MULTIMODAL DYNAMIC ROBOTIC SYSTEMS
First Claim
1. A robotic system comprising:
- a chassis;
a pair of elongated arms disposed on opposite sides of the chassis, each arm having a proximal end rotatably disposed on an axle attached to the chassis, and a distal end;
a drive wheel disposed adjacent the proximal end of each arm;
a first motor configured for independently rotating each drive wheel relative to the chassis;
an arm wheel disposed adjacent the distal end of each arm;
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;
a system controller configured for generating a signal for actuating each motor;
one or more sensors in communication with the system controller configured for generating feedback signals to reactively and independently actuate one or more of the motors to execute one or more functions selected from the group consisting of forward motion, backward motion, climbing, balancing; and
a power source.
1 Assignment
0 Petitions
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, and balancing. A power source is included for providing power to operate the drive motors, system controller and the one or more sensors.
-
Citations
23 Claims
-
1. A robotic system comprising:
-
a chassis; a pair of elongated arms disposed on opposite sides of the chassis, each arm having a proximal end rotatably disposed on an axle attached to the chassis, and a distal end; a drive wheel disposed adjacent the proximal end of each arm; a first motor configured for independently rotating each drive wheel relative to the chassis; an arm wheel disposed adjacent the distal end of each arm; 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; a system controller configured for generating a signal for actuating each motor; one or more sensors in communication with the system controller configured for generating feedback signals to reactively and independently actuate one or more of the motors to execute one or more functions selected from the group consisting of forward motion, backward motion, climbing, balancing; and a power source. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A robotic system, comprising:
-
a chassis; an elongated arm disposed on each side of the chassis; a drive wheel disposed adjacent a proximal end of the arm; a hip joint having two-degrees of freedom configured for rotatably connecting the proximal end of each arm to the chassis, the hip joint comprising; a drive motor configured for rotating the drive wheel; an arm motor configured for driving rotation of one of the arm and the chassis relative to the other; a system controller configured for generating a signal for actuating each motor; one or more sensors in communication with the system controller configured for generating feedback signals to independently reactively actuate one or more of the motors to execute one or more functions selected from the group consisting of forward motion, backward motion, climbing, balancing; and a power source. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
-
-
21. 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:
-
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 (22, 23)
-
Specification