieve controlled motion. These components may be attached to the frame 1 via alignment guides 12 and alignment fasteners 13 at the top or bottom of the side brackets 8 and corner brackets 9.

The alignment guides 12 and alignment fasteners 13 may optionally transmit electrical signals and power from the frame 1 to the leg subassembly 2 through their connection to an interface bracket 16 located on the nacelle 15. In one non-limiting aspect, the interface bracket 16 may include pegs that mate with the alignment fasteners 13, wherein both components are electrically conductive. The frame 1 may transmit power and electrical signals from the energy and computing boxes 4, 3 to the alignment fasteners 13, and the alignment fasteners 13 may then transmit the power and electrical signals to the interface bracket 16 and to the leg subassembly 2 via the pegs. The interface between the interface bracket 16, the side bracket 8 and the corner bracket 9 may be interchangeable, wherein electrical connection may be established by the alignment guide 12 rather than the alignment fastener 13, and such connection may be achieved by methods other than pegs and holes. For example, there may be an interface bus in which connections are established by wired connectors, or power and electrical signals may be transmitted to the leg sub-assembly 2 by wireless remote transmission techniques.

Still referring to fig. 6, the side bracket 8 may include bracket fasteners 26, and the bracket fasteners 26 may cooperate with the energy and computing box fasteners 21, 27 to provide structural support through sufficient attachment mechanisms including, but not limited to, threaded fasteners, clips, adhesives, hook and loop, magnets, "push" connectors, interference fits, and the like. In another non-limiting aspect, the corner bracket 9 may also include bracket fasteners 26, allowing for similar connections thereto, although this is not shown in fig. 6.

FIG. 7 is a side view of the pod 15 within the leg subassembly 2 according to an aspect of the present disclosure. The pod 15 may include an interface bracket 16 that connects the leg subassembly 2 to the frame 1. In one non-limiting aspect, interface bracket 16 may include a pod fastener 31 and a pod guide 32, pod guide 32 cooperating with a counterpart on frame 1, such as alignment guide 12 and alignment fastener 13, respectively.

Pod guides 32 may be geometric features including, but not limited to, holes, pins or pegs capable of providing an alignment and load-bearing connection when leg subassembly 2 is attached to frame 1 through the use of pins, splines, edge contacts, or similar mechanisms. The pod fasteners 31 may be retention mechanisms including, but not limited to, holes, prongs, or pegs to properly align the leg subassembly 2 with the frame 1 through the use of connectors including, but not limited to, threaded fasteners, clips, adhesives, hook and loop, interference fit, electromagnetic, or other fasteners. In one non-limiting aspect, pod guide 12 may be a pin or peg, and pod fastener 13 may be a hole. The pod guides 32 and pod fasteners 31 are capable of transmitting electrical signals and power from the frame 1 to the pod 15 through connection with the alignment guides 12 or alignment fasteners 13.

Fig. 8 is a top view of the frame 1 according to an aspect of the present disclosure. The side bracket 8 may have a ridge 25, and the ridge 25 may interact with the energy bin guide 20 or the computing bin guide 24 to prevent incorrect installation into the frame 1. The ridge 25 may be a unique geometry or frame that allows installation only when the energy or computing bin 4 or 3 is oriented in a specific and correct manner with respect to the frame 1. The side bracket 8 may include bracket fasteners 26, and once the ridge 25 allows proper installation, the bracket fasteners 26 may cooperate with the energy and computing box fasteners 21, 27 to provide structural support through sufficient attachment mechanisms including, but not limited to, threaded fasteners, clips, adhesives, staples, magnets, "push" connectors, interference fits, and the like. In another non-limiting aspect, the corner bracket 9 may also include a ridge 25 and bracket fastener 26, allowing for similar connections thereto, although this particular configuration is not shown in fig. 8.

Fig. 9 is a top view of the nacelle 15 and leg subassembly 2 according to an aspect of the present disclosure. The nacelle 15 may include a abduction motor 29, the abduction motor 29 may include a motor and necessary gear trains, electrical and control components such as encoders and motor controllers, and a drivetrain designed to actuate the rotation of the leg member 17 about the abduction axis AA. The pod 15 may also include a hip motor 30, the hip motor 30 may include a motor and necessary gear trains, electrical and control components such as encoders and motor controllers, and a drivetrain designed to actuate rotation of the leg member 17 about the hip axis HA. The knee motor 28 can include a motor and necessary gear trains, electrical and control components such as encoders and motor controllers, and a drivetrain designed to actuate rotation of the leg member 17 about the knee axis KA. In one non-limiting example, the axis HA and the axis KA may be parallel, and the axis AA may be perpendicular to the axis HA and the axis KA. In one non-limiting example, the knee motor 28 can be positioned near the axis HA to minimize inertia.

In one non-limiting example, the nacelle 15 may be mechanically connected to the frame 1. The abduction motor 29 may be mechanically connected to the frame 1. The mechanical output of the abduction motor 29 may be transmitted to the hip motor 30. The mechanical output of hip motor 30 may be transmitted to knee motor 28.

The pod 15 may include a motor controller (not shown) connected with the computing box 3 and with one or more of the knee motor 28, abduction motor 29, and hip motor 30. As a result of the operation of the motor controller at the pod 15, the number of wires from the computing box 3 to the pod 15 may be reduced, such as two power wires plus four signal wires in one non-limiting example. On the other hand, the nacelle 15 and the motor may receive additional power or alternative power from the energy box 4.

Fig. 10 is a front view of a sensor panel 5 according to an aspect of the present disclosure. The sensor panel 5 may be a panel that supports or provides connections for electrical, sensing and user interface components that may be attached to the front, back or sides of the frame 1. The sensor panel 5 may support various components and connections including, but not limited to, sensors, screens, buttons, interface ports and buses, switches, electrical components capable of transmitting or receiving power to/from an external source in the presence of an electromagnetic field. In one non-limiting aspect, the sensor panel 5 may have an electrical interface in which the robotic system 500 may be charged by connecting to an external power source. In one non-limiting aspect, the sensor panel 9 may be attached to the corner bracket 9 by various attachment techniques including, but not limited to, welding, clips, adhesives, threaded fasteners, interference fits, magnetism, hook and loop, or similar attachment techniques.

The above description presents the best mode contemplated for carrying out the present embodiments, and the manner and process of practicing them, in such full, clear, concise, and exact terms as to enable any person skilled in the art to which they pertain to practice the embodiments. However, the present embodiment is susceptible to modifications and allows for fully equivalent alternative constructions from those discussed above. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed. On the contrary, the invention is to cover all modifications and alternative constructions falling within the spirit and scope of the disclosure. For example, the steps in the processes described herein need not be performed in the same order in which they have been presented, and may be performed in any order. Further, in alternative embodiments, steps that have been presented as being performed separately may be performed concurrently. Also, steps that have been presented as being performed concurrently may be performed separately in alternative embodiments.