# US 10,940,582 (USPTO)

Leg power system structure of electrically driven four-legged robot. Body with four independent bilaterally symmetric leg modules; each leg has thigh motor, calf motor, and hip joint motor assemblies. Anti-parallelogram linkage housed inside thigh rod for compactness and impact protection. Modular integrated motor/reducer units with built-in cooling and brake assemblies.

## Key facts

- Jurisdiction: uspto
- Status: granted
- Number: US 10,940,582
- Filing date: 2018-03-08
- Grant date: 2021-03-02
- Verification posture: verified

## Parties (1)

- **assignee**: [Unitree Robotics](/companies/unitree-robotics.md) (verified)

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