Virtual-wheeled vehicle
First Claim
1. A method of propelling a vehicle comprising:
- configuring a land vehicle with a plurality of virtual wheels, wherein a virtual wheel comprises a leg pair, each leg of the pair including a curved foot that contacts the underlying surface as would a wheel;
supplying a control signal, said control signal having embodied therein machine-readable instructions for activating said leg pairs in a coordinated manner;
applying motive force to the leg pairs through a plurality of actuators to cause a repetitive, stepping motion from said leg pairs; and
propelling said vehicle over said surface through engagement of the feet with the underlying surface;
wherein said virtual wheels provide a large effective diameter without producing a high vehicle profile.
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Accused Products
Abstract
A virtual wheel provides a leg pair as a conveyance mechanism for a land vehicle. The virtual wheel propels the vehicle across a surface using a repetitive motion of the legs that contact the ground as would a wheel, due to their geometry. Vehicle embodiments include at least two-, three-, four- and six-wheeled vehicles, both transverse and in-line. Additionally, the invention provides a bipedal walking robot. One embodiment provides a robotic mule—a payload-carrying vehicle. The invention combines the flexible mobility of bipedal vehicles with the stability and functionality of very large-wheeled vehicles. Additionally, a bimodal conveyance mechanism readily converts between walking and rolling modes
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Citations
44 Claims
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1. A method of propelling a vehicle comprising:
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configuring a land vehicle with a plurality of virtual wheels, wherein a virtual wheel comprises a leg pair, each leg of the pair including a curved foot that contacts the underlying surface as would a wheel;
supplying a control signal, said control signal having embodied therein machine-readable instructions for activating said leg pairs in a coordinated manner;
applying motive force to the leg pairs through a plurality of actuators to cause a repetitive, stepping motion from said leg pairs; and
propelling said vehicle over said surface through engagement of the feet with the underlying surface;
wherein said virtual wheels provide a large effective diameter without producing a high vehicle profile. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A virtual wheel, said virtual wheel comprising:
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a leg pair, each leg of the pair including a curved foot that contacts the underlying surface as would a wheel;
wherein application of motive force to said leg pair causes a repetitive stepping motion; and
wherein said stepping motion propels a vehicle configured with a plurality of said leg pairs across said underlying surface;
said virtual wheel providing a large effective diameter relative to size of said virtual wheel'"'"'s contact surface. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
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30. A vehicle comprising:
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a plurality of virtual wheels, wherein a virtual wheel comprises a leg pair, each leg of the pair including a curved foot that contacts the underlying surface as would a wheel means for applying motive force to said virtual wheels; and
a vehicle body, said virtual wheels mounted thereon;
wherein said vehicle is configured to carry a payload and wherein engagement of the feet with the underlying surface propels the vehicle across the underlying surface using a repetitive stepping motion. - View Dependent Claims (31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44)
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Specification