Robotic Platform
First Claim
Patent Images
1. A method of negotiating an obstacle, the method comprising:
- driving an articulated vehicle along a drive direction over a surface, the vehicle comprising;
a main frame having forward and rearward portions and right and left sides;
a drive system disposed on the main frame and configured to maneuver the articulated vehicle over the surface;
right and left arms, each arm having a proximal end and a distal end, the proximal end of each arm being pivotally coupled to the forward portion of the main frame about a transverse axis generally perpendicular to the sides of the main frame and the distal end being pivotable 360°
about the transverse axis; and
an articulator motor disposed on the main frame and coupled to each arm for pivoting each arm about the transverse axis;
driving the articulated vehicle to approach an obstacle with the rearward portion of the articulated vehicle;
pivoting the arms from a stowed position next to the main frame downward and away from the main frame, raising and supporting the main frame on the arms;
positioning at least a portion of the main frame substantially against the obstacle; and
driving onto the obstacle.
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Abstract
A method of negotiating an obstacle including driving an articulated vehicle along a drive direction over a surface, driving the articulated vehicle to approach an obstacle with a rearward portion of the articulated vehicle, pivoting arms of the vehicle from a stowed position next to a main frame of the vehicle downward and away from the main frame, raising and supporting the main frame on the arms, positioning at least a portion of the main frame substantially against the obstacle, and driving onto the obstacle.
140 Citations
20 Claims
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1. A method of negotiating an obstacle, the method comprising:
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driving an articulated vehicle along a drive direction over a surface, the vehicle comprising; a main frame having forward and rearward portions and right and left sides; a drive system disposed on the main frame and configured to maneuver the articulated vehicle over the surface; right and left arms, each arm having a proximal end and a distal end, the proximal end of each arm being pivotally coupled to the forward portion of the main frame about a transverse axis generally perpendicular to the sides of the main frame and the distal end being pivotable 360°
about the transverse axis; andan articulator motor disposed on the main frame and coupled to each arm for pivoting each arm about the transverse axis; driving the articulated vehicle to approach an obstacle with the rearward portion of the articulated vehicle; pivoting the arms from a stowed position next to the main frame downward and away from the main frame, raising and supporting the main frame on the arms; positioning at least a portion of the main frame substantially against the obstacle; and driving onto the obstacle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of negotiating an obstacle, the method comprising:
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driving an articulated vehicle along a drive direction over a surface, the vehicle comprising; a main frame having forward and rearward portions and right and left sides; a drive system disposed on the main frame and configured to maneuver the articulated vehicle over the surface; right and left arms, each arm having a proximal end and a distal end, the proximal end of each arm being pivotally coupled to the forward portion of the main frame about a transverse axis generally perpendicular to the sides of the main frame and the distal end being pivotable 360°
about the transverse axis; andan articulator motor disposed on the main frame and coupled to each arm for pivoting each arm about the transverse axis; driving the articulated vehicle to approach an obstacle with the forward portion of the articulated vehicle; pivoting the arms from a stowed position next to the main frame downward and away from the main frame, raising and supporting the main frame on the arms; pivoting the arms to drive the main frame past a vertical position, causing the articulated vehicle to fall over substantially against the object and thereby invert the main frame; and driving onto the obstacle. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification