HUMANOID LOWER BODY ROBOT ELECTRO HYDROSTATIC ACTUATING ANKLE

摘要

A robotic ankle comprising a lower leg and a foot configured to rotate about a pitch axis and a roll axis, first and second electric motors, first and second hydraulic pumps driven by the respective motors, first and second hydraulic piston assemblies hydraulically connected to the respective pumps and each comprising a housing and an actuating rod connected to a piston separating first and second chambers in the housing, one of the housing or the actuating rod connected to the lower leg and the other of the housing or the actuating rod connected to the foot, and the first and second hydraulic piston assemblies configured to actuate the foot relative to the lower leg about the pitch axis and about the roll axis, whereby rotation of the foot relative to the lower leg about the pitch axis and about the roll axis is controllable by the first and second motors.