ROBOTIC VEHICLE APPARATUS AND METHOD

• US 20080083571A1
• Filed: 12/06/2007
• Published: 04/10/2008
• Est. Priority Date: 11/04/2004
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Troy, James
• Granted Patent: US 7,490,681 B2
• Time in Patent Office: Days
• US Class Current: 180/7.1
• CPC Class Codes: B62D 57/00 Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track sledges B62B; motor sledges B62M
• CPC Class Codes: B62D 57/02 with ground-engaging propulsion means, e.g. walking members
• CPC Class Codes: B62D 57/022 consisting of members having both rotational and walking movements
• CPC Class Codes: Y10T 29/49826 Assembling or joining

Abstract

A robotic vehicle having a body with an internal volume. A plurality of extendable legs project outwardly from the body for supporting the body on a surface and for propelling the body, in at least a partial rolling motion, over the surface. A gimbal system is supported within the body. The gimbal system has a support platform that is moveable within at least two non-parallel planes. An actuator is supported on the support platform and is positionable by the gimbal system into different positions to actuate selected ones of the extendable legs, to thus assist in propelling the vehicle.

Claims

1. A vehicle comprising:

a body defining a volume therewithin;

a plurality of extendable legs projecting from said body for supporting said body on a surface and for propelling said body, in at least a partial rolling motion, over said surface;

a gimbal system supported within the body, said gimbal system having a support platform that is moveable within at least two non-parallel planes; and

an actuator supported on said support platform, said actuator being positionable by said gimbal system such that said actuator is able to be moved into different positions to actuate selected ones of said extendable legs to assist in propelling said vehicle.

2. The vehicle of claim 1, wherein said body comprises a polyhedron.

3. The vehicle of claim 2, wherein said body comprises a sphere.

4. The vehicle of claim 1, wherein said gimbal system comprises a two axis gimbal system.

5. The vehicle of claim 1, wherein said actuator comprises an electrically actuated solenoid.

6. The vehicle of claim 1, further comprising a controller for controlling actuation of said actuator.

7. The vehicle of claim 4, wherein said gimbal system comprises first and second servo motors.

8. The vehicle of claim 1, wherein each said extendable leg comprises a biasing element for maintaining it in a normally retracted position.

9. The vehicle of claim 1, wherein said vehicle includes a controller for controlling movement of said gimbal system.

10. The vehicle of claim 1, wherein said legs are extendable in a pivoting motion.

11. A method for forming a robotic vehicle comprising:

forming a body defining a volume therewithin;

arranging a plurality of extendable legs to project from said body for supporting said body on a surface and for propelling said body, in at least a partial rolling motion, over said surface;

supporting a support platform within said body for movement within at least two different non-parallel planes; and

using an actuator mounted on said support platform to selectively engage said extendable legs to cause said extendable legs to be extended, to assist in causing a generally rolling motion of said body.

12. The method of claim 11, wherein said extendable legs are sequentially actuated one at a time.

13. The method of claim 11, wherein supporting a support platform within said body for movement within at least two different non-parallel planes comprises using a gimbal system to support said support platform to enable movement of said support platform within more than two non-parallel planes.

14. The method of claim 11, wherein arranging a plurality of extendable legs to project from said body comprises arranging a plurality of extendable legs to project from said body such that a coaxial center line of each said extendable leg extends through a geometric center of said body.

15. The method of claim 11, wherein forming a body comprises forming a body shaped as a sphere.

16. The method of claim 11, wherein forming a body comprises forming a body shaped as a polyhedron.

17. The method of claim 11, wherein arranging a plurality of extendable legs comprises arranging a plurality of extendable legs that each have a biasing element associated therewith for maintaining each said extendable leg in a normally retracted orientation.

18. A method for propelling a vehicle, comprising:

arranging a plurality of extendable and retractable legs to extend from a body, the body defining a volume, and the legs supporting the body above a surface to be traversed;

supporting an actuator within said volume of said body;

further supporting said actuator such that said actuator is able to move between a plurality of different, non-parallel planes within said volume, and such that said actuator can be positioned in longitudinal alignment with any one of said legs; and

sequentially positioning said actuator in different orientations such that said actuator is placed in longitudinal alignment with different ones of said legs; and

energizing said actuator each time said actuator is aligned with each one of said different ones of legs, to cause said different ones of said legs to be sequentially extended to propel said body in a general rolling motion over said surface.

19. The method of claim 18, wherein further supporting said actuator such that said actuator is able to move in a plurality of different, non-parallel planes comprises supporting said actuator on a gimbal system.

20. The method of claim 18, wherein sequentially positioning said actuator in different orientations comprises using a pair of servo motors to move said gimbal system about X and Y axes.

21. The method of claim 18, wherein energizing said actuator comprises energizing an electromechanical solenoid valve.

22. The method of claim 18, wherein arranging a plurality of extendable and retractable legs to extend from a body comprises arranging a plurality of extendable and retractable legs to extend from a spherically shaped body.

23. The method of claim 18, wherein arranging a plurality of said extendable legs to extend from a body comprises arranging a plurality of extendable and retractable legs to extend from a polyhedron shaped body.