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Title:
PUMPLESS BALANCING SYSTEM FOR BIPEDAL OR MULTI - LEGGED ROBOTS
Document Type and Number:
WIPO Patent Application WO/2009/078825
Kind Code:
A3
Abstract:
This invention is related to the pumpless balancing system which prevents two or more legged objects (robots or various types of orthesis) from losing their balance while they are moving or performing a task; and enables them to carry the loads easily. In the development of the pumpless balancing system for two lor more legged robots, it is intended to ensure the transfer of any member in the form of liquid, powder, solid or gas or the mixture of two or more of the said members which will achieve the balance from one of the balancing tanks to another without the use of any pump.

Inventors:
HACIKADIROGLU, Necati (Panorama Hotel, Güllerpinari Mah.Keykubat Cad, No:30 Alanya ANTALYA, 07400, TR)
Application Number:
TR2008/000146
Publication Date:
June 25, 2009
Filing Date:
December 17, 2008
Export Citation:
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Assignee:
HACIKADIROGLU, Necati (Panorama Hotel, Güllerpinari Mah.Keykubat Cad, No:30 Alanya ANTALYA, 07400, TR)
International Classes:
B25J19/00; B62D57/032
Domestic Patent References:
WO2004030872A12004-04-15
Foreign References:
JPH01295047A1989-11-28
JP2007210100A2007-08-23
Attorney, Agent or Firm:
YALCINER, Ugur G. (YALCINER DANISMANLIK VE DIS TICARET LTD. STI.) (Tunus Caddesi No:85/8, Kavaklidere, ANKARA, 06680, TR)
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Claims:

CLAIMS

1- Pumpless balancing system for two or more legged robots comprised by

• a balancing member (weight) (1) on or at the bottom part of one or more than one legs as the main components to shift the gravity center to the predetermined place; and

• characterized in that the balancing member (1) is moved without the use of any pump in order to ensure the balance, when it is deemed necessary.

2- Pumpless balancing system for two or more legged robots according to Claim 1 and characterized in that • one or more than one chambers (tank, case) (2 and 3) are positioned at the bottom parts of the robot's leg (legs); or the leg itself is a chamber;

• one or all of the chambers (tanks - cases) (2 and 3) contain a balancing member (material) (1) in the form of organic, solid, liquid, powder or gas; or a mixture of more than one of those mentioned above; • it lacks any pump to move the balancing member (1); and instead of pump, motor, manpower, gravity, heat, magnetic, chemical reaction or a driving force such as pressure is used;

• a transfer channel (4) exist between the chambers (2 and 3) if the balancing member (1) is to transfer from one chamber (2 and 3) to the other chamber. 3- Pumpless balancing system for two or more legged robots according to Claim 1 or Claim 2 and characterized in that there is an air transfer channel (7) for the transfer of air among the chambers (2 and 3); or the top parts of the chambers are open to to the air; and valve or valves (8) are placed if deemed necessary for the simultaneous movement of the balancing member (1) in the transfer channels (4) or air transfer channel (7) in the embodiment wherein the transfer is realized according to the computational fluid theory.

4- Pumpless balancing system for two or more legged robots according to any of the preceding claims and characterized in that the chambers (2) at the top part of the foot (5) or feet which will take step forward to keep the balance are elevated; the balancing member (1) inside the chambers (2) is transferred through the transfer channel (4) to the chambers (3) in the other foot or feet without the help of any

pump; the center of gravity of the robot is projected to the closed plane created by the foot or feet (5) on the ground; and consequently the eased foot or feet (5) take steps and proceed to the next step by elevating the tank (tanks) (3) at the lower level and descending the tank (tanks) (2) at the upper level. 5- Pumpless balancing system for two or more legged robots according to any of the preceding claims and characterized in that there are valves (8) in the fluid transfer channel (4) for undertaking simultaneous (at the same time) movements in order to perform the stepping process in a shorter period in the case that the balancing is achieved by the transfer of the fluid. 6- Pumpless balancing system for two or more legged robots according to any of the preceding claims and characterized in that the valves (8) are closed once the transfer of the fluid (1) is completed; and it is made ready for the following fluid (1) transfer process by lifting the tank (3) on the front foot and lowering the tank (2) at the back foot during the time lapsed when the back foot (5) is lifted from the ground; moved forward and put on the ground again (stepping).

7- Pumpless balancing system for two or more legged robots according to Claim 1 or Claim 2 and characterized in that the balancing member (1) is transferred from one place to another by means of magnetic or electromagnetic method.

8- Pumpless balancing system for two or more legged robots according to Claim 1, 2 or 7 and characterized in that in order to transfer the balancing member from one place to another on the robot (preferably from one foot to another) through magnetic or electromagnetic means;

• Electromagnets (13) are placed inside each of the robot's feet (5 and 6);

• A separate electromagnet (13) is positioned at the waist level of the robot; • Balancing weight (load) (1), when on the first foot (5), ascends by the gravity force created by the activation of the electromagnet (13) at the waist; and moves towards the said foot (6) by means of the gravity force exerted by the deactivation of the magnet at the waist; and the activation of the electromagnet on the other foot (6). 9- Pumpless balancing system for two or more legged robots according to Claim 1, 2, 7 or 8 and characterized in that magnets or electromagnets (13) can be in great numbers to operate in coordination with each other inside the transfer channel (4) for

the transfer of the balancing member from one place to another on the robot by means of magnetic or electromagnetic means

10- Pumpless balancing system for two or more legged robots according to Claim 1, 2, 7,

8 or 9 and characterized in that the weight (load) (1) itself could be made of a material that represent magnetic characteristics for the transfer of the balancing member (1) from one place to another on the robot by means of magnetic or electromagnetic means.

11- Pumpless balancing system for two or more legged robots according to Claim 1 or Claim 2 and characterized in that in order to transfer the balancing member from one place to another on the robot by means of thermal energy;

• heaters (14) are placed on both feet;

• cold surface (cooler) (15) is placed on the waist part.

12- Pumpless balancing system for two or more legged robots according to Claim 1, 2 or 11 and characterized in that for the transfer of the balancing member by means of the thermal energy, the balancing fluid (1) raises inside the fluid transfer channel (4) by vaporizing from the tank (2) on the first foot upon the operation of the heater (14) on the foot; the fluid (1) in the form of vapour is liquified by being cooled through the cooler (15) positioned at the waist; and descends in the tank (3) on the other foot inside the fluid channel (4). 13- Pumpless balancing system for two or more legged robots according to Claim 1 or Claim 2 and characterized in that the balancing member (1) is transferred from one place to another by means of a rope or a similar pulling member (16) and motor, manpower or an accelerator (17) moving the said member.

14- Pumpless balancing system for two or more legged robots according to Claim 1, 2 or . 13 and characterized in that in order to transfer the balancing member from one place to another on the robot by means of a rope or a similar member (16) and motor (17) moving the said rope;

• an accelerator to move the rope (16) is placed on the waist of the robot;

• the balancing member (weight) (1) that depends on the accelerator (7) is raised from one foot (5) by the help of the accelerator (17) and descended to another foot (6).

15- Pumpless balancing system for two or more legged robots according to Claim 1 or Claim 2 and characterized in that the balancing member (1) is transferred from one place to another by means of the propulsion of a piston.

16- Pumpless balancing system for two or more legged robots according to Claim 1, 2 or 15 and characterized in that in order to transfer the balancing member from one place to another on the robot by means of the propulsion of a piston (18);

• pistons (18) are positioned on both feet;

• the balancing member (1) is placed inside the tanks within the pistons (18);

• the piston on the foot wherein the balancing member (1) is available is open; and the piston (18) on the other foot (6) is closed;

• While the piston on the foot wherein the balancing member (1) is available is closed, the piston (18) on the other foot is opened; and by this means, the balancing member (1) is transferred to the other foot (6) due to the difference of pressure. 17- Pumpless balancing system for two or more legged robots according to Claim 1 or Claim 2 and characterized in that in order to transfer the balancing member (1) from one place to another on the robot by means of the screwed mechanism (19);

• screwed shaft (19) is positioned between each two feet at the level to pass through the waist; • the balancing member (1) hangs over the screwed shaft (19);

• when the balancing member (1) is on the first foot, it is shifted to the waist by the rotation of the screwed shaft (19) or the balancing member (1); and transferred to the other foot (6) by the rotation of the screwed shaft (19) on the second foot or of the balancing member (1). 18- Pumpless balancing system for two or more legged robots according to Claim 1, 2 or 17 and characterized in that a single worm screwed shaft (19) can also be used in the transfer of the balancing member (1) from one place to another by means of the screwed mechanism (19).

19- Pumpless balancing system for two or more legged robots according to Claim 1 or Claim 2 and characterized in that in order to transfer the balancing member (1) from one place to another on the robot by means of explosion or a similar propulsion (20);

• explosive members (20) such as gas, gunpowder, etc are placed on both feet;

• when the explosive material (20) existing on the first foot (5) blows up, the balancing member (1) rises by the effect of the explosion; and shifts to the other foot (6) by changing its direction with the guide (21) at the top part. 20- Pumpless balancing system for two or more legged robots according to Claim 1 or Claim 2 and characterized in that in order to transfer the balancing member (1) from one place to another on the robot by means of striking;

• a striking device (22) is positioned on both feet;

• balancing member (1), when situated on the first leg (5), bursts into the air by the striking impact; and shifts to the other foot (6) by changing its direction with the guide (21) at the top part

21- Pumpless balancing system for two or more legged robots according to Claim 1, 2, 20 or 21 and characterized in that the balancing member (1) itself is a striking device.

22- Pumpless balancing system for two or more legged robots according to Claim 1, 2, 20 or 21 and characterized in that the device is a piston (18); and the said piston extends inside the channel on the first leg thereby carrying the balancing member (1) upto the connection point with the channel on the other leg.

23- Pumpless balancing system for two or more legged robots according to Claim 1, 2, 20, 21 and 22 characterized in that the device (22) would look like a baloon and elevate the balancing member (1) by swelling under the said member.

24- Pumpless balancing system for two or more legged robots according to Claim 1, 2, 20, 21, 22 and 23 characterized in that the striking device (22) is positioned in various numbers in the form of valves along with the channel; and the balancing member (1) is carried from the place where the valve (22) completes the elevation process; and to the place where another valve (22) starts the elevation process.

25- Pumpless balancing system for two or more legged robots according to any of the preceding claims and characterized in that in order to transfer the balancing member from one place to another on the robot by means of expansion (blast);

• Additional weight is placed on one foot (for instance, the first foot);

• the balancing member (1) to be transferred as heavier than the additional weight of the first foot is emplaced inside a baloon (23) in the tank on the other foot (the second foot);

• the baloon (23) is attached to the said tank (2) from the bottom part; and the the vertical axis of the gravity center of the robot is initially at the second foot

(5);

• balancing member (1) expands (for instance, by means of heating method or a chemical reaction method based on the mixture of a liquid with another liquid) and flows towards the other foot (6) through the transfer channel (4); thereby, it is ensured that the foot (6) that is manufactured as heavy to find its equivalence in the other foot at the same level;

• meantime, as the second foot (6) will become heavier due to the transferred balancing member (1), the vertical axis of the gravity center of the robot would be carried to the second foot (6); • expansion is reversed (by means of the recooling method or the second chemical reaction method that would reverse the reaction); and it is ensured that the vertical axis of the gravity center of the robot would remain at its previous place - Pumpless balancing system for two or more legged robots according to any of the preceding claims and characterized in that in order to transfer the balancing member from one place to another on the robot by means of expansion (blast); the member (1) that will be transferred is emplaced inside a baloon (23) in the tank (2) on the first foot; the baloon is attached to the tank (2) from its bottom part; and the vertical axis of the gravity center of the robot is initially on the first foot (5);

• the balancing member (1) expands (by means of heating method or a chemical reaction method based on the mixture of a liquid with another liquid) and flows towards the other foot (6) through the transfer channel (4); meanwhile the baloon (23) containing the balancing member that is previously transferred is attached to the second foot (6) from its bottom part; and released from the first foot (5); expansion is realized this time by means of the recooling method on the second foot (6) or a second chemical reaction method that would reverse the chemical reaction; and the baloon (23) shrinks in a way to fit into the second foot (6); and this time the vertical axis of the gravity center would be transferred to the second foot (6). - Pumpless balancing system for two or more legged robots according to Claim 1 or Claim 2 and characterized in that in order to transfer the balancing member (25) wherein the member is a heavy motor (25) or a material that is pulled by the motor from one place to another on the robot by means of shifting;

• a railed system (24) is placed on the feet and / or legs;

• motor (25) climbs up from the first foot (5) by sliding over the railed system (24) and descends to the other foot (6). - Pumpless balancing system for two or more legged robots according to Claim 1 or Claim 2 and characterized in that in order to transfer the balancing member (1) from one place to another on the robot by means of the reverse piston system (26);

• both feet include a piston system (26) that has chambers expanding upon stepping;

• equal amount of liquid (balancing material) (1) is available on both feet while they are on the ground;

• When it is started to lift up the foot (5) from the ground; its chamber (2) shrinks and the liquid (balancing material) (1) inside the foot passes through the transfer channel (4) into the tank (3) within the other foot (6);

• Following the completion of the pass through the transfer channel (4) into the other foot (6), the foot (5) can be lifted up from the ground (Figure 42 and 44).

- Pumpless balancing system for two or more legged robots according to Claim 1 or Claim 2 and characterized in that in order to transfer the balancing member (43) from one place to another on the robot by means of the gravity;

Tanks (2 and 3) which are capable of sliding and include heavy weights (balancing member) (1) are positioned on both feet;

When the tank (2) on one foot is lifted, heavy weights (balancing members) (1) shifts to the other foot through the transfer channel (4) by the effect of the gravity; - Pumpless balancing system for two or more legged robots according to Claim 1 or Claim 2 and characterized in that in order to transfer the balancing member (1) that is placed in one or more than one foot from one place to another inside the foot;

• balancing member (1) is contained in both feet or in single foot;

• when the balancing member (1) is in the middle of both two feet or a single foot, the center of gravity of the robot (27) is situated in the middle of two feet (legs); • when the balancing member (1) is transferred to the part of the feet in the same direction, the gravity center (27) of the robot shifts into the foot (6) wherein the the balancing member (1) falls outside the said foot; meantime, while the foot (6) bearing the gravity center (27) is in a fixed position, the other foot (5) start to move forward; afterwards, the balancing member (1) is moved towards the other side (direction) and the gravity center (27) of the robot shifts into the other foot

(5). 1- Pumpless balancing system for two or more legged robots according to any of the preceding claims and characterized in that all of the processes such as explosion, heating and expansion in volume for the transfer of the balancing member (1) to the other foot can also be realized by means of the chemical reactions. 2- Pumpless balancing system for two or more legged robots according to any of the preceding claims and characterized in that the robot refers to a robot that moves by wheels or paddles. 3- Pumpless balancing system for two or more legged robots according to any of the preceding claims and characterized in that in each of its various embodiments the balancing member (1) is transferred to the other foot by utilizing from the gravity following the rise of the balancing member (1) from the first foot.

34- Pumpless balancing system for two or more legged robots according to any of the preceding claims and characterized in that in each of its various embodiments it is possible to realize the transfer by means of a directly established channel from one foot to the other foot without increasing the robot to the waist level for the transfer of the balancing member (1) to the other foot.

35- Pumpless balancing system for two or more legged robots according to any of the preceding claims and characterized in that in each of its various embodiments the balance is achieved by the transfer of at least one weight in order to avoid and/or slow down the robot from toppling by utilizing from the dynamic effects to be created during the transfer of the balancing member (1) to the other foot.

36- Pumpless balancing system for two or more legged robots according to any of the preceding claims and characterized in that the fluid tanks could be positioned at the bottom part of the legs, inside, outside, side or above the foot; or the feet itself could be the fluid tank. 37- Pumpless balancing system for two or more legged robots according to any of the preceding claims and characterized in that the accelerators are placed on only one foot or in one place or more than one place of the robot for the transfer of the balancing member (1) from one place to another on the robot.

38- Pumpless balancing system for two or more legged robots according to any of the preceding claims and characterized in that not only the whole amount but only some amount of the weight is transferred.

39- Pumpless balancing system for two or more legged robots according to any of the preceding claims and characterized in that it is robotic orthesis that carry men or exosceleton robots. 40- Pumpless balancing system for two or more legged robots according to any of the preceding claims and characterized in that the tanks (2 and 3) may have various levels of volume.

41- Pumpless balancing system for two or more legged robots according to any of the preceding claims and characterized in that there may be valves (8) to guide or block the transfer in any part of the system for the synchronization of some of the movements.

- Pumpless balancing system for two or more legged robots according to any of the preceding claims and characterized in that the robot is moved (takes step) according to the phases below

• complete (or some) of the balancing member (1) is transferred to a predetermined place in one foot (or both feet) and the vertical axis of the gravity center is projected within the said place;

• thereafter the foot (5) wherein the vertical axis of the gravity center is not projected is removed; and stepped on the requested spot;

• subsequently complete or some of the balancing member (1) is transferred to the predetermined place in one foot or both feet and the vertical axis of the gravity center is projected within the foot that will remain in the said place; and the other foot is moved.

Description:

DESCRIPTION PUMPLESS BALANCING SYSTEM FOR BIPEDAL OR MULTI - LEGGED ROBOTS

This invention is related to a pumpless balancing system which allows the balancing of the bipedal or multi - legged robots (robots or various types of orthesis) and their carriage of loads easily.

It has great importance in the robot sector that the bipedal or multi - legged robots maintain in balance; walk without losing their balance (falling over); and make their best to follow the orders.

It is required for the bipedal or multi - legged robots to avoid falling over whilst their movement; or undertaking a work such as lifting weight or pushing an object that its center of gravity is projected either under the leg contacting with the ground when taking a step or within the internal part of the plane formed by the legs contacting with the ground.

In some of the bipedal or multi - legged robots produced by the known technique, the balance is achieved by bending the body of the robot; and projecting its center of gravity either under the leg contacting with the ground or within the internal part of the plane formed by the legs contacting with the ground. It is prerequisite for such robots that the body is bent in order to keep them in balance.

The fundamental problem of the bipedal or multi - legged robots is the balance. One of the applications according to the known technique in order to overcome the said problem was the invention disclosed by the patent publication having been initially filed in Turkey by the same inventor of the present invention hereby with the reference number 2003 / 00265 and dated 04/03/2003; and within the scope of PCT with the application number PCT/TR03/00016 by benefiting from the priority right of the former application and later on in USA, Eurasia Patent Office, European Patent Office and Japan Patent Office.

In this publication, a balancing system was disclosed having comprised by the balancing fluid pumps, balancing fluid storages and balancing fluid transfer channel as the "main members" wherein the balancing fluid is transferred from one tank to another tank by means of the pump(s). Even though the use of pump in the robot balancing system defined in the said publication was found to be successful in some type of embodiments; problems were still encountered such as the failure of the pump in the realizing the

transferring process within a short period depending on the quality of the fluid; excessive consumption of power; extra weight or breakdowns.

OBJECTIVES OF THE INVENTION In developing the pumpless balancing system for the legged robots which has been developed with this invention, it was aimed to transfer any member in the form of liquid, powder, solid or gas; or any mixture of these two or more than two members from one of the balancing tanks to another to achieve the balancing without the help of any pump.

DESCRIPTION OF THE FIGURES

The figures prepared for explanation of the pumpless balancing system for the legged robots developed in the present invention in a better way are presented as annexed hereto. These figures schematically indicate the embodiment of this pumpless balancing system developed by this invention on a bipedal robot as an example. The description of the figures is given as follows:

Figure - 1 Basic application relating to the computational fluid dynamics

Figure - 2 Display of the basic application relating to the computational fluid dynamics (position 1) Figure - 3 Display of the basic application relating to the computational fluid dynamics

(position 2)

Figure - 4 Display of the basic application relating to the computational fluid dynamics (position 3)

Figure - 5 General principle of pumpless robot balancing system with fluid Figure - 6 Robot moving based on the pumpless robot balancing system with fluid

(position 1)

Figure - 7 Robot moving based on the pumpless robot balancing system with fluid (position 2)

Figure - 8 Robot moving based on the pumpless robot balancing system with fluid (position 3)

Figure - 9 Robot moving based on the pumpless robot balancing system with fluid (position 4)

Figure - 10 Schematic view of the weight transfer process by means of magnetic or electromagnetic system (position 1), Figure - 11 Schematic view of the weight transfer process by means of magnetic or electromagnetic system (position 2),

Figure - 12 Schematic view of the weight transfer process by means of magnetic or electromagnetic system (position 3),

Figure - 13 Schematic view of the transfer of balancing member by means of thermal energy (position 1),

Figure - 14 Schematic view of the transfer of balancing member by means of thermal energy (position 2),

Figure - 15 Schematic view of the transfer of balancing member by means of thermal energy (position 3), Figure - 16 Transfer of the balancing member by means of a rope or a similar member or an accelerator moving the said member (position 1)

Figure - 17 Transfer of the balancing member by means of a rope or a similar member or an accelerator moving the said member (position 2)

Figure - 18 Transfer of the balancing member by means of a rope or a similar member or an accelerator moving the said member (position 3)

Figure - 19 Transfer of the balancing member by means of a rope or a similar member or an accelerator moving the said member (position 4)

Figure - 20 Transfer of the balancing member by means of the propulsion exerted by a piston or a similar member (position 1) Figure - 21 Transfer of the balancing member by means of the propulsion exerted by a piston or a similar member (position 2)

Figure - 22 Transfer of the balancing member by means of the propulsion exerted by a piston or a similar member (position 3)

Figure - 23 Transfer of the balancing member by means of the screwed mechanism (position 1)

Figure - 24 Transfer of the balancing member by means of the screwed mechanism (position 2)

Figure - 25 Transfer of the balancing member by means of the screwed mechanism (position 3) Figure - 26 Transfer of the balancing member by means of explosion (position 1)

Figure - 27 Transfer of the balancing member by means of explosion (position 2) Figure - 28 Transfer of the balancing member by means of explosion (position 3)

Figure - 29 Transfer of the balancing member by means of striking (propulsion - elevation) (position 1) Figure - 30 Transfer of the balancing member by means of striking (propulsion - elevation) (position 2)

Figure - 31 Transfer of the balancing member by means of striking (propulsion - elevation) (position 3)

Figure - 32 Transfer of some of the balancing member by means of expansion (position 1)

Figure - 33 Transfer of some of the balancing member by means of expansion (position 2)

Figure - 34 Transfer of some of the balancing member by means of expansion (position 3) Figure - 35 Transfer of some of the balancing member by means of expansion (position 4)

Figure - 36 Transfer of the entire balancing member by means of expansion (position D

Figure - 37 Transfer of the entire balancing member by means of expansion (position 2)

Figure - 38 Transfer of the entire balancing member by means of expansion (position 3)

Figure - 39 Schema wherein the balancing member is motor and the transfer is realized by shifting (position 1)

Figure - 40 Schema wherein the balancing member is motor and the transfer is realized by shifting (position 2)

Figure - 41 Schema wherein the balancing member is motor and the transfer is realized by shifting (position 3) Figure - 42 Transfer of the balancing member by means of reverse piston (position 1)

Figure - 43 Transfer of the balancing member by means of reverse piston (position 2) Figure - 44 Transfer of the balancing member by means of reverse piston (position 3)

Figure - 45 Transfer of the balancing member by means of the force of gravity (position 1) Figure - 46 Transfer of the balancing member by means of the force of gravity

(position 2)

Figure - 47 Transfer of the balancing member by means of the force of gravity (position 3)

Figure - 48 Transfer of the balancing member by means of the force of gravity (position 4)

Figure - 49 Transfer of the balancing member by means of the force of gravity (front view - position 1)

Figure - 50 Transfer of the balancing member by means of the force of gravity (front view - position 2) Figure - 51 Transfer of the balancing member by means of the force of gravity (front view - position 3)

Figure - 52 Transfer of the balancing member by shifting internally (position 1)

Figure - 53 Transfer of the balancing member by shifting internally (position 2)

Figure - 54 Transfer of the balancing member by shifting internally (position 3) Figure - 55 Transfer of the balancing member by shifting internally (position 4)

DESCRIPTION OF THE MEMBERS OF THE INVENTION DEFINED IN THE FIGURES (ELEMENTS - PARTS - COMPONENTS)

The members (parts, elements, components) presented in the figures prepared for explanation of the pumpless balancing system for legged robots developed in the present invention in a better way are numbered separately. Definition of the parts corresponding to the respective numbers is given as follows

1- Balancing member (weight - fluid)

2- First fluid tank (tank - chamber - case)

3- Second fluid tank (tank - chamber - case) 4- Fluid transfer channel

5- First leg

6- Second leg

7- Air transfer channel

8- Valve 9- Module moving the fluid tank (tank - chamber) at the first leg downward or upward,

10- Module moving the first leg downward or upward,

11- Module moving the fluid tank (tank - chamber) at the second leg downward or upward, 12- Module moving the second leg downward or upward,

13- Magnetic or electromagnetic magnet

14- Heater

15- Cooler

16- Rope or similar member 17- Motor (motor moving the rope) or movement member

18- Piston

19- Screwed shaft

20- [Explosive Member

21- Guide

22- Striking, propulsion, elevation device

23- Baloon

24- Rail 25- Weighted motor

26- Reverse piston system

27- Gravity center of the robot

DETAILED DESCRIPTION OF THE INVENTION The fundamental working principle of the pumpless balancing system for the legged robots developed by this invention is based on the transfer (conveyance) of the balancing member from one place to another without the use of any pump. In order to transfer the balancing member (any member in liquid, powder, solid or gas form or mixture of the said two or more members) from one or more than one tank (tank - chamber - case) to one or more than one tank or tanks; or from a particular spot on the robot to another without the use of any pump in the application of the pumpless balancing system for the legged robots developed by this invention, the procedures are used including but not limited to those below:

• Transfer of the balancing member according to the computational fluid theory, • Transfer of the balancing member by means of magnetic or electromagnetic system,

• Transfer of the balancing member by means of the thermal energy,

• Transfer of the balancing member by means of a rope or a similar member and motor moving the rope, • Transfer of the balancing member by means of the propulsion of a piston or a similar member,

• Transfer of the balancing member by means of a screw or a worm screw or similar members,

• Transfer of the balancing member by means of the energy exerted following the explosion,

• Transfer of the balancing member by means of striking or propulsion,

• Transfer of the balancing member by means of expansion,

• Achievement of the balancing by shifting a motor that is heavy or carrying weight (changing its position by shifting), • Transfer of the balancing member by means of an adverse piston,

• Transfer of the balancing member by means of the force of gravity,

• Transfer of the balancing member by means of shift internally.

The power (driving system) required for undertaking the above mentioned procedures could be motor, human force, gravity, heat, magnetic, chemical reaction or any driving force such as pressure.

Fundamental principle of the balancing system for two or more legged robots developed by this invention is to transfer the balancing member from any spot on the robot to another spot, particularly from a standing tank to another standing tank / tanks excluding the help of any pump. Basic principles of the computational fluid theory are given in Figure 1, 2, 3 and

4.

As it is indicated in Figure 1, two tanks (2 and 3) which are identical or different from each other in terms of volume and shape are attached from their top and bottom parts to each other through the channels (pipes - hose) (4 and 7). The system may either be an indoor or outdoor system which respectively refer to the system that lacks any connection with the atmosphere and any channel (pipe - hose) (7) providing air transfer. In addition, the channel could not be only connected from the top part of the tanks but also from the bottom parts of the tanks.

Provided that the fluid (1) amounting to the sum of the volume belonging to one of the tanks (2 and 3) among the system shown in Figure 1 and fluid transfer channel (4) is filled in the system, the final status of the system when the tanks (2 and 3) are at the same level will be as shown in the Figure 2. In other words, the level of the fluid (1) will be full as much as the half of the tanks. It is required that the level of the fluid (1) in both tanks (2 and 3) should be at the same level due to the effect created on their surface by the same amount of pressure (Figure 2).

When one of the tanks (2) is elevated upwards, the fluid (1) will flow towards the other tank (3). The flow of the fluid (1) is realized by the air flow channel (7) positioned on the top part of the tanks (2 and 3) (Figure 3). The system may lack any air flow channel (7) and the air in the tanks may be directly released to the athomosphere. Figure 4 represents the case that occurs when one of the tanks (3) is elevated; and the other tank (2) is pushed (to a lower level). In this case, the fluid (1) inside the tank (3) that is elevated upwards will be transferred to the other tank (2) by means of the fluid transfer channel (4); and simultaneously the air within the system will be conveyed to the other tank (3) through the air transfer channel (7). Unless there is not any air transfer channel (7), it will be directly released to the athmosphere. Thus, the fluid (1) will flow from the tank (3) that is at a higher position to the other tank (2).

Figure 5 represents the general principle of the pumpless robot balancing system having the fluid (1) balancing member. In the robot embodiment, fluid tanks (2 and 3) on the robot may be connected to each other both by means of the fluid transfer channel (4) and the air transfer channel (7) if necessary; and there is a valve (8) positioned at the bottom part of one or all of the tanks (2 and/ or 3) in order to realize the flow of the fluid (1) whenever requested. Therefore, the fluid transfer channel (4) could be opened and closed for undertaking or avoiding the flow of the fluid (1). The valves (8) can also be placed at another spot on the system. There are at least one chamber (tank - case) (2 and 3) positioned inside, around or top part of at least two legs (5 and 6) of the robot in the balancing system for bipedal or multi - legged robots developed by this invention. The chambers (2 and 3) contain the balancing member (1) in organic, solid, liquid, powder or gas form. A transfer channel (4) is comprised for the transfer of the balancing member (1) among the chambers to another chamber. In addition, there may be an air transfer channel (7) for the transfer of the air among the chambers. In case, the system lacks the air transfer channel (7), the top parts of the chambers are exposed to open air. In case the balancing member (1) is in the form of liquid, valves (8) can be included inside the balancing member transfer channels (4). In the balancing system for bipedal or multi - legged robots developed by this invention, the chamber/s (2) at the top part of the first leg (5) (leg/legs which will take forward step) are elevated for keeping the balance. Thus, the transfer to the chambers (3) on the said leg (legs) is achieved automatically (without any pump). Hence, the center of gravity of the robot is projected to the closed plane created by the leg or legs (6) on

the ground. Consequently, the robots take steps and proceed by easily moving forward the leg (legs) (5) eased by the empty chamber (s). The same procedures are repeated in the transfer of the balancing member (1) to the chamber/s (2) at the lower levels on the other leg (legs) by elevating the chamber(s) on the other leg (legs). Thus, the robot moves without facing with the problem of balance; or elevates upto a higher level; or descends to a lower level.

Figure, 6, 7, 8 and 9 show schematic application of the pumpless balancing system developed by this invention for the legged robots wherein the fluid (1) is used as the balancing member. In Figure 6, one of the legs (5) of the robot is at the back; and the other leg (6) is on the front; and both legs are on the ground. At this position, fluid tanks (2 and 3) are at the same level (line) and each is full with the fluid (1) by half. Before the robot starts to take steps, it is required to transfer the entire fluid (1) in the tanks (2 and 3) to the tank (3) on the front leg for including the center of gravity of the robot within the projection of the front leg (6).

As it is seen in Figure 7, the module (9) which moves the fluid tank (2) on the back leg in the downward or upward direction lifts its affiliated tank (2). In the meantime, the leg at the back is standing on the ground. By this means the fluid (1) within this tank (2) on the said leg is transferred to the tank (3) on the front leg. Thus, the center of gravity of the robot is shifted towards inside the front leg (6). Following this stage; the module (10) that moves the back leg (5) upwards and downwards lifts the leg (5).

Thereby, the process to have the robot to take steps could be launched. After this phase, the leg (5) which does not include the fluid (1) in its chamber is brought forward and the stepping process is realized as it is indicated in Figure 8. In the last phase shown in Figure 9, when the back leg (5) completes the stepping process and stands on the ground; the tank (2) on the said leg are placed on the ground separately or together with the said leg (5) by means of the attached modules (9 and 10).

It is also possible to realize some of the said movements simultaneously (at the same time) so as to carry out the stepping process wherein the balancing is ensured by the transfer of the fluid (1) within shortest period. For this purpose, valves (8) can be used inside the fluid transfer channel (4). Once the fluid (1) transfer is completed in this sytem, the valves (8) are closed; and it is made ready for the following fluid (1) transfer

process by lifting the tank (3) on the front leg during the time lapsed when the back leg (5) is lifted; moved forward and stands on the ground again; and lowering the tank (2) at the back leg. This process would create forces in the adverse direction to the dynamic effects that would be exerted when the leg is raised as another advantage. The stepping process carries on smoothly as the center of gravity will remain within the borders of the leg on the ground by the transfer of the fluid (1) among the tanks (2 and 3) based on the repetition of the above mentioned procedures thereafter for the other leg (6).

Another embodiment of the pumpless balancing system developed by this invention for the legged robots is the use of the members (any member that is in the form of liquid, powder, solid or gas; or the mixtures of two or more than two of the said members) that could be transferred from one place to another as fluid (1) through magnetic or electromagnetic means (single or multiple phases - for example triphase).

The basic principle for the transfer of the balancing member from one place to another (preferably from one leg to another leg) on the robot through magnetic or electromagnetic means is shown in Figure 10, 11 and 12. In order to transfer the balancing member from one place to another on the robot through magnetic or electromagnetic means;

• Electromagnets (13) are placed inside each of the robot's legs; • A separate electromagnet (13) is positioned at the waist level of the robot;

• Balancing weight (load) (1), when on the first leg (5), ascends by the gravity force created by the activation of the electromagnet (13) at the waist; and moves downward by means of the gravity force exerted by the deactivation of the magnet at the waist; and the activation of the electromagnet on the other leg (6). Thus, the balancing weight (1) is replaced through the magnetic or electromagnetic means.

Magnets or electromagnets (13) can be in great numbers to operate in coordination with each other inside the transfer channel (4) for the transfer of the balancing member from one place to another on the robot by means of magnetic or electromagnetic means. Magnet or electromagnets (13) can also be available on a single leg. The weight (load) (1) itself could be made of a member that represent magnetic characteristics or the same function could be undertaken by creating an electromagnetic area.

In the embodiment wherein the balancing member is transferred by magnetic or electromagnetic means, the robot is moved (takes step) by

• projecting the vertical axis of the gravity center within the leg (6) that will remain at that place through the transfer of all (or some) of the balancing member (1) to the predetermined place on a single leg (or on both legs);

• afterwards raising the leg (5) wherein the vertical axis of the gravity center is not projected; moving and stepping on the requested place;

• later transferring all (or some) of the balancing member (1) to the predetermined place on a single leg or on both legs; and projecting the vertical axis of the gravity center inside the leg (5) that will remain in the said place; and moving the other leg (6).

In another embodiment of the pumpless balancing system developed by this invention for the legged robots refers to the transfer of the balancing member from one place to another by means of thermal energy. The basic principle for the transfer of the balancing member from one place to another (preferably from one leg to another leg) on the robot through the thermal energy is shown in Figure 13, 14 and 15. In order to transfer the balancing member from one place to another on the robot by means of thermal energy;

• heaters (14) are placed on both legs; • cold surface (cooler) (15) is placed on the waist.

In the transfer of the balancing member by means of the thermal energy, the balancing fluid (1) raises inside the fluid transfer channel (4) by vaporizing from the tank (2) on the first leg upon the operation of the heater (14) on the leg. The fluid (1) in the form of vapour is cooled by means of the cooler (15) positioned at the waist; and descends in the tank (3) on the other leg inside the fluid channel (4). The fluid tank may be inside the leg or on the leg; or the leg itself may be the fluid tank.

The robot is moved (step) according to the above mentioned process in an embodiment wherein the balancing member is transferred by means of the thermal energy. Another embodiment of the pumpless balancing system developed by this invention for the legged robots is the transfer of the balancing member (1) from one

place to another by means of a rope or a similar pulling member (16) and motor moving the said member or an accelerator (17).

The basic principle for the transfer of the balancing member from one place to another (preferably from one leg to another leg) on the robot through a rope or a similar member (16) and motor (or manpower) moving the said rope (17) is shown in Figure 16, 17 and 18. In order to transfer the balancing member from one place to another on the robot by means of a rope or a similar member (16) and motor (or manpower) moving the said rope (17);

1. an accelerator to move the rope (16) is placed on the waist of the robot (accelerator could be either a motor or manpower);

2. weight (1) that depends on the accelerator (7) is raised from one leg (5) by the help of the accelerator (17) and descended to another leg (6).

The robot is moved (step) according to the above mentioned process in an embodiment wherein the balancing member (1) is transferred by means of a rope or a similar member (16) and motor moving the said rope (17).

Another embodiment of the pumpless balancing system developed by this invention for the legged robots is the transfer of the balancing member (1) from one place to another by means of the propulsion of a piston or a similar member.

The basic principle for the transfer of the balancing member from one place to another (preferably from one leg to another leg) on the robot through the propulsion of a piston or a similar member (18) is shown in Figure 20, 21 and 22. In order to transfer the balancing member from one place to another on the robot by means of the propulsion of a piston or a similar member (18);

• Piston (18) is positioned on both legs; • Piston (18) on the leg wherein the fluid (1) (balancing member) is available is open; and the piston (18) on the other leg (6) is closed;

• While the piston on the leg wherein the fluid (1) is available is closed, the piston (18) on the other leg is opened. By this means, the fluid (1) is transferred to another leg (6) due to the difference of pressure. The fluid (1) exists in the tanks within the pistons (18) situated inside, around or on the legs.

The robot is moved (step) according to the above mentioned process in an embodiment wherein the balancing member (1) is transferred by means of the propulsion of a piston or a similar member (18).

Another embodiment of the pumpless balancing system developed by this invention for the legged robots is the transfer of the balancing member (1) from one place to another by means of the screwed mechanism.

The basic principle for the transfer of the balancing member from one place to another (preferably from one leg to another leg) on the robot through the screwed mechanism (19) is shown in Figure 23, 24 and 25. In order to transfer the balancing member from one place to another on the robot by means of the screwed mechanism

(19);

• Screwed shaft (19) is positioned between each two legs at the level of waist;

• Balancing member (1) hangs over the screwed shaft (19);

• When the balancing member (1) is on the first leg, it is shifted to the waist by the rotation of the screwed shaft (19) or the balancing member (1). It is transferred to the other leg by the rotation of the screwed shaft on the second leg or of the balancing member (1).

A single worm screwed shaft (19) can be also used in the transfer of the balancing member (1) from one place to another (preferably from one leg to another leg) by means of the screwed mechanism (19).

The robot is moved (step) according to the above mentioned process in an embodiment wherein the balancing member (1) is transferred by means of the screwed shaft (19).

Another embodiment of the pumpless balancing system developed by this invention for the legged robots is the transfer of the balancing member (1) from one place to another by means of explosion.

The basic principle for the transfer of the balancing member from one place to another (preferably from one leg to another leg) on the robot explosion is shown in Figure 26, 27 and 28. In order to transfer the balancing member from one place to another on the robot by means of explosion or a similar propulsion (20);

• Explosive members (20) such as gas, gunpowder, etc are placed on both legs;

• When the explosive member (20) existing on one leg blows up, the balancing member (1) rises by the effect of the explosion. It changes direction with the guide (21) at the top part and shifts to the other leg. The robot is moved (step) according to the above mentioned process in an embodiment wherein the balancing member (1) is transferred by means of the explosion.

Another embodiment of the pumpless balancing system developed by this invention for the legged robots is the transfer of the balancing member (1) from one place to another by means of striking. The basic principle for the transfer of the balancing member from one place to another (preferably from one leg to another leg) on the robot through the striking is shown in Figure 29, 30 and 31. In order to transfer the balancing member from one place to another on the robot by means of the propulsion exerted by a piston or a similar member (22); • A striking device (22) is positioned on both legs;

• Balancing member (1), when situated on one leg, bursts into the air by the striking impact. It changes direction with the guide (21) at the top part and shifts to the other leg.

The robot is moved (step) according to the above mentioned process in an embodiment wherein the balancing member (1) is transferred by means of striking.

The device (22) used hereby could also be a member that would carry above the balancing member (1). In such case, the piston extends inside the channel (4) and elevates - carries the object (1) (such as upto the connection point with the channel on the other leg). The piston undertaking this process is alike with a baloon and elevates the object by becoming inflated under the said object. In addition, the striking device (22) can be designed in the shape of valves; positioned along with the channel in various numbers; and transfer the balancing member (1) from one place where the valve completes the elevation process to another place where another valve will just start its elevation process. Another embodiment of the pumpless balancing system developed by this invention for the legged robots is the transfer of the balancing member (1) from one place to another by means of expansion (blast).

The basic principle for the transfer of the balancing member from one place to another (preferably from one leg to another leg) on the robot through expansion is shown in Figure 32, 33, 34 and 35. In order to transfer the balancing member from one place to another on the robot by means of expansion; • Additional weight is placed on one leg (for example 6);

• The member (1) (heavier than the additional weight of the heavy leg (6)) that will be transferred is emplaced inside a baloon (23) in the tank on the other leg. The baloon is attached to the tank (2) from its bottom part. Vertical axi of the gravity center of the robot is initially on this mentioned leg (5) (Figure 32); • Balancing member (1) expands (for instance, by means of heating method or a chemical reaction method based on the mixture of a liquid with another liquid) and flows towards the first leg (6) through the transfer channel (4). Thereby, it is ensured that the leg (6) that is manufactured as heavy to find its equivalence in the other leg (5) at the same level. Meantime, as the first leg (6) will become heavier due to the transferred balancing member (1), the vertical axis of the gravity center of the robot would be carried to this leg (6);

• Expansion is reversed (by means of the recooling method or the second chemical reaction method that would reverse the reaction) on the second leg (5); and it is ensured that the vertical axis of the gravity center of the robot would remain at its previous place (Figure 35).

The robot is moved (stepping) according to the above mentioned process in an embodiment wherein the balancing member (1) is transferred by means of expansion.

Another embodiment of the pumpless balancing system developed by this invention for the legged robots is the transfer of all of the balancing member (1) from one place to another by means of expansion (blast).

The basic principle for the transfer of the balancing member from one place to another (preferably from one leg to another leg) on the robot through expansion is shown in Figure 36, 37 and 38. In order to transfer the balancing member from one place to another on the robot by means of expansion; • The member (1) that will be transferred is emplaced inside a baloon (23) in the tank (2) on one leg. The baloon is attached to the tank (2) from its bottom part. Vertical axis of the gravity center of the robot is initially on this mentioned leg (5) (Figure 36);

• Balancing member (1) expands (for instance, by means of heating method or a chemical reaction method based on the mixture of a liquid with another liquid) and flows towards the other leg (6) through the transfer channel (4) (Figure 37). Meanwhile the baloon (23) containing the balancing member that is previously transferred is attached to the second leg (6) from its bottom part; and released from the first leg (5). Expansion is reversed at the first leg (6) (by recooling method or a second chemical reaction method that would reverse the reaction); the baloon (23) shrinks in a way to fit into the second leg (6); and the vertical axis of the gravity center would be transferred to the second leg (6) this time (Figure 38). The robot is moved (stepping) according to the above mentioned process in an embodiment wherein the balancing member (1) is transferred by means of expansion.

Another embodiment of the pumpless balancing system developed by this invention for the legged robots is the transfer of the balancing member that is motor (25) (a member that is pulled by the motor) from one place to another by means of shifting. . The basic principle for the transfer of the balancing member wherein the said member is motor (25) (a member that is pulled by the motor) from one place to another (preferably from one leg to another leg) on the robot through shifting is shown in Figure 39, 40 and 41. In order to transfer the balancing member (25) that is motor (or an organic living which can drive itself and/ or a member which would be carried by those) from one place to another on the robot by means of shifting;

• Weight (1) is attached to a motor (25) or the motor is heavy itself;

• A railed system (24) is placed on the legs / and or legs;

• Weight and the motor (25) are on the first leg (5). Motor (25) and the weight climb up by sliding over the railed system (24). Motor and the weight descends to the other leg (6).

The robot is moved (stepping) according to the above mentioned process in an embodiment wherein the balancing member (25) is motor (a member that is pulled by the motor) and is transferred by means of sliding.

Another embodiment of the pumpless balancing system developed by this invention for the legged robots is the transfer of the balancing member from one place to another by means of reverse piston system (26).

The basic principle for the transfer of the balancing member from one place to another (preferably from one leg to another leg) on the robot through the reverse piston system (26) is shown in Figure 42, 43 and 44. In order to transfer the balancing member (1) from one place to another on the robot by means of the reverse piston system (26); • Piston system (26) exists on both legs that have expanding chambers upon stepping;

• Equal amount of weight (1) is available on both legs while they are on the ground (Figure 43);

• When the leg (5) is removed from the ground; its chamber (2) shrinks and the liquid (1) inside the leg passes through the transfer channel (4) into the tank (3) within the other leg;

• Following the completion of the pass through the transfer channel (4) into the tank (3) within the other leg; the leg (5) can step from the ground (Figure 42 and 44). The robot is moved (stepping) according to the above mentioned process in an embodiment wherein the balancing member (1) is transferred by means of the reverse piston system (26).

Another embodiment of the pumpless balancing system developed by this invention for the legged robots is the transfer of the balancing member from one place to another by means of gravity.

The basic principle for the transfer of the balancing member from one place to another (preferably from one leg to another leg) on the robot through the gravity is shown in Figure 45, 46, 47, 48, 49, 50 and 51. In order to transfer the balancing member (1) from one place to another on the robot by means of the gravity; • Tanks (2 and 3) which are capable of sliding and include heavy weight (1) are positioned on both legs;

• When the tank (2) on one leg is lifted, heavy weight (1) passes through the transfer channel (4) to the tank (3) on the other leg by the effect of the gravity;

• Following the completion of the pass through the transfer channel (4) to the tank (3) on the other leg, the leg (5) can be removed from the ground.

The robot is moved (stepping) according to the above mentioned process in an embodiment wherein the balancing member (1) is transferred by means of the gravity.

Another embodiment of the pumpless balancing system developed by this invention for the legged robots is the transfer of the weight (1) inside the legs or a single leg from one place to another in the leg.

The basic principle for the transfer of the weight (1) inside the legs or a single leg from one place to another in the leg is shown in Figure 52, 53, 54 and 55. There are weights (1) inside each leg for the transfer of the weights (1) contained within the legs from one place to another inside the legs. In order to transfer the balancing member (1) from one place to another on the robot by means of the gravity;

When the weights (1) are in the middle of both two legs, the center of gravity of the robot (27) is situated in the middle of two feet (legs) (5 and 6) (Figure 52). When the weights (1) are transferred to the part of the legs in the same direction (Figure 53), the gravity center (27) of the robot shifts into the leg (6) outside the weight. Meantime, while the leg (6) bearing the gravity center (27) is in a fixed position, the other leg (5) start to move (Figure 54). Afterwards, the weights (1) are moved towards the other side (direction) (Figure 55) and the gravity center (27) of the robot shifts into the other leg (5).

The robot is moved (stepping) according to the above mentioned process in an embodiment wherein the weights (1) are transferred from one place to another inside the leg.

In each of the various embodiments of the pumpless balancing system developed by this invention for the legged robots, the balancing member (1) can be transferred to the other leg by benefiting from the gravity following its rise from the first leg.

It is not necessary to increase the robot to the waist level for the transfer of the balancing member (1) to the other leg in various embodiments of the pumpless balancing system developed by this invention for the legged robots. It is possible to realize the transfer from one leg to the other leg by means of a directly established channel. In each of the various embodiments of the pumpless balancing system developed by this invention for the legged robots, all of the processes such as explosion, heating and expansion in volume for the transfer of the balancing member (1) to the other leg can also be provided by the chemical reactions.

In each of the various embodiments of the pumpless balancing system developed by this invention for the legged robots, dynamic effects which might be created during the transfer of the balancing member (1) to the other leg can be utilized to avoid and / or slow down the robot from tilting. Thus, transfer of slightly less weight could be sufficient for the achievement of the balance dynamically.

The pumpless balancing system for the legged robots developed by this invention could be applied to the robots which move by wheels or paddles.

The pumpless balancing system for the legged robots developed by this invention could be applied to the robots which move by wheels or paddles and turn into robotic orthesis that carry men or exosceleton robots.

The tanks - chambers which are the members of the pumpless balancing system for the legged robots developed by this invention could have various levels of volume.

The fluid tanks of the robots to which the pumpless balancing system for the legged robots developed by this invention is applied could be positioned at the bottom part of the legs, inside, outside, side or above the leg; or the leg itself could be the fluid tank.

There may be valves (8) to guide or block the transfer of the balancing member (1) in any part of the system for the synchronization of some of the movements in the robots to which the pumpless balancing system for the legged robots developed by this invention is applied.