Legged robot and robot leg with electrostatic discharge assembly

Abstract

The present invention refers to a legged robot (1001) comprising a first leg (1) and a second leg (2) adapted to walk the robot on a ground (g). The first leg (1) comprises a first electrostatic discharge assembly comprising a first electrostatic discharge contact (13) connected to a first electrostatically chargeable robot component (100), a first electrostatic discharge member (12) extending along the first leg (1) and a first electrostatic discharge foot (11). The first electrostatic discharge assembly is adapted to electrostatically discharge the first robot component (100) via the first electrostatic discharge contact (13) to the first electrostatic discharge member (12), to the first electrostatic discharge foot (11) and to the ground (g).

Description

[Technical field]

[0001] The present invention relates to a legged robot, and in particular to a quadruped robot equipped with an electrostatic discharge assembly. In addition, the present invention further relates to a robot leg equipped with an electrostatic discharge assembly. [Background technology]

[0002] Legged robots are used for a variety of tasks, especially to assist humans in dangerous environments. Typically, legged robots include one or more legs, each terminating in a foot.

[0003] In order to use a legged robot in an explosive environment, it is advantageous if the robot is constructed to exercise certain precautions, for example, the robot should be constructed such that it is not itself explosive and does not contribute to an explosion in such an environment.

[0004] One difficulty with this is to build the robot so that it does not become electrostatically charged, which can occur not only through electrical circuitry placed within the robot, but also through friction between the robot and the ground, e.g. a carpeted floor, or through friction caused by wind.

[0005] Typically, known robots in the prior art use electrostatic discharge wires to discharge the robot housing and its components, thus a dedicated wire connecting the robot to ground.

[0006] In any case, such discharge wires are not practical for robotic operations in harsh environments: the wires can easily break or become deformed so as not to maintain contact with the ground, and the robot's legs can easily become entangled with such wires during robot operation. Summary of the Invention

[0007] The problem to be solved by the invention is therefore to provide a legged robot adapted to work in harsh environments and equipped with means to prevent electrostatic charging.

[0008] This problem is solved by a legged robot according to a first aspect of the invention and by a robot leg according to a second aspect of the invention.

[0009] Unless otherwise stated, the following definitions apply herein.

[0010] As used in the context of the present invention, the terms "a," "an," "the," and similar terms should be construed to cover both the singular and the plural, unless otherwise indicated herein or clearly contradicted by the context. Furthermore, the terms "including," "including," and "comprising" are used herein in an open and non-limiting sense. The term "comprising" includes both "comprising" and "consisting of."

[0011] The term "robot torso" or "torso" refers to the main body of the robot comprising the logic components for controlling the robot, and advantageously the limb sections or limbs are attached to the torso. In particular the torso may comprise multiple limbs, for example in the case of a quadruped robot.

[0012] According to a first aspect of the invention, a legged robot, in particular a quadruped robot, comprises a first robot component capable of being electrostatically charged. Such a first robot component may be the robot's housing, the robot's circuitry, the robot's legs, or any separate part attached to the robot or integrated into the robot's torso.

[0013] Additionally, the robot comprises at least a first leg and a second leg adapted to make the robot walk on a ground, in particular in such a way that the movements of the first leg and the second leg are made to proceed at the same speed to mimic the animal-like movements of the legged robot. In particular, the first leg and the second leg are attached to the torso of the robot.

[0014] At least the first leg includes a first electrostatic discharge assembly. The first electrostatic discharge assembly includes: a first electrostatic discharge contact connected to a first electrostatically chargeable robot component; a first electrostatic discharge member extending along the first leg; The first electrostatic discharge foot and Equipped with.

[0015] The first electrostatic discharge assembly is adapted to electrostatically discharge the first robotic component, and thus to discharge static electricity of the first robotic component via the first electrostatic discharge contact, to the first electrostatic discharge member, to the first electrostatic discharge foot, and to the ground, particularly in the above mentioned order.

[0016] The electrostatic discharge assembly has the effect of discharging electrostatic charge in a controlled manner to prevent uncontrolled equalization of potential between electrostatically chargeable robot components and the environment, and in particular between individual electrostatically chargeable robot components.

[0017] Thus, in one advantageous embodiment of the invention, each electrostatic discharge assembly comprises a respective electrostatic discharge contact electrically connected at one end to one or more electrostatically chargeable robot components and further connected at the other end to a respective electrostatic discharge member, and each electrostatic discharge member is in turn electrically connected at one end to a respective electrostatic discharge contact and at the other end to a respective first electrostatic discharge foot.

[0018] Advantageously, a first end of the first leg, adapted to be mounted on the robot's torso, corresponds to a first electrostatic discharge contact that is connectable to a first robot component that can be electrostatically charged. Furthermore, it is advantageous that the first electrostatic foot corresponds to a second end of the first leg that stands on the ground, the first end of the leg and the second end of the leg being connected by a leg structure, the leg structure comprising a first electrostatic discharge member that electrostatically connects the first electrostatic discharge contact with the first electrostatic discharge foot. In particular, the first electrostatic discharge member can be the leg structure itself or can be part of the leg structure.

[0019] In an application of a legged robot for walking on a ground surface, a first electrostatic discharge foot of a first leg touches the ground at least once within each walking cycle to discharge static electricity of a first robot component, particularly of the first leg.

[0020] The term "one gait cycle" has the advantage that one gait cycle has one swing phase (take-off to landing) and one stance phase (when the foot remains in contact with the ground). One gait cycle is defined from take-off to take-off.

[0021] In a further advantageous embodiment of the invention, the second leg of the legged robot comprises a second electrostatic discharge assembly.

[0022] The second electrostatic discharge assembly includes: a second electrostatic discharge contact connected to the first robotic component capable of being electrostatically charged and / or the second robotic component capable of being electrostatically charged; a second electrostatic discharge member extending along the second leg; Second static discharge foot and Equipped with.

[0023] The second electrostatic discharge assembly is adapted to electrostatically discharge the first robotic component and / or the second robotic component via the second electrostatic discharge contacts to the second electrostatic discharge member, to the second electrostatic discharge feet, and to the ground, electrostatically discharging the first robotic component and / or the second robotic component.

[0024] In a further advantageous embodiment of the invention, in the application of a legged robot for walking on a ground surface, the second electrostatic discharge foot of the second leg touches the ground at least once within each walking cycle, in particular each walking cycle of the first leg or the second leg itself, to electrostatically discharge the first robotic component and / or the second robotic component.

[0025] In a further advantageous embodiment application of the legged robot with a first leg and a second leg for making the legged robot walk on a ground surface, the first electrostatic discharge foot of the first leg and / or the second electrostatic discharge foot of the second (2) leg touches the ground surface, i.e., at any one time, either the first electrostatic discharge foot and / or the second electrostatic discharge foot is in contact with the ground surface.

[0026] A further advantage of this embodiment is that the first electrostatic discharge contact of the first electrostatic discharge assembly of the first leg and the second electrostatic discharge contact of the second electrostatic assembly of the second leg are both connected to the first robot component. In such an embodiment, one of the first and / or second electrostatic discharge feet is always in contact with the ground, and the first robot component is always at ground potential, so that the risk of electrostatic charging of the first robot component is minimized and may even be kept within predefined limits.

[0027] In a further advantageous embodiment of the invention, the legged robot comprises, in addition to the first and second leg, also a third and / or a fourth leg, with the advantage that the movements of the first, second, third and / or fourth leg are made to proceed at the same speed so as to mimic the animal-like movements of the legged robot.

[0028] Advantageously, each of the first leg, the second leg, the third leg, and / or the fourth leg comprises a respective electrical discharge assembly. Thus, one such embodiment comprises a first discharge assembly included in the first leg, a second discharge assembly included in the second leg, a third discharge assembly included in the third leg, and / or a fourth discharge assembly included in the fourth leg.

[0029] Each of the respective electrostatic discharge assemblies includes a respective electrostatic discharge contact.

[0030] Thus, one such embodiment comprises a first electrostatic discharge contact included on the first leg, a second electrostatic discharge contact included on the second leg, a third electrostatic discharge contact included on the third leg, and / or a fourth electrostatic discharge contact included on the fourth leg.

[0031] Each of the respective electrostatic discharge contacts is connected to a respective electrostatically chargeable robotic component of the robot. Thus, such an embodiment may comprise a first electrostatically chargeable robotic component, a second electrostatically chargeable robotic component, a third electrostatically chargeable robotic component, and / or a fourth electrostatically chargeable robotic component.

[0032] In particular, the first robotic component, the second robotic component, the third robotic component, and / or the fourth robotic component may refer to different components, or may refer to the same component, or may refer to different components connected to each other, or may refer to a mix of those components.

[0033] In an advantageous embodiment of the invention, each electrostatically chargeable robot component may be a separate and distinct component, or may refer to the same robot component, e.g., the respective electrostatic discharge contacts may all be connected to the same housing of the robot.

[0034] In using the first leg, the second leg, the third leg, and / or the fourth leg to cause such an advantageous embodiment of a legged robot to walk on a ground surface, the first electrostatic foot, the second electrostatic foot, the third electrostatic foot, and / or the electrostatic foot of the fourth leg touches the ground surface at least once within each walking cycle to electrostatically discharge the first robotic component and / or the second robotic component and / or the third robotic component and / or the fourth robotic component.

[0035] In an advantageous embodiment of the invention, the first leg, the second leg, the third leg, and / or the fourth leg each include a respective first electrostatic discharge assembly, a second electrostatic discharge assembly, a third electrostatic discharge assembly, and / or a fourth electrostatic discharge assembly.

[0036] In a further advantageous embodiment of the invention, only the first legs are provided with a respective first electrostatic discharge assembly.

[0037] In a further advantageous embodiment of the invention, only the first leg and the second leg are provided with respective first and second electrostatic discharge assemblies.

[0038] In a further advantageous embodiment of the present invention, only the first leg, the second leg, and the third leg are provided with respective first electrostatic discharge assemblies, second electrostatic discharge assemblies, and third electrostatic discharge assemblies.

[0039] Thus, a robot may comprise a first leg, a second leg, a third leg, and / or a fourth leg, but only the first leg, the second leg, the third leg and / or the fourth leg may comprise a respective electrostatic discharge assembly and thus only the first leg, the second leg, the third leg and / or the fourth leg may be adapted to electrostatically discharge the robot.

[0040] In one advantageous embodiment of the present invention, the electrostatic discharge assembly is adapted to provide an ESD≦10 12 Ω electrostatic discharge (ESD) protection.

[0041] A second aspect of the invention refers to a robot leg adapted to make the robot walk on a ground, in particular the robot leg being the first leg, the second leg, the third leg and / or the fourth leg of the legged robot according to the first aspect of the invention.

[0042] In a further advantageous embodiment of the robot leg, the leg may be a single standing leg of the robot adapted to electrically discharge the robot.

[0043] The robot legs are an electrostatic discharge contact (13) connectable to a robot component (100) that may be electrostatically charged; an electrostatic discharge member (12) extending along each leg; Electrostatic discharge foot (11) and The electrostatic discharge assembly includes:

[0044] The electrical discharge assembly is adapted to electrostatically discharge the robot component via the electrostatic discharge contacts, to the electrostatic discharge member, to the electrostatic discharge feet, and to the ground, particularly in that order.

[0045] In applications of robot legs for walking the robot on a ground surface, the electrostatic discharge feet of the legs have the advantage that they touch the ground at least once within each walking cycle to electrostatically discharge the robot components.

[0046] A walking cycle for a robot leg refers to the phases that begin when the robot lifts a first leg off the ground, continue while the robot foot is in the air, returns to the ground, comes to rest on the ground, and ends when the robot begins to lift the robot foot again.

[0047] In a further advantageous embodiment of the invention, the robot leg comprises between the electrostatic discharge contact and the electrostatic discharge foot: a hip abduction / adduction (HAA) actuator adapted to connect to the robot torso and connecting to a hip flexion / extension (HFE) joint; a hip flexion / extension (HFE) joint connected to a hip flexion / extension (HFE) actuator; a hip flexion / extension (HFE) actuator connected to the upper leg; an upper leg that connects to a knee flexion / extension (KFE) actuator; a knee flexion / extension (KFE) actuator connected to the shin; a shin connecting to the shin tube; a shin tube adapted to connect to a robot foot or a robot foot adaptor adapted to connect to a robot foot; Equipped with.

[0048] In a further advantageous embodiment, the electrostatic discharge foot comprises an electrostatic discharge material selected from the list of an electrostatic discharge elastomeric material, an electrostatic discharge plastic material, or any material comprising an electrostatic discharge element.

[0049] In a further advantageous embodiment of the invention, the shells covering the robot leg, in particular the HAA actuator, the HFE joint, the HFE actuator, the upper leg, the KFE actuator, the shin, and / or the shin tube, are insulating, and the electrostatic discharge assemblies are disposed within the insulating shells of the respective components.

[0050] In a further advantageous embodiment of the invention, the shells covering the robot leg, in particular the HAA actuator, the HFE joint, the HFE actuator, the upper leg, the KFE actuator, the shin, and / or the shin tube, are electrically conductive, and the electrostatic discharge assemblies are disposed within the conductive shells of the respective components.

[0051] A third aspect relates to the use of a first electrical discharge assembly for a legged robot, in particular a quadruped robot, the first electrical discharge assembly comprising: a first electrostatic discharge contact connected to a first electrostatically chargeable robot component; a first electrostatic discharge member extending along the first leg; The first electrostatic discharge foot and Equipped with a first electrostatic discharge assembly adapted to electrostatically discharge the first robot component via the first electrostatic discharge contact to the first electrostatic discharge member, to the first electrostatic discharge foot, and to the ground; In an application of a legged robot for walking on a ground surface, a first electrostatic discharge foot of a first leg touches the ground at least once within each walking cycle to electrostatically discharge a first robot component; Mention the use.

[0052] Further advantageous embodiments are recited in the dependent claims as well as in the following description.

[0053] The invention will be better understood and objects other than those set forth above will become apparent from the following detailed description of the invention, which refers to the accompanying drawings, in which: [Brief description of the drawings]

[0054] [Figure 1] 1 is a schematic diagram of a legged robot according to an embodiment of the present invention, the legged robot comprising a first leg and a second leg. [Figure 2a] FIG. 2 is a schematic diagram of a first electrostatic discharge assembly in accordance with one embodiment of the present invention. [Figure 2b] FIG. 2b is an enlarged view of FIG. 2a. [Diagram 3] FIG. 2 is a schematic diagram of a legged robot according to a further embodiment of the present invention, the legged robot comprising a first leg, a second leg, a third leg, and a fourth leg. [Figure 4] FIG. 1 is a schematic diagram of a robot leg according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0055] FIG. 1 shows a schematic of a legged robot (1001) according to one embodiment of the present invention. The legged robot (1001) comprises a first leg (1) and a second leg (2) adapted to make the robot walk on a ground surface (g). The first leg (1) has: a first electrostatic discharge contact (13) connected to a first electrostatically chargeable robot component (100); a first electrostatic discharge member (12) extending along the first leg (1); A first electrostatic discharge foot (11) and The first electrostatic discharge assembly comprises:

[0056] Advantageously, as shown in FIG. 1, the first electrostatic discharge contact portion (13), the first electrostatic discharge member (12) and the first electrostatic discharge foot (11) are in the above-mentioned sequential arrangement along the first leg (1).

[0057] The first electrostatically chargeable robot component (100) is, for example, the housing of a robot, as shown here. Although not shown here, the first electrostatically chargeable robot component (100) may further refer to any electrostatically chargeable component inside or attached to a robot or a robot torso or any robot leg. In particular, the first electrostatically chargeable robot component (100) may also refer to a LiDAR attached to a robot.

[0058] The first electrostatic discharge assembly is adapted to electrostatically discharge the first robot component (100) via the first electrostatic discharge contact (13) to the first electrostatic discharge member (12), to the first electrostatic discharge foot (11), and to the ground (g).

[0059] In application of the legged robot (1001) to walking on a ground surface (g), the first electrostatic discharge foot (11) of the first leg (1) touches the ground surface (g) at least once within each walking cycle to electrostatically discharge the first robot component (100).

[0060] In a further advantageous embodiment of the legged robot (1001) shown in FIG. 1, the second leg (2) is equipped with a second electrostatic discharge assembly. The second electrostatic discharge assembly comprises: a second electrostatic discharge contact connected to the first robotic component (100) capable of being electrostatically charged and / or to the second robotic component capable of being electrostatically charged; a second electrostatic discharge member extending along the second leg (2); A second electrostatic discharge foot (21) and Equipped with.

[0061] The second electrostatic discharge assembly is adapted to electrostatically discharge the first robotic component (100) and / or the second robotic component via the second electrostatic discharge contacts, to the second electrostatic discharge feet (21) and to the ground (g) for the purpose of discharging the first robotic component (100) and / or the second robotic component.

[0062] In a further advantageous embodiment of the legged robot (1001) shown in FIG. 1, in use of the legged robot (1001) for walking on a ground surface (g), the second electrostatic discharge foot (21) of the second leg (2) touches the ground surface (g) at least once within each walking cycle to electrostatically discharge the first robotic component (100) and / or the second robotic component.

[0063] In a further advantageous embodiment of the legged robot (1001), in the application of the legged robot (1001) for walking on the ground (g), the first electrostatic discharge foot of the first leg (1) and / or the second electrostatic discharge foot of the second leg (2) are in contact with the ground (g). Since at least one leg is always in contact with the ground (g), the electrostatically chargeable robot component and / or the second electrostatically chargeable robot component are always at ground potential, thus preventing any charging of the robot component and / or the second robot component. This may be the case in particular in the walking mode.

[0064] Additionally, in a further embodiment of the legged robot (1001), it may further be that the first electrostatic discharge contact of the first electrostatic discharge assembly of the first leg and the second electrostatic discharge contact of the second electrostatic assembly of the second leg are both connected to a first robot component (100), e.g., the robot torso.

[0065] In particular, in a configuration in which either the first electrostatic discharge assembly or the second electrostatic discharge assembly, or both, are constantly touching ground (d), the first electrostatically chargeable robot component (100) is always at ground potential, and thus electrostatic charging of the first robot component is prevented.

[0066] FIG. 2a discloses an embodiment of the first or second electrostatic discharge assembly or any other electrostatic discharge assembly. The first electrostatic discharge assembly comprises a first electrostatic discharge contact (13), which may be any contact that electrically connects the electrostatic discharge assembly to a first electrostatically chargeable component (100). In addition, the electrostatic discharge assembly further comprises a first electrostatic discharge member (12) extending along the first leg (1). In particular, such a first electrostatic discharge member (12) may comprise multiple electrical paths (e.g., as shown in a close-up view, FIG. 2b) between individual parts of the first leg (1) that are cooperatively attached to form the first leg (1).

[0067] The first discharge assembly is advantageously used for a legged robot.

[0068] Figure 2b shows a close-up view of the first leg section 1' showing the knee flexion / extension actuator (116) between the upper leg (113) of the first leg (1) and the shank (114) of the first leg. The electrostatic path through the shank (114) is achieved using a threaded connection as shown in Figure 2b. This is one example of how one embodiment of the first electrostatic discharge assembly or in particular the first electrostatic discharge member (12) can be achieved.

[0069] Advantageously, a cable shield integrated into the shank (114) can be adapted to provide a static electricity path.

[0070] Furthermore, the casings of the upper leg (113), knee flexion / extension actuator (116), shin (114) and shin tube (115) have the advantage that they comprise aluminum, which is anodized and therefore not conductive, and the static electricity passage occurs through the core material of the aluminum parts and the connecting metallic screws, which are conductive.

[0071] Further examples of how electrostatic passage through the electrostatic discharge assembly, or particularly the electrostatic discharge member, can be achieved are with metal clamps, metal interconnects, or any other fastening parts of conductive material (e.g., conductive screws, conductive clamps, conductive O-rings, etc.).

[0072] Figure 3 shows an embodiment of the present invention comprising, in addition to the first leg (1) and the second leg (2), a third leg (3) and a fourth leg (4). The four legs (1, 2, 3, 4) are adapted to make the legged robot (1001) walk on the ground. In particular, the first leg (1), the second leg (2), the third leg (3) and the fourth leg (4) are adapted to move forward at the same speed in order to make the robot walk with an animal-like locomotion on the ground (g).

[0073] The first leg (1), the second leg (2), the third leg (3), and / or the fourth leg (4) each include a respective first electrostatic discharge assembly, a second electrostatic discharge assembly, a third electrostatic discharge assembly, and / or a fourth electrostatic discharge assembly.

[0074] In an advantageous embodiment of the invention, the first leg (1), the second leg (2), the third leg (3) and / or the fourth leg (4) each comprise a respective first electrostatic discharge assembly, a second electrostatic discharge assembly, a third electrostatic discharge assembly and / or a fourth electrostatic discharge assembly.

[0075] In a further advantageous embodiment of the invention, only the first leg (1) is provided with a respective first electrostatic discharge assembly.

[0076] In a further advantageous embodiment of the invention, only the first leg (1) and the second leg (2) are provided with the respective first and second electrostatic discharge assemblies.

[0077] In a further advantageous embodiment of the present invention, only the first leg (1), the second leg (2) and the third leg (3) comprise the respective first electrostatic discharge assembly, the second electrostatic discharge assembly and the third electrostatic discharge assembly.

[0078] Each of the respective first electrostatic discharge assembly, second electrostatic discharge assembly, third electrostatic discharge assembly, and / or fourth electrostatic discharge assembly includes a respective first electrostatic discharge contact (13), second electrostatic discharge contact, third electrostatic discharge contact, and / or fourth electrostatic discharge contact.

[0079] Each of the respective first electrostatic discharge contact portion (13), second electrostatic discharge contact portion, third electrostatic discharge contact portion, and / or fourth electrostatic discharge contact portion is in contact with a respective first electrostatically chargeable robotic component (100), second electrostatically chargeable robotic component, third electrostatically chargeable robotic component, and / or fourth electrostatically chargeable robotic component.

[0080] That is, for example, it is conceivable that the first and second electrostatic discharge contacts are connected together to the first and second electrostatic chargeable robotic components, or to the first and third robotic components, or to the first and fourth robotic components. Alternatively, it is conceivable that the first and third electrostatic discharge contacts are connected together to the first and third electrostatic chargeable robotic components, or to the second and third robotic components, or to the second and fourth robotic components. Alternatively, it is conceivable that the first and fourth electrostatic discharge contacts are connected together to the first and fourth electrostatic chargeable robotic components, or to the second and fourth robotic components, or to the third and fourth robotic components. Alternatively, it is contemplated that the second electrostatic discharge contact and the third electrostatic discharge contact both connect to the second electrostatic chargeable robotic component and the third electrostatic chargeable robotic component, or any other combination of the first electrostatic discharge contact, the second electrostatic discharge contact, the third electrostatic discharge contact, and / or the fourth electrostatic discharge contact connecting to one or more of the first electrostatic chargeable robotic component, the second electrostatic chargeable robotic component, the third electrostatic chargeable robotic component, and / or the fourth electrostatic chargeable robotic component is contemplated.

[0081] In application of the legged robot (1001) for walking on a ground surface (g), the first electrostatic foot (11), the second electrostatic foot (21), the third electrostatic foot (31), or the fourth electrostatic foot (41) of each of the first electrostatic discharge assembly, the second electrostatic discharge assembly, the third electrostatic discharge assembly, or the fourth electrostatic discharge assembly touches the ground surface (g) at least once within each walking cycle to electrostatically discharge the respective first robotic component (100), the second robotic component, the third robotic component, and / or the fourth robotic component.

[0082] In particular, the first robotic component (100), the second robotic component, the third robotic component, and / or the fourth robotic component may be the same component, or may be separate components or components connected to each other, or a mixture thereof.

[0083] In particular, for example, the first electronic discharge assembly and the second electronic discharge assembly may be connected to the same first robotic component.

[0084] In a further advantageous embodiment of the invention shown in FIG. 3, the first leg (1) comprises between the first electrostatic discharge contact (13) and the electrostatic discharge foot (11): a first hip abduction / adduction actuator (111) adapted to connect to the robot torso and connecting to a first hip flexion / extension joint (112a); a first hip flexion / extension joint (112a) connected to a first hip flexion / extension actuator (112); a first hip flexion / extension actuator (112) connected to the first upper leg (113); a first upper leg (113) connected to a first knee flexion / extension actuator (116); a first knee flexion / extension actuator (116) connected to the first leg portion (114); a first shank (114) that connects to a first shank tube (115); a first shin tube (115) adapted to connect to a first robot foot (11), or a first robot foot adapter (1002) adapted to connect to a first electrostatic discharge robot foot (11) of the first leg; It may comprise:

[0085] In particular, each of the first leg, the second leg, the third leg, and / or the fourth leg may include between a respective electrostatic discharge contact (13) and the electrostatic discharge foot (11): a respective hip abduction / adduction actuator (111) adapted to connect to the robot torso and connecting to a respective hip flexion / extension joint (112a); a respective hip flexion / extension joint (112a) connected to a respective hip flexion / extension actuator (112); a respective hip flexion / extension actuator (112) connected to each of the upper legs (113); a respective upper leg (113) connected to a respective knee flexion / extension actuator (116); a respective knee flexion / extension actuator (116) connected to each of the shins (114); a respective shank (114) connecting to a respective shank tube (115); a respective shin tube (115) adapted to connect to a respective robot foot (11) or to a respective robot foot adapter (1002) adapted to connect to a respective electrostatic discharge robot foot (11) of the respective leg; It may comprise:

[0086] Figure 4 shows an embodiment of a robot leg (1) according to the second aspect of the invention, adapted to make a robot (1001) walk on a ground surface (g). an electrostatic discharge contact (13) connectable to a robot component (100) that may be electrostatically charged; an electrostatic discharge member (12) extending along each leg; Electrostatic discharge foot (11) and The electrostatic discharge assembly includes:

[0087] The electrical discharge assembly is adapted to electrostatically discharge the robot component (100) via the electrostatic discharge contacts (13) to the electrostatic discharge member (12), to the electrostatic discharge feet (11) and to the ground (g).

[0088] In the application of the robot leg (1) for making the robot (1001) walk on a ground (g), the electrostatic discharge foot (11) of the leg (1) touches the ground (g) at least once within each walking cycle to electrostatically discharge the robot component (100). In a further advantageous embodiment of the robot leg (1) shown in FIG. 4, the leg (1) comprises a contact between the electrostatic discharge contact (13) and the electrostatic discharge foot (11): a hip abduction / adduction actuator (111) adapted to connect to the robot torso and connected to a hip flexion / extension joint (112a); a hip flexion / extension joint (112a) connected to a flexion / extension actuator (112); a hip flexion / extension actuator connected to the upper leg (113); The upper leg (113) connects to a knee flexion / extension actuator (116); a knee flexion / extension actuator (116) connected to the shin (114); The shank (114) connects to the shank tube (115); The shin tube (115) is adapted to connect to the robotic foot (11) or the robotic foot adapter (1002).

[0089] In a further advantageous embodiment of the robot leg (1) shown in FIG. 4, the electrostatic discharge foot (11) comprises an electrostatic dischargeable foot material, for example an electrostatic dischargeable elastomer. [Explanation of symbols]

[0090] 1 First leg 100 First electrostatically chargeable robot component 1001 Legged Robot 1002 Robot Foot Adapter 11 Electrostatic discharge foot of first leg 111 Hip abduction / adduction actuator 112 Hip flexion / extension actuator 112a Hip flexion / extension joint 113 Upper leg 114 Shin 115 Tibial tube 116 Knee flexion / extension actuator 12 Electrostatic discharge material 13 Electrostatic discharge contacts 2 Second leg 21 Electrostatic discharge foot on second leg 3. Third leg 31 Electrostatic discharge foot of the third leg 4 Fourth leg 41 Electrostatic discharge foot of the fourth leg g ground

Claims

1. A legged robot (1001), in particular a quadruped robot, comprising at least a first leg (1) and a second leg (2) adapted to make said robot walk on a ground surface (g), The first leg (1) a first electrostatic discharge contact (13) connected to a first electrostatically chargeable robot component (100); a first electrostatic discharge member (12) extending along the first leg (1); A first electrostatic discharge foot (11); a first electrostatic discharge assembly comprising: the first electrostatic discharge assembly is adapted to electrostatically discharge the first robot component (100) via the first electrostatic discharge contact (13) to the first electrostatic discharge member (12), to the first electrostatic discharge foot (11), and to the ground (g); In the use of the legged robot (1001) for walking on the ground (g), the first electrostatic discharge foot (11) of the first leg (1) touches the ground (g) at least once within each walking cycle to electrostatically discharge the first robot component (100).

2. The second leg (2) a second electrostatic discharge contact connected to the first electrostatically chargeable robot component (100) and / or to a second electrostatically chargeable robot component; a second electrostatic discharge member extending along the second leg (2); A second electrostatic discharge foot (21); a second electrostatic discharge assembly comprising: the second electrostatic discharge assembly is adapted to electrostatically discharge the first robot component (100) and / or the second robot component via the second electrostatic discharge contact to the second electrostatic discharge member, to the second electrostatic discharge foot (21) and to the ground (g) to electrostatically discharge the first robot component (100) and / or the second robot component; 2. The legged robot (1001) of claim 1.

3. 3. The legged robot (1001) of claim 2, wherein in an application of the legged robot (1001) for walking on the ground surface (g), the second electrostatic discharge foot (21) of the second leg (2) touches the ground surface (g) at least once within each walking cycle to electrostatically discharge the first robot component (100) and / or the second robot component.

4. 4. The legged robot (1001) of claim 2 or 3, wherein in the use of the legged robot (1001) for walking on the ground (g), the first electrostatic discharge foot of the first leg (1) and / or the second electrostatic discharge foot of the second leg (2) is in contact with the ground (g).

5. 5. The legged robot (1001) of claim 1, wherein the first electrostatic discharge contact of the first electrostatic discharge assembly of the first leg and the second electrostatic discharge contact of the second electrostatic assembly of the second leg are both connected to the first robot component (100).

6. a third leg (3) and a fourth leg (4) adapted to cause the robot (1001) to walk on a ground surface (g); each of the first leg (1), the second leg (2), the third leg (3), and / or the fourth leg (4) comprising a respective first electrostatic discharge assembly, a second electrostatic discharge assembly, a third electrostatic discharge assembly, and / or a fourth electrostatic discharge assembly; each of the first electrostatic discharge assembly, the second electrostatic discharge assembly, the third electrostatic discharge assembly, and / or the fourth electrostatic discharge assembly comprises a respective first electrostatic discharge contact (13), a second electrostatic discharge contact, a third electrostatic discharge contact, and / or a fourth electrostatic discharge contact; each of the first electrostatic discharge contacts (13), the second electrostatic discharge contacts, the third electrostatic discharge contacts, and / or the fourth electrostatic discharge contacts is in contact with a respective first electrostatically chargeable robot component (100), a second electrostatically chargeable robot component, a third electrostatically chargeable robot component, and / or a fourth electrostatically chargeable robot component; In a use of the legged robot (1001) for walking on the ground surface (g), a first electrostatic foot (11), a second electrostatic foot (21), a third electrostatic foot (31) and / or a fourth electrostatic foot (41) of each of the first electrostatic discharge assembly, the second electrostatic discharge assembly, the third electrostatic discharge assembly and / or the fourth electrostatic discharge assembly touches the ground surface (g) at least once within each walking cycle to electrostatically discharge each of the first robot component (100), the second robot component, the third robot component and / or the fourth robot component. A legged robot (1001) according to any one of claims 1 to 5.

7. The electrostatic discharge assembly has an ESD≦10 １２ 7. The legged robot (1001) of claim 1, requiring electrostatic discharge protection of Ω.

8. A robot leg (1) adapted to make a robot (1001) walk on a ground surface (g), an electrostatic discharge contact (13) connectable to a robot component (100) that can be electrostatically charged; an electrostatic discharge member (12) extending along each of said legs; Electrostatic discharge foot (11) and an electrostatic discharge assembly comprising: the electrical discharge assembly is adapted to electrostatically discharge the robot component (100) via the electrostatic discharge contacts (13) to the electrostatic discharge member (12), to the electrostatic discharge feet (11) and to the ground (g); In particular, in the use of the robot leg (1) for making the robot (1001) walk on the ground (g), the electrostatic discharge foot (11) of the leg (1) touches the ground (g) at least once within each walking cycle to electrostatically discharge the robot component (100).

9. Between the electrostatic discharge contact portion (13) and the electrostatic discharge foot (11), a hip abduction / adduction actuator (111) adapted to connect to the robot torso and connected to a hip flexion / extension joint (112a); the hip flexion / extension joint (112a) is connected to a hip flexion / extension actuator (112); the hip flexion / extension actuator (112) is connected to the upper leg (113); the upper leg (113) connects to a knee flexion / extension actuator (116); the knee flexion / extension actuator (116) is connected to the shin (114); The shank (114) connects to a shank tube (115); The shin tube (115) is adapted to connect to the robot foot (11) or to a robot foot adaptor (1002) adapted to connect to the robot foot (11); A robot leg (1) according to claim 8.

10. Use of a first electrical discharge assembly for a legged robot (1001), in particular for a quadruped robot, said first electrical discharge assembly comprising: a first electrostatic discharge contact (13) connected to a first electrostatically chargeable robot component (100); a first electrostatic discharge member (12) extending along the first leg (1); A first electrostatic discharge foot (11); Equipped with the first electrostatic discharge assembly is adapted to electrostatically discharge the first robot component (100) via the first electrostatic discharge contact (13) to the first electrostatic discharge member (12), to the first electrostatic discharge foot (11), and to the ground (g); Use of the legged robot (1001) for walking on the ground (g), wherein the first electrostatic discharge foot (11) of the first leg (1) touches the ground (g) at least once within each walking cycle to electrostatically discharge the first robot component (100).

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