Reconfigurable robot drive
First Claim
Patent Images
1. A robot comprising:
- a robot body;
a plurality of wheels on the robot body for propelling the robot body;
an axle for each wheel; and
each wheel configured to alternately attach to an axle at or proximate the center of the wheel for high efficiency mobility on flat terrain and also configured to attach to an axle at a position offset from the center of the wheel for better mobility on rougher terrain.
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Abstract
A robot including a robot body, a plurality of wheels on the robot body for propelling the robot body, and an axle for each wheel. Each wheel is configured to alternately attach to an axle at or proximate the center of the wheel for high efficiency mobility on flat terrain and also configured to attach to an axle at a position offset from the center of the wheel for better mobility on rougher terrain.
17 Citations
15 Claims
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1. A robot comprising:
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a robot body;
a plurality of wheels on the robot body for propelling the robot body;
an axle for each wheel; and
each wheel configured to alternately attach to an axle at or proximate the center of the wheel for high efficiency mobility on flat terrain and also configured to attach to an axle at a position offset from the center of the wheel for better mobility on rougher terrain. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A robot comprising:
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wheels configured to be attached to the robot at or proximate the center of the wheel for efficient mobility on flat terrain and to be attached at a position offset from the center of the wheel for better mobility on rough terrain; and
a controller configured to alternately actuate said wheels according to a first algorithm when the wheels are attached to the robot at or proximate the center of the wheels and to operate said wheels according to a second algorithm when the wheels are attached to the robot at a position offset from the center of the wheels. - View Dependent Claims (12, 13, 14, 15)
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Specification