ROBOTIC VEHICLE APPARATUS AND METHOD

• US 20090099709A1
• Filed: 12/04/2008
• Published: 04/16/2009
• Est. Priority Date: 11/04/2004
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Troy, James J.
• Granted Patent: US 7,963,351 B2
• Time in Patent Office: Days
• US Class Current: 701/1
• 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 method for forming a robotic vehicle. The method may involve forming a body and arranging a plurality of movable legs to project from the body for propelling the body over a surface. An actuator may be carried by the body to selectively engage and disengage different ones of the movable legs to cause a motion of the body, and thus the robotic vehicle, to travel over the surface.

Claims

1. A method for forming a robotic vehicle, comprising:

forming a body;

arranging a plurality of movable legs to project from said body for propelling said body over a surface; and

using an actuator carried by said body to selectively engage and disengage different ones of said movable legs to cause a motion of said body over said surface, such that said robotic vehicle generally travels over said surface.

2. The method of claim 1, wherein said robotic vehicle travels in a selected direction over said surface.

3. The method of claim 1, wherein said arranging a plurality of movable legs comprises arranging a plurality of extendable legs that are configured such that a centerline of at least one of said extendable legs extends through a geometric center of said body.

4. The method of claim 3, wherein a centerline of each one of said extendable legs extends through said geometric center of said body.

5. The method of claim 1, further comprising supporting said actuator on a gimbal such that said actuator is free to move in at least two non-parallel planes.

6. The method of claim 1, wherein said using an actuator comprises using an actuator that is mounted on a moveable platform on said body.

7. The method of claim 6, further comprising supporting said moveable platform on a gimbal for movement within a plurality of non-parallel axes.

8. The method of claim 7, further comprising disposing said gimbal within an interior area of said body.

9. The method of claim 1, wherein said arranging a plurality of movable legs comprises arranging a plurality of linearly extendable legs.

10. The method of claim 1, wherein said using an actuator to selectively engage different ones of said extendable legs comprises sequentially engaging different ones of said extendable legs.

11. A method for forming a robotic vehicle, comprising:

forming a body;

arranging a plurality of extendable legs on said body; and

using an actuator moveable in a plurality of non-parallel planes to selectively extend each of said legs to cause a motion of said body over a surface.

12. The method of claim 11, wherein said arranging a plurality of extendable legs on said body comprises arranging a plurality of legs on said body such that a centerline of each of said legs intersects a geometric center of said body.

13. The method of claim 11, wherein said using an actuator to selectively extend each of said legs comprises using an actuator to selectively extend each of said legs to cause a non-linear motion of said body.

14. The method of claim 11, wherein said using an actuator to selectively extend each of said legs comprises using an actuator to selectively extend each of said legs to cause said body to move in a desired direction over a surface.

15. The method of claim 11, wherein said actuator selectively extends each of said legs to cause a rolling motion of said body over said surface.

16. The method of claim 11, wherein said using an actuator comprises using an actuator that is supported on a platform, where said platform is supported by a gimbal system.

17. The method of claim 11, wherein said forming a body comprises forming a body having a polyhedron shape that defines an interior volume, with said actuator disposed within said interior volume.

18. The method of claim 11, wherein said arranging a plurality of extendable legs comprises arranging a plurality of extendable legs that are moveable between extended and retracted positions, and where each of said extendable legs projects out of an exterior surface of said body when in said extended position.

19. The method of claim 11, wherein said using an actuator to selectively extend each of said legs comprises using an actuator to sequentially engage said extendable legs to cause a rolling motion of said body over said surface.

20. A method of causing motion of a robotic vehicle, comprising:

arranging a plurality of movable legs on a body such that said legs are arranged non-parallel to one another;

using an actuator carried by said body to control movement of said legs; and

controlling said actuator such that specific, desired ones of said legs are moved in a sequence that causes said legs to propel said body over a surface.

21. The method of claim 20, wherein said arranging a plurality of movable legs on a body comprises arranging a plurality of extendable and retractable legs on said body.

22. The method of claim 21, wherein said controlling said actuator comprises controlling said actuator so that said movable legs are moved in a sequence that causes said body to be propelled in a desired direction over said surface.

23. The method of claim 20, wherein said controlling said actuator comprises controlling said actuator such that said legs cause a rolling motion of said body over said surface.

24. The method of claim 20, wherein said using an actuator carried by said body comprises using an actuator supported by a gimbal such that said actuator can be aligned with different ones of said movable legs, and activated to control selected ones of said movable legs.

25. The method of claim 20, further comprising disposing a controller within said body and using said controller to control positioning of said actuator.

26. A method of causing motion of a robotic vehicle, comprising:

arranging a plurality of extendable and retractable legs on a body such that said legs extend in non-parallel directions;

using a single actuator carried within an interior volume of said body to control extending and retracting movement of said legs;

using a controller to control a pair of servo motors to cause selective positioning of said actuator; and

using said controller to control said actuator to cause selective extending and retracting movement of selected ones of said legs to cause said body to travel over a surface.

27. The method of claim 26, wherein using a single actuator carried within an interior volume of said body comprises using a single actuator supported on a support platform, wherein said support platform is supported on a gimbal for motion in a plurality of non-parallel axes, and wherein said gimbal is controlled by said pair of servo motors.

28. A control system for actuating a plurality of legs arranged around a body of a robotic vehicle, the control system comprising:

an actuator;

a support platform for supporting said actuator;

a gimbal for supporting said support platform and enabling movement of said support platform in a plurality of non-parallel planes into alignment with different ones of said legs; and

a controller for controlling movement of said gimbal to align said actuator with selected ones of said legs, and to cause movement of said selected ones of said legs when said actuator is aligned therewith, to thus enable said selected ones of said legs to cause a motion of said body over a surface.