Efficient Actuation and Selective Engaging and Locking Clutch Mechanisms for Reconfiguration and Multiple-behavior Locomotion of an at least Two-Appendage Robot

• US 20090236155A1
• Filed: 03/18/2009
• Published: 09/24/2009
• Est. Priority Date: 03/18/2008
• Status: Active Grant

• Current Assignee: Shanghai Hanshi Information Technology Company Limited
• Original Assignee: Bossa Nova Robotics IP, Inc.
• Inventors: Skaff, Sarjoun
• Granted Patent: US 7,971,664 B2
• Time in Patent Office: Days
• US Class Current: 180/8.600
• CPC Class Codes: B25J 9/102 Gears specially adapted therefor, e.g. reduction gears gearings in general F16H
• CPC Class Codes: B62D 57/02 with ground-engaging propulsion means, e.g. walking members
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence

Abstract

The method and apparatus consist of a robot body having at least two, but preferably six appendages. The appendages are organized into appendage groups of one to six appendages. The appendages are linked mechanically into groups of two or more and each group is actuated using a single drive actuator. A selective engagement mechanism is used to selectively engaged and disengage one or more appendages at a time in a way that allows for at least one appendage and at most all but one appendage per group to be engaged to a group'"'"'s drive actuator. When the appendage is disengaged it is preferably locked in place to resist a reasonable force applied to them externally, such as the force equivalent to the weight of the robot.

Claims

1. A robot comprising:

a housing having an interior surface and an exterior surface,

a first appendage assembly rotatably coupled to the housing, the first appendage assembly comprising a first appendage and a first appendage gear;

a second appendage assembly rotatably coupled to the housing, the second appendage assembly comprising a second appendage and a second appendage gear;

a first drive actuator selectively coupled with the first and second appendage assemblies, the first drive actuator being selectively coupled with the first and second appendage assemblies;

a first clutch mechanism coupled with the first appendage assembly and a second clutch mechanism coupled with the second appendage assembly, wherein each clutch mechanism is for operating in an engaged mode of operation for selectively coupling of the first drive actuator to a respective appendage assembly for providing actuation thereto and for operating in a disengaged mode of operation for selectively uncoupling of the first drive actuator from the respective appendage assembly; and

,

a selective engagement mechanism coupled with the first clutch mechanism and the second clutch mechanism for selecting one of the engaged mode of operation and the disengaged mode of operation for each clutch mechanism.

2. A robot according to claim 1 comprising a selective engagement mechanism position sensor for sensing an absolute position of the selective engagement mechanism and for providing a clutch engagement data that is derived from a selected engagement of the first clutch mechanism and the second clutch mechanism, wherein the clutch engagement data encodes for one of the selective engagement states thereof.

3. A robot according to claim 1 wherein at least one of the first clutch mechanism and the second clutch mechanism comprises at least a first locking mechanism, and wherein the first locking mechanism is for locking rotation of at least one of the first appendage assembly and the second appendage assembly when in the disengaged mode of operation.

4. A robot according to claim 1 wherein the first clutch mechanism comprises:

a first drive gear rotatably coupled with the first drive actuator; and

a first pinion gear, wherein in the engaged mode of operation the first pinion gear couples the first drive gear and the first appendage gear, and wherein in the disengaged mode of operation the first pinion gear is coupled with the first appendage gear and uncoupled from the first drive gear.

5. A robot according to claim 4 comprising a first locking mechanism, wherein in the disengaged mode of operation rotation of the first pinion gear in response to a reasonable external force applied to the first appendage is prevented by the first locking mechanism, and wherein the reasonable external force is approximately equal to a weight of the robot.

6. A robot according to claim 5 comprising:

wherein the first locking mechanism comprises;

a first set of locking teeth disposed on the interior surface of the housing and

a first set of apertures formed within the first pinion gear, wherein the first set of locking teeth engage the first set of apertures when the first clutch mechanism is in the disengaged mode of operation.

7. A robot according to claim 5 wherein the first clutch mechanism comprises a first lever arm coupled with the selective engagement mechanism and the first pinion gear, wherein the first lever arm is for translating of the first pinion gear between meshing with both the first drive gear and the first appendage gear when in the engaged mode of operation and meshing with the first appendage gear and the first locking mechanism when in the disengaged mode of operation.

8. A robot according to claim 7 wherein the second clutch mechanism comprises:

a second drive gear rotatably coupled with the first drive actuator; and

a second pinion gear, wherein in the engaged mode of operation the second pinion gear couples the second drive gear and the second appendage gear, and wherein in the disengaged mode of operation the second pinion gear is coupled with the second appendage gear and uncoupled from the second drive gear.

9. A robot according to claim 8 wherein second first clutch mechanism comprises:

a second locking mechanism, wherein in the disengaged mode of operation rotation of the second pinion gear in response to a reasonable external force applied to the second appendage is prevented by the second locking mechanism, and wherein the reasonable external force is approximately equal to a weight of the robot; and

,

a second lever arm coupled with the selective engagement mechanism and second first pinion gear, wherein the second lever arm is for translating of the second pinion gear between meshing with both the second drive gear and the second appendage gear when in the engaged mode of operation and meshing with the second appendage gear and the second locking mechanism when in the disengaged mode of operation.

10. A robot according to claim 9 wherein the selective engagement mechanism comprises at least two engagement gears, wherein a first engagement gear comprises a first geometric feature for displacing the first lever arm and a second engagement gear comprises a second geometric feature for displacing the second lever arm, and wherein the displacement of the first and second lever arms changes the operating mode of respective first and second clutch mechanisms.

11. A robot according to claim 10 wherein the selective engagement mechanism comprises a selective engagement mechanism actuator that actuates at least one of the first and second engagement gears.

12. A robot according to claim 10 wherein at least one of the first lever arm and the second lever arm comprise a spring coupled therewith for opposing displacement of the respective lever arm and for controlling interaction between the respective lever arm and the geometric feature.

13. A robot according to claim 1 wherein at least one of the first appendage gear and the second appendage gear comprise an appendage position sensor coupled therewith for providing at least a first appendage position data derived from one of a relative rotational angle and an absolute rotational angle of the at least one of the first appendage gear and second appendage gear.

14. A robot according to claim 1 wherein the first drive actuator comprises an appendage position sensor coupled therewith for providing at least a first appendage position data derived from one of a relative rotational angle and an absolute rotational angle of one of the first appendage gear and the second appendage gear in dependence upon the selective engagement of the first drive actuator with the one of the first appendage gear and the second appendage gear.

15. A robot according to claim 14 wherein the appendage position sensor comprises at least one of an optical encoder and a variable resistor.

16. A robot according to claim 1 comprising:

a first appendage group comprising the first appendage assembly comprising a first rotational axis and the second appendage assembly comprising a second rotational axis; and

a second appendage group comprising a third appendage assembly and a fourth appendage assembly rotatably coupled with the housing,

wherein the first and third appendages are disposed on the same side of the housing and the first and second rotational axes are approximately coaxial.

17. A robot according to claim 16 comprising a second drive actuator coupled with the second appendage group.

18. A robot according to claim 1 comprising:

a first appendage group comprising the first appendage assembly comprising a first rotational axis and a third appendage assembly rotatably coupled with the housing;

a second appendage group comprising the second appendage assembly comprising a second rotational axis and a fourth appendage assembly rotatably coupled with the housing,

wherein the first and second appendages are disposed on the same side of the housing and the first and second rotational axes are approximately parallel.

19. A robot according to claim 18 comprising a second drive actuator coupled with the second appendage group.

20. A method of generating a propagation gait for a robot comprising:

providing a housing having an interior surface and an exterior surface;

providing a first appendage assembly rotatably coupled to the housing;

providing a second appendage assembly rotatably coupled to the housing, providing a first drive actuator;

coupling of the first drive actuator to the first appendage assembly;

rotating of the first appendage assembly to set a first absolute position;

coupling of the first drive actuator to the second appendage assembly;

rotating of the second appendage assembly to set a second absolute position;

coupling of the first and second appendage assemblies to the first drive actuator;

rotating of both the first and second appendage assemblies.

21. A method according to claim 20 wherein coupling of the first drive actuator to the first appendage assembly comprises uncoupling of the first drive actuator from the second appendage assembly.

22. A method according to claim 21 comprising:

providing a second locking mechanism, wherein uncoupling of the first drive actuator from the second appendage assembly comprises locking of the second appendage assembly by the second locking mechanism.

23. A method according to claim 20 wherein coupling of the first drive actuator to the second appendage assembly comprises uncoupling of the first drive actuator from the first appendage assembly.

24. A method according to claim 23 comprising:

providing a first locking mechanism, wherein uncoupling of the first drive actuator from the second appendage assembly comprises locking of the first appendage assembly by the first locking mechanism.

25. A method according to claim 20 wherein rotating of one of the first appendage assembly and the second appendage assembly to set one of a first absolute position and a second absolute position, respectively, comprises rotating of one of the first appendage assembly and the second appendage assembly, respectively, in a predetermined direction and to a predetermined position.

26. A method according to claim 20 comprising:

providing a selective engagement mechanism comprising a plurality of engagement states, wherein each of the plurality of engagement states is a coupling of the first drive actuator to at least one of the first and second appendage assemblies; and

actuating of the selective engagement mechanism to couple the first drive actuator to at least one of the first and second appendage assemblies.

27. A robot comprising:

a housing having an interior surface and an exterior surface,

a first appendage assembly rotatably coupled to the housing, the first appendage assembly comprising a first appendage and a first appendage gear;

a second appendage assembly rotatably coupled to the housing, the second appendage assembly comprising a second appendage and a second appendage gear;

a first drive actuator selectively coupled with the first and second appendage assemblies, the first drive actuator being selectively coupled with the first and second appendage assemblies;

a selective engagement mechanism comprising;

one of a linear slider and at least one engagement gear; and

a selective engagement mechanism actuator for positioning the one of a linear slider and at least one engagement gear and, the selective engagement mechanism actuator for operating in a plurality of engagement states, wherein each engagement state is determined by the position of the one of a linear slider and at least one engagement gear;

a first clutch mechanism coupled with the first appendage assembly and the selective engagement mechanism and a second clutch mechanism coupled with the second appendage assembly and the selective engagement mechanism, wherein each clutch mechanism is for operating in an engaged mode of operation for selectively coupling of the first drive actuator to a respective appendage assembly for providing actuation thereto and for operating in a disengaged mode of operation for selectively uncoupling of the first drive actuator from the respective appendage assembly,

wherein the position of the selective engagement mechanism actuator determines the position of the one of a linear slider and at least one engagement gear for at least one of engaging at least one of the first and second clutch mechanisms and disengaging at least one of the first and second clutch mechanisms.