FORCE BALANCING MOBILE ROBOT AND ROBOTIC SYSTEM
First Claim
1. A statically unstable self-balancing robotic system comprising:
- one or more balancing members; and
a balancing system for providing dynamic stability to the robotic system while the robotic system maintains an approximately constant velocity across a surface, the balancing system repeatedly repositioning at least one of the balancing members to move the center of mass of the robotic system to a target, wherein the target is selected to balance the robotic system.
2 Assignments
0 Petitions
Accused Products
Abstract
A force balancing robotic system and related methods are disclosed. The robotic system can include a body, a balancing member, and a balancing system. The robotic system can be statically unstable, which can be a result of having a statically unstable body. The balancing member can be connected to the body by a joint. The balancing system can have one or more sub-systems utilized to dynamically balance the robotic system. Such subsystems can include a repositioning system, an accelerating system, and a driving system. The repositioning system can reposition the balancing members to position the center of mass over a target. The accelerating system can accelerate the balancing members to produce a target torque. The driving system can drive the wheels of the robotic system to maintain balance. While retaining balance, the robotic system can absorb external force and apply forces to external objects.
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Citations
33 Claims
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1. A statically unstable self-balancing robotic system comprising:
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one or more balancing members; and
a balancing system for providing dynamic stability to the robotic system while the robotic system maintains an approximately constant velocity across a surface, the balancing system repeatedly repositioning at least one of the balancing members to move the center of mass of the robotic system to a target, wherein the target is selected to balance the robotic system. - View Dependent Claims (2, 3, 4, 5, 6, 8, 9)
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7. (canceled)
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10. (canceled)
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11. A statically unstable self-balancing robotic system comprising:
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one or more balancing members; and
a balancing system for providing dynamic stability to the robotic system while the robotic system maintains an approximately constant velocity across a surface, the balancing system repeatedly accelerating at least one of the balancing members to produce a target torque on the robotic system, wherein the target torque is calculated to balance the robotic system. - View Dependent Claims (12, 14, 15, 18, 19, 21, 22, 24, 26, 29)
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13. (canceled)
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16. (canceled)
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17. (canceled)
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20. (canceled)
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23. (canceled)
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25. (canceled)
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27. (canceled)
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28. (canceled)
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30. (canceled)
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31. (canceled)
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32. A statically unstable robotic system having a constant velocity, the robotic system comprising:
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one or more balancing members;
a first state in which the center of mass of the robotic system is stable;
a second state in which the center of mass of the robotic system is unstable, wherein stability is restored to the center of mass by moving the center of mass to a target.
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33-47. -47. (canceled)
Specification