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AMPHIBIOUS ROBOTIC DEVICE

  • US 20080300722A1
  • Filed: 08/15/2008
  • Published: 12/04/2008
  • Est. Priority Date: 08/02/2006
  • Status: Abandoned Application
First Claim
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1. A robotic device for navigating in at least a liquid medium, the robotic device comprising:

  • a legged propulsion system having a series of legs external of a body of the robotic device, each of the legs being independently driven and mounted to the body for pivotal movement about a respective transverse axis, each of the legs being operable to at least oscillate relative to the body about the respective transverse axis such that interaction between the legs and the liquid medium produces propulsive forces that displace the robotic device within the liquid medium; and

    a control system operatively connected to the legged propulsion system for autonomous control and operation of the robotic device based on information received from at least one sensor providing data about an environment of the device, the control system using data from the at least one sensor to determine a desired motion of the robotic device and a corresponding required leg motion of each of the legs to produce the desired motion, and the control system autonomously actuating each of the legs of the legged propulsion system in accordance with the corresponding required leg motion.

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