VIRTUAL-WHEELED VEHICLE

• US 20090038863A1
• Filed: 04/15/2008
• Published: 02/12/2009
• Est. Priority Date: 10/01/2004
• Status: Active Grant

• Current Assignee: Applied Invention, LLC
• Original Assignee: Applied Minds, Inc.
• Inventors: Hillis, W. Daniel, Ferren, Bran, Setrakian, Mark, Khanlian, Luke
• Granted Patent: US 7,753,145 B2
• Time in Patent Office: Days
• US Class Current: 180/8.600
• CPC Class Codes: B62D 57/022 consisting of members having both rotational and walking movements
• CPC Class Codes: B62D 57/04 having other than ground-engaging propulsion means, e.g. having propellers arrangement of jet-propulsion units B60K
• CPC Class Codes: B62D 61/00 Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern

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

Claims

1. A virtual wheel, said virtual wheel comprising:

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.

2. The virtual wheel of claim 1, wherein a plurality of actuators associated with said leg pair apply said motive force.

3. The virtual wheel of claim 1, wherein said virtual wheel is provided in any of single, bipedal, tripedal, quadrupedal and hexapedal configurations.

4. The virtual wheel of claim 1, wherein said virtual wheel is mounted in any of:

transverse pairs on a common axle;

a staggered configuration;

an in-line configuration;

independent axles;

directly on a body of said vehicle without axles.

5. The virtual wheel of claim 1, wherein said leg is jointed.

6. The virtual wheel of claim 1, wherein said foot is attached to said leg by means of a joint, so that said foot rotates relative to said leg.

7. The virtual wheel of claim 1, wherein said leg is provided with a shock absorbing means.

8. The virtual wheel of claim 1, wherein said foot defines an arc of a circle.

9. The virtual wheel of claim 1, wherein said foot has curved footpads.

10. The virtual wheel of claim 1, wherein said foot is a scimitar foot.

11. The virtual wheel of claim 1, wherein a control signal activates said leg pair in a coordinated manner with other leg pairs.

12. A vehicle comprising:

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.

13. The vehicle of claim 12, comprising two virtual wheels, wherein said two virtual wheels are any of:

transversely mounted on a single axle, said axle mounted on said vehicle body;

transversely mounted on individual axles;

transversely mounted on said vehicle body; and

mounted in-line.

14. The vehicle of claim 12, comprising four virtual wheels, wherein said four virtual wheels are any of:

transversely mounted in pairs, each pair mounted on a single axle, said axle mounted on said vehicle body;

transversely mounted in pairs, each virtual wheel mounted on an individual axle;

transversely mounted in pairs on said vehicle body;

mounted in-line; and

staggered.

15. The vehicle of claim 12, wherein said means for applying motive force comprises a plurality of actuators associated with said virtual wheels.

16. The vehicle of claim 12, wherein said leg pairs include any of

legs that are jointed at the knee;

legs having the foot attached to the leg by means of a joint, wherein said foot pivots relative to said leg;

legs with shock absorbers;

feet that define the arc of a circle;

feet having curved footpads; and

scimitar feet.

17. The vehicle of claim 12, further comprising means for supplying a control signal for activating said leg pairs in a coordinated manner.

18. The vehicle of claim 12, wherein said means for supplying a control signal comprises:

a processing element programmed to;

generate waveforms that activate the leg pairs in a coordinated manner;

generate control signals for actuators associated with said legs, wherein said control signals control parameters that include any of;

body swing, ride height, and step length;

generate macro commands that carry out standard tasks including;

starting, stopping and turning; and

monitor environmental variables that are critical to the functioning of the vehicle including any of;

terrain surface, gradient and obstacles, wherein data concerning said environmental variables serve as inputs to modify said central pattern generator.

19. The vehicle of claim 18, further comprising a controller for receiving a signal from said processing element and controlling said actuators.

20. The vehicle of claim 12, wherein said means for supplying a control signal comprises a user input device in communication with a controller wherein a user manually generates said signal.

21. The vehicle of claim 12, further comprising at least one power source, wherein said power source comprises any of:

a rechargeable battery;

a generator and/or an internal combustion engine;

a fuel cell.

22. The vehicle of claim 16, wherein said actuators comprise any of:

at least one servomotor; and

at least one assembly of cams and gears.

23. The vehicle of claim 22, wherein said motive force is translated to said legs by means of an assembly of joints and hinges.

24. The vehicle of claim 12, further comprising a steering system.

25. The vehicle of claim 12, further comprising a load-bearing system.

26. The vehicle of claim 12, wherein said mule is fabricated using any of:

chromoly steel;

high-performance carbon steel;

5000-7000 series aluminum alloys;

polycarbonate;

6-4 titanium.