Multimodal Dynamic Robotic Systems
First Claim
29-1. The robotic system of claim 29, wherein the shell is spherical or ellipsoidal.
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Accused Products
Abstract
Robotic systems according to the invention include a frame or body with two or more wheels rotatably mounted on the frame or body and a motor for independently driving each wheel. A system controller generates a signal for actuating each motor based on information provided by one or more sensors in communication with the system controller for generating feedback signals for providing reactive actuation of the motors for generating one or more functions selected from the group consisting of forward motion, backward motion, climbing, hopping, balancing, throwing and catching. A power source is included for providing power to operate the drive motors, system controller and the one or more sensors.
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Citations
83 Claims
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29-1. The robotic system of claim 29, wherein the shell is spherical or ellipsoidal.
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36-2. The robotic system of claim 32, wherein, when the elongated arm is in a horizontal position, rapid activation of the motors rotates the corresponding wheels in a first direction causing the body to rotate around the rotational axis in an opposite direction to rapidly accelerate the horizontal arm toward a vertical position.
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37-3. The robotic system of claim 36, wherein an object disposed on the base portion of the elongated arm rolls toward a distal end of the arm as the elongated arm accelerates toward the vertical position, wherein the object is thrown when the object reaches the distal end of the arm.
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42. A robotic system comprising:
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a frame; two or more wheels rotatably mounted on the frame, wherein the frame comprises; two arms, each having a distal end on which a wheel is mounted and a proximal end; and a leg centrally disposed between the two arms with the proximal end of each arm rotatably attached to the leg; a drive motor attached to the frame for independently driving each wheel of the two or more wheels; an arm motor disposed on each arm for independently driving rotation of the arm relative to the leg; a system controller for generating a signal for actuating each motor; one or more sensors in communication with the system controller for generating feedback signals for providing reactive actuation of the motors for generating one or more functions selected from the group consisting of forward motion, backward motion, climbing, hopping, balancing, throwing and catching; and a power source for providing power to operate the motors, the system controller and the one or more sensors; wherein, when the leg is disposed in a vertical orientation with an end of the leg in contact with a support surface, (i) downward symmetrical rotation of the arms positions the wheels in contact with the support surface for wheeled locomotion on the support surface; (ii) rapid upward symmetrical rotation of the arms lifts the leg off of the support surface to produce a hopping motion; and (iii) antisymmetrical rotation of the arms balances the frame on the end of the leg. - View Dependent Claims (43, 44, 45, 46)
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47. A robotic system comprising:
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a body comprising a chassis; two drive wheels rotatably mounted on axles disposed on opposite sides of the body; a motor for independently driving each drive wheel; a pair of elongated arms rotatably mounted on opposite sides of and perpendicular to the chassis, each arm having a proximal end disposed on a corresponding axle, and a distal end; a second wheel disposed on the distal end of each arm in a common plane with the corresponding drive wheel; a second motor associated with each arm; a linkage between the second motor and the axle for each arm, wherein activation of the second motor rotates one of the chassis and the corresponding arm relative to the other; wherein independent activation of the second motor of both arms to rotate the arms symmetrically relative to the chassis shifts a center of gravity for balancing on one of the distal end or proximal end of the arms; a system controller for generating a signal for actuating each motor; one or more sensors in communication with the system controller for generating feedback signals for providing reactive actuation of the motors for generating one or more functions selected from the group consisting of forward motion, backward motion, climbing, hopping, balancing, throwing and catching; and a power source for providing power to operate the motors, the system controller and the one or more sensors. - View Dependent Claims (48, 49, 50, 51, 52)
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53. A method for maneuvering a robotic system having a chassis and a pair of elongated arms disposed on opposite sides of the chassis, wherein each arm supports a distal end wheel and a proximal end wheel in a planar relationship, the proximal end wheel being rotatably disposed on an axle coaxial with the chassis, the method comprising:
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providing a first motor for rotating the wheels of each arm; providing a second motor for rotating the chassis relative to each arm; activating the second motors to rotate the chassis at a non-parallel angle relative to a support surface; activating the first motors to lift one of the distal end wheel and the proximal end wheel away from the support surface so that the other wheel is positioned at a contact point on the support surface; activating the second motors to position the chassis at a balance angle relative to the arms to shift a center of gravity of the robot over the contact point; and activating the first motors in short bursts to maintain the center of gravity over the contact point. - View Dependent Claims (54, 55, 56)
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57. A robotic system comprising:
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a body comprising a chassis; two drive wheels rotatably mounted on axles disposed on opposite sides of the body; a motor for independently driving each drive wheel; a pair of elongated arms rotatably mounted on opposite sides of and perpendicular to the chassis, each arm having a proximal end disposed on a corresponding axle, and a distal end; a second wheel disposed on the distal end of each arm in a common plane with the corresponding drive wheel; a boom arm pivotably mounted on the chassis, the boom arm comprising a weighted portion and connector arms, wherein one connector arm is mounted on each side of the chassis so that the weighted portion is disposed parallel to the chassis; at least one second motor connected to the connector arms; and a linkage between the at least one second motor and the connector arms, wherein activation of the at least one second motor rotates one of the chassis and the boom arm relative to the other; wherein independent activation of the at least one second motor shifts a center of gravity for balancing on one of the distal end or proximal end of the drive arms; a system controller for generating a signal for actuating each motor; one or more sensors in communication with the system controller for generating feedback signals for providing reactive actuation of the motors for generating one or more functions selected from the group consisting of forward motion, backward motion, climbing, hopping, balancing, throwing and catching; and a power source for providing power to operate the motors, the system controller and the one or more sensors. - View Dependent Claims (58, 59, 60, 61, 62)
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63. A robotic system comprising:
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a frame; a plurality of momentum exchange elements mounted on the frame, each element comprising; a housing; a wheel disposed within the housing; a motor for independently driving the wheel, wherein each wheel comprises a reaction wheel; one or more axes for attaching each element to the frame; a system controller for generating a signal for actuating each motor; one or more sensors in communication with the system controller for generating feedback signals for providing reactive actuation of the motors for generating one or more functions selected from the group consisting of forward motion, backward motion, climbing, hopping, balancing, throwing and catching; and a power source for providing power to operate the motors, the system controller and the one or more sensors. - View Dependent Claims (64, 65, 66, 67, 68, 69, 70)
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71. A method for moving a robot in a desired direction within a fluid near a solid surface or a free surface of the fluid, the method comprising:
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providing a shell having a seal against the fluid, the shell having a spherical or ellipsoidal shape; enclosing a frame within the shell, the frame supporting at least one momentum exchange element; actuating the at least one momentum exchange element to generate an aggregate torque to induce an angular acceleration of the robot, wherein the angular acceleration produces a linear acceleration of the robot in the desired direction.
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72. A robotic system comprising:
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a body comprising a cylinder having a rotational axis, the cylinder having two ends, each end defining a hub having an axle aligned with the rotational axis, the body having a cavity therein defining a storage volume for retaining an object having an object diameter; a wheel rotatably disposed on each axle; a motor for independently driving each wheel; an elongated arm extending away from the body perpendicular to the rotational axis, the elongated arm having a base portion in communication with the storage volume; a lower body portion disposed on the body opposite the elongated arm, wherein the lower body portion is symmetrical along a plane bisecting the cylinder; and a curved channel disposed on each side of the bisecting plane having an exit end in communication with the storage volume and an entrance end defined by the hub, the lower body portion and an inner surface of the wheel and having a dimension for receiving the object to produce a frictional contact between the inner surface of the wheel, the hub and the lower body portion, wherein rotation of the wheel draws the object into the channel and into the storage volume; a system controller for generating a signal for actuating each motor; one or more sensors in communication with the system controller for generating feedback signals for providing reactive actuation of the motors for generating one or more functions selected from the group consisting of forward motion, backward motion, balancing, throwing and catching; and a power source for providing power to operate the motors, the system controller and the one or more sensors. - View Dependent Claims (73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83)
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Specification