Single-motor closed-chain leg module for agile legged robots
This technology is a robotic leg mechanism designed for four-legged robots that need to run, trot, or gallop. The clever part is that the entire leg is controlled by just one motor, using a system of rigid, mechanically linked segments that automatically produce a natural foot-swing path without additional actuators. A software-based 'virtual spring' replaces physical shock-absorbing hardware, letting the leg handle ground impacts through control algorithms instead of rubber or springs. The result is a lighter, simpler leg that can still achieve dynamic, athletic movement.
What you could build
A drop-in leg module for quadruped robots used in logistics, military reconnaissance, or field inspection — sold to robotics platform builders or defense contractors who need agile, lightweight robots without per-joint actuation overhead.
Who in Virginia should care
Defense primes and government contractors clustered around Northern Virginia and the Pentagon supply chain would be natural evaluators for agile ground robots with simplified actuation.
Readiness: Prototype likely
Concept — described but not yet demonstrated. Lab validated — supported by experimental results in the patent. Prototype likely — the text describes a built, working embodiment.
Readiness is inferred from the patent text, not from a lab visit.
The record
- Inventors
- Pinhas Ben-Tzvi, Vinaykarthik Kamidi
- Granted
- January 30, 2024
- Status
- Granted patent
- Patent number
- 11883959
Ready to talk?
Virginia Tech Intellectual Properties handles licensing for this technology.
Prosim summaries are generated from public patent text and are not legal advice.