Locomotion of Amorphous Surface Robots
First Claim
1. An amorphous robot for use on a surface, the amorphous robot comprising:
- an elongated flexible tube filled with ferrofluid and having a longitudinal axis;
a moveable electromagnet positioned with respect to the elongated flexible tube;
an actuator that is connected to the electromagnet and that selectively moves the electromagnet; and
a control unit that is electrically connected to the moveable electromagnet and to the actuator;
wherein the control unit alternatively;
energizes the electromagnet and moves the electromagnet, via the actuator, in a first direction with respect to the longitudinal axis to thereby magnetize the ferrofluid and lengthen the flexible tube in the first direction; and
de-energizes the electromagnet to thereby de-magnetize the ferrofluid and shorten the flexible tube in the first direction, thus moving the robot in the first direction with respect to the surface.
1 Assignment
0 Petitions
Accused Products
Abstract
An amorphous robot includes a compartmented bladder containing fluid, a valve assembly, and an outer layer encapsulating the bladder and valve assembly. The valve assembly draws fluid from a compartment(s) and discharges the drawn fluid into a designated compartment to displace the designated compartment with respect to the surface. Another embodiment includes elements each having a variable property, an outer layer that encapsulates the elements, and a control unit. The control unit energizes a designated element to change its variable property, thereby moving the designated element. The elements may be electromagnetic spheres with a variable polarity or shape memory polymers with changing shape and/or size. Yet another embodiment includes an elongated flexible tube filled with ferrofluid, a moveable electromagnet, an actuator, and a control unit. The control unit energizes the electromagnet and moves the electromagnet via the actuator to magnetize the ferrofluid and lengthen the flexible tube.
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Citations
20 Claims
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1. An amorphous robot for use on a surface, the amorphous robot comprising:
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an elongated flexible tube filled with ferrofluid and having a longitudinal axis; a moveable electromagnet positioned with respect to the elongated flexible tube; an actuator that is connected to the electromagnet and that selectively moves the electromagnet; and a control unit that is electrically connected to the moveable electromagnet and to the actuator; wherein the control unit alternatively; energizes the electromagnet and moves the electromagnet, via the actuator, in a first direction with respect to the longitudinal axis to thereby magnetize the ferrofluid and lengthen the flexible tube in the first direction; and de-energizes the electromagnet to thereby de-magnetize the ferrofluid and shorten the flexible tube in the first direction, thus moving the robot in the first direction with respect to the surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An amorphous robot for use on a surface, the amorphous robot comprising:
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an elongated flexible tube filled with ferrofluid and having a longitudinal axis; a moveable electromagnet positioned with respect to the elongated flexible tube; a flexible outer layer which encapsulates the electromagnet and the elongated flexible tube, wherein a gap is defined between the elongated flexible tube and the flexible outer layer; and
the electromagnet moves through the gap;an actuator that is connected to the electromagnet and that selectively moves the electromagnet; and a control unit that is electrically connected to the moveable electromagnet and to the actuator; wherein the control unit alternatively; energizes the electromagnet and moves the electromagnet, via the actuator, in a first direction with respect to the longitudinal axis to thereby magnetize the ferrofluid and lengthen the flexible tube in the first direction; and de-energizes the electromagnet to thereby de-magnetize the ferrofluid and shorten the flexible tube in the first direction, thus moving the robot in the first direction with respect to the surface. - View Dependent Claims (12, 13, 14, 15, 16)
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17. An amorphous robot for use on a surface, the amorphous robot comprising:
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an elongated flexible tube filled with ferrofluid and having a longitudinal axis; a moveable electromagnet positioned with respect to the elongated flexible tube; a flexible outer layer which encapsulates the electromagnet and the elongated flexible tube; an actuator that is connected to the electromagnet and that selectively moves the electromagnet; and a control unit that is electrically connected to the moveable electromagnet and to the actuator, wherein the control unit comprises a transceiver in communication with a remote source, and wherein the transceiver receives a set of control signals broadcast by the remote source; wherein the control unit alternatively; energizes the electromagnet and moves the electromagnet, via the actuator, in a first direction with respect to the longitudinal axis to thereby magnetize the ferrofluid and lengthen the flexible tube in the first direction; and de-energizes the electromagnet to thereby de-magnetize the ferrofluid and shorten the flexible tube in the first direction, thus moving the robot in the first direction with respect to the surface. - View Dependent Claims (18, 19, 20)
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Specification