{
  "$type": "site.standard.document",
  "description": "A mobile robot includes a non-inverted pendulum body hereafter referred to as NPB with at least one pivot axis and this pivot axis divides the NPB into two portions. One portion of the NPB contains the center of mass of the NPB that can have structures to carry external payloads. The second portion…",
  "path": "/patents/1333306",
  "publishedAt": "2022-12-15T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B25J9/162",
    "Swaminathan Balasubramanian"
  ],
  "textContent": "A mobile robot includes a non-inverted pendulum body hereafter referred to as NPB with at least one pivot axis and this pivot axis divides the NPB into two portions. One portion of the NPB contains the center of mass of the NPB that can have structures to carry external payloads. The second portion of the NPB can have one or more manipulator arm and vision units. On the pivot axis is disposed at least one leg rotatabily coupled to the NPB. The other end of the leg has a foot joint on which is disposed a drive wheel or a foot. With additional degrees of freedom for each leg the robot can move similar to humanoids, be able to carry and sustain heavy loads with minimal leg joint torques and/or manipulate heavy loads and forces with self-compensating mass of the NPB while using minimal leg joint torques.",
  "title": "Energy Efficient Legged Mobile robot"
}