Robotic Vehicle Apparatus and Method

• US 20110196558A1
• Filed: 04/15/2011
• Published: 08/11/2011
• 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 8,467,925 B2
• Time in Patent Office: Days
• US Class Current: 701/22
• 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 the body for propelling the body over a surface; and

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

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

3. The method of claim 1, wherein 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 the extendable legs extends through a geometric center of the body.

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

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

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

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

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

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

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

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

forming a body having a polyhedron shape that defines an interior volume, with the actuator disposed within the interior volume;

arranging a plurality of extendable legs on the body; and

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

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

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

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

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

13. The method of claim 12, wherein arranging a plurality of movable legs on a body comprises arranging a plurality of extendable and retractable legs on the body.

14. The method of claim 13, wherein controlling the actuator comprises controlling the actuator so that the movable legs are moved in a sequence that causes the body to be propelled in a desired direction over the surface.

15. The method of claim 12, wherein controlling the actuator comprises controlling the actuator such that the legs cause a rolling motion of the body over the surface.

16. The method of claim 12, wherein using an actuator carried by the body comprises using an actuator supported by a gimbal such that the actuator can be aligned with different ones of the movable legs, and activated to control selected ones of the movable legs.

17. The method of claim 12, further comprising disposing a controller within the body and using the controller to control positioning of the actuator.

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

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

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

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

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

19. The method of claim 18, wherein using a single actuator carried within an interior volume of the body comprises using a single actuator supported on a support platform, wherein the support platform is supported on a gimbal for motion in a plurality of non-parallel axes, and wherein the gimbal is controlled by the pair of servo motors.

20. 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 the actuator;

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

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