Operating a Mobile Robot
First Claim
1. A method of operating a mobile robot to traverse a threshold, the method comprising:
- detecting a threshold proximate the robot, the robot comprising a holonomic drive system having first, second, and third drive elements configured to maneuver the robot omni-directionally;
moving the first drive element onto the threshold from a first side;
moving the second drive element onto the threshold to place both the first and second drive elements on the threshold;
moving the first drive element off a second side of the threshold, opposite to the first side of the threshold;
moving the third drive element onto the threshold, placing both the second and third drive elements on the threshold; and
moving both the second and third drive elements off the second side of the threshold.
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Accused Products
Abstract
A method of operating a mobile robot to traverse a threshold includes detecting a threshold proximate the robot. The robot includes a holonomic drive system having first, second, and third drive elements configured to maneuver the robot omni-directionally. The method further includes moving the first drive element onto the threshold from a first side and moving the second drive element onto the threshold to place both the first and second drive elements on the threshold. The method includes moving the first drive element off a second side of the threshold, opposite to the first side of the threshold, and moving the third drive element onto the threshold, placing both the second and third drive elements on the threshold. The method includes moving both the second and third drive elements off the second side of the threshold.
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Citations
42 Claims
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1. A method of operating a mobile robot to traverse a threshold, the method comprising:
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detecting a threshold proximate the robot, the robot comprising a holonomic drive system having first, second, and third drive elements configured to maneuver the robot omni-directionally; moving the first drive element onto the threshold from a first side; moving the second drive element onto the threshold to place both the first and second drive elements on the threshold; moving the first drive element off a second side of the threshold, opposite to the first side of the threshold; moving the third drive element onto the threshold, placing both the second and third drive elements on the threshold; and moving both the second and third drive elements off the second side of the threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A mobile robot comprising:
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a holonomic drive system having first, second, and third drive elements configured to maneuver the robot omni-directionally; and a controller in communication with the drive system, upon detecting a threshold proximate the robot, the controller issuing commands to the drive system to; move the first drive element onto the threshold from a first side; move the second drive element onto the threshold to place both the first and second drive elements on the threshold; move the first drive element off a second side of the threshold, opposite to the first side of the threshold; move the third drive element onto the threshold, placing both the second and third drive elements on the threshold; and move both the second and third drive elements off the second side of the threshold. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
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35. A method of operating a mobile robot, the method comprising:
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driving the robot along a forward drive direction using a holonomic drive system having first, second, and third drive elements configured to maneuver the robot omni-directionally, the forward drive direction coincident with an angled bisector of an angle formed between the first drive element and the second drive element and the first drive element and the third drive element, the first drive element leading the second and third drive element along the forward drive direction; accelerating the drive system while monitoring an inertial measurement unit of the drive system to maintain vertical stability of the robot; and decelerating the drive system by applying a braking force to the second and third drive elements while allowing the first drive element to slip on a supporting surface of the robot along the forward drive direction. - View Dependent Claims (36, 37, 38)
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39. A method of operating a mobile robot to open a door, the method comprising:
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grasping a doorknob of the door with an end effector of a manipulator arm mounted on a body of the robot; disengaging the door knob; driving holonomically through a doorway of the door while continuing to grasp the doorknob; and releasing the doorknob after passing through the doorway. - View Dependent Claims (40, 41, 42)
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Specification