Robotic bouncing ball

• US 10,092,850 B1
• Filed: 07/12/2017
• Issued: 10/09/2018
• Est. Priority Date: 07/12/2017
• Status: Active Grant

• Current Assignee: California Institute of Technology, Disney Enterprises Incorporated (The Walt Disney Company)
• Original Assignee: California Institute of Technology, Disney Enterprises Incorporated (The Walt Disney Company)
• Inventors: Smoot, Lanny S., Niemeyer, Gunter D., Ames, Aaron D., Christensen, David Loyal
• Primary Examiner(s): Paul, Antony M
• Application Number:
  US15/648,174
• Time in Patent Office: 454 Days
• Field of Search: 31856811, 31856812, 3185682, 318585, 31840001, 318700, 318701, 318727, 318799, 318135, 700245, 700261, 901 1, 901 23, 901 30, 901 32, 901 36
• CPC Class Codes: A63B 2220/40 Acceleration
• CPC Class Codes: A63B 24/00 Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
• CPC Class Codes: A63B 41/00 Hollow inflatable balls
• CPC Class Codes: A63B 43/00 Balls with special arrangements
• CPC Class Codes: A63B 43/004 electrically conductive, e.g. for automatic arbitration
• CPC Class Codes: A63B 43/04 with an eccentric centre of gravity; with mechanism for changing the centre of gravity solid balls A63B37/10
• CPC Class Codes: A63H 11/00 Self-movable toy figures
• CPC Class Codes: A63H 29/22 Electric drives power supply through track A63H18/12
• CPC Class Codes: B25J 11/00 Manipulators not otherwise provided for

Abstract

A robot with an elastic, spherically-shaped body with controlled bouncing locomotion. This robot may be called “a robotic bouncing ball.” The robotic bouncing ball can be used to provide a new class of robotic characters that are ball-like, and these new robotic characters bounce in place and from one location to another. The spherical body will typically be formed with a thin wall of elastic material such as a rubber or the like, and a drive or actuator assembly along with a local controller and a power source are positioned in the interior space of the hollow body. The controller controls the drive assembly to cause the spherical body to bounce up and down vertically and to provide horizontal/lateral movement of the spherical body through the applications of deforming and/or reforming forces on the elastic outer wall.

Claims

1. A robot with bounce-based locomotion on a support surface, comprising:

a body comprising an outer wall enclosing an interior space, wherein the outer wall comprises a first portion formed of an elastic material;

a driver supported by a mounting element within the interior space of the body; and

a controller generating control signals to operate the driver to apply a first force upon the first portion of the outer wall of the body,

wherein the body bounces at least in a vertical direction through a range of heights above the support surface,

wherein the outer wall comprises a second portion, opposite the first portion, formed of an elastomeric material,

wherein the first force comprises a deforming force pulling the first portion of the outer wall a distance toward a center of the interior space, and

wherein the controller further operates the driver to repeatedly apply the first force and to repeatedly release the first force during an initial stage of each of the bounces of the body.

2. The robot of claim 1, wherein the body is spherical and wherein the interior space is filled with a volume of gas to inflate the body to an outer diameter in a predefined range.

3. The robot of claim 1, wherein the elastic material comprises rubber.

4. The robot of claim 1, further comprising a battery supported by the mounting element in the interior space and providing power to the driver and the controller.

5. The robot of claim 1, wherein the controller further operates the driver to apply a second force upon the second portion of the outer wall during a later stage of each of the bounces of the body.

6. The robot of claim 5, wherein the controller determines a bottom of each of the bounces and wherein the controller synchronizes the release of the first force and the applying of the second force with the bottom of each of the bounces.

7. The robot of claim 1, wherein the driver comprises a connecting rod attached to the outer wall in the first portion and further comprises a linear actuator moving the connecting rod along a linear path to apply the first force.

8. The robot of claim 7, further comprising a weight supported on the mounting element distal from the first portion and opposite the connecting rod and wherein the body is steered in a horizontal direction relative to the support surface by the controller selectively shifting the weight or rotating an angle of the linear actuator.

9. A robot with bounce-based locomotion on a support surface, comprising:

a body comprising an outer wall enclosing an interior space, wherein the outer wall comprises a first portion formed of an elastic material;

a driver supported by a mounting element within the interior space of the body; and

a controller generating control signals to operate the driver to apply a first force upon the first portion of the outer wall of the body, wherein the body bounces at least in a vertical direction through a range of heights above the support surface, and

wherein the body is spherically shaped with the interior space inflated with a gas, wherein the mounting element comprises a circular disk with an outer edge mated to an inner surface of the outer wall, and wherein the driver comprises a spring moved, during the bounces, toward and away from the circular disk toward the first portion of the outer wall by the driver.

10. The robot of claim 9, wherein the body is spherical and wherein the interior space is filled with a volume of gas to inflate the body to an outer diameter in a predefined range.

11. The robot of claim 9, wherein the elastic material comprises rubber.

12. The robot of claim 9, further comprising a battery supported by the mounting element in the interior space and providing power to the driver and the controller.

13. A robot with bounce-based locomotion on a support surface, comprising:

a body comprising an outer wall enclosing an interior space, wherein the outer wall comprises a first portion formed of an elastic material;

a driver supported by a mounting element within the interior space of the body; and

a controller generating control signals to operate the driver to apply a first force upon the first portion of the outer wall of the body, wherein the body bounces at least in a vertical direction through a range of heights above the support surface, and

wherein the body is spherically shaped, wherein the outer wall further comprises a second portion formed of a rigid material, wherein the mounting element sealably partitions a first portion of the interior space enclosed by the first portion of the outer wall and a second portion of the interior space enclosed by the second portion of the outer wall, wherein the second portion of the interior space is filled with a compressed gas, and wherein the driver comprises a valve in the mounting element that is operated by the controller during each of the bounces to release a fraction of the compressed gas into the first portion of the interior space.

14. The robot of claim 13, wherein the body is spherical and wherein the interior space is filled with a volume of gas to inflate the body to an outer diameter in a predefined range.

15. The robot of claim 13, wherein the elastic material comprises rubber.

16. The robot of claim 13, further comprising a battery supported by the mounting element in the interior space and providing power to the driver and the controller.

17. A robotic bouncing ball, comprising:

a hollow body including an outer wall defining an interior space, wherein the outer wall comprises an elastic material;

a volume of gas contained in the interior space to inflate the hollow spherical body to an outer diameter within a predefined range of outer diameters;

a linear actuator positioned within the interior space;

a connector rod connecting the linear actuator with an inner surface of a top portion of the outer wall; and

a controller positioned within the interior space and operating the linear actuator, during bouncing operations of the robotic bouncing ball, to repeatedly apply a deforming force to the top portion and to release the deforming force through linear movement of the connector rod, whereby the hollow spherical body moves vertically via a series of bounces in which an outer surface of the outer wall is separated from a support surface.

18. The robotic bouncing ball of claim 17, wherein the body is spherical in shape and wherein the controller is adapted to sense or determine a bottom of a set of the bounces and to synchronize the release of the deforming force with the sensed or determined bottom.

19. The robotic bouncing ball of claim 17, wherein the controller adjusts an angular orientation of the linear actuator in the interior space such that the linear movement is vertical or at an offset angle from vertical to allow steering of the hollow spherical body vertically and horizontally during the bounces.

20. The robotic bouncing ball of claim 17, further comprising a ballast element coupled to the linear actuator opposite the connector rod, wherein the ballast element has a weight greater than a weight of the hollow spherical body.

21. The robotic bouncing ball of claim 17, wherein the deforming force has a magnitude great enough to move the top portion, at a connection point between the connector rod and the outer wall, a distance greater than 0.5 inches toward a center of the interior space.

22. A robot with bounce-based locomotion on a support surface, comprising:

a spherically-shaped body comprising an outer wall comprising an elastic material and enclosing an interior space, wherein the interior space contains a volume of gas inflating the spherically-shaped body to at least a predefined minimum outer diameter;

a driver positioned within the interior space of the spherically-shaped body; and

a controller generating control signals during an operating period to operate the driver to alternate between applying a force upon a first portion of the outer wall and releasing the force, wherein, in response, the body moves with a plurality of bounces and wherein the body reaches a height, within a predefined range of heights, above the support surface.

23. The robot of claim 22, wherein the controller further operates the driver to apply a second force upon a second portion of the outer wall spaced apart from the first portion and wherein the first and second forces are synchronized with each other or with a bottom portion of one or more of the bounces.

24. The robot of claim 22, wherein the driver comprises a connecting rod attached to the outer wall in the first portion and further comprises a linear actuator moving the connecting rod along a linear path to apply and release the first force, wherein the robot further comprises a weight supported in the interior space distal from the first portion and opposite the connecting rod, and wherein the body is steered in a plurality of directions relative to the support surface by the controller selectively shifting the weight or the linear actuator.

25. The robot of claim 22, further comprising a mounting element in the interior space supporting the driver, wherein the mounting element comprises a circular disk with an outer edge mated to an inner surface of the outer wall, and wherein the driver comprises a spring moved, during the bounces, toward and away from the circular disk toward the outer wall by the driver.

26. A robot with bounce-based locomotion on a support surface, comprising:

a body comprising an outer wall enclosing an interior space, wherein the outer wall comprises a first portion formed of an elastic material;

a driver supported by a mounting element within the interior space of the body; and

a controller generating control signals to operate the driver to apply a first force upon the first portion of the outer wall of the body,

wherein the body bounces at least in a vertical direction through a range of heights above the support surface, and

wherein the driver comprises a connecting rod attached to the outer wall in the first portion and further comprises a linear actuator moving the connecting rod along a linear path to apply the first force.

27. The robot of claim 26, wherein the body is spherical and wherein the interior space is filled with a volume of gas to inflate the body to an outer diameter in a predefined range.

28. The robot of claim 26, wherein the elastic material comprises rubber.

29. The robot of claim 26, further comprising a battery supported by the mounting element in the interior space and providing power to the driver and the controller.

30. The robot of claim 26, further comprising a weight supported on the mounting element distal from the first portion and opposite the connecting rod and wherein the body is steered in a horizontal direction relative to the support surface by the controller selectively shifting the weight or rotating an angle of the linear actuator.