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SELF-PROPELLED DEVICE IMPLEMENTING THREE-DIMENSIONAL CONTROL

  • US 20160291591A1
  • Filed: 06/09/2016
  • Published: 10/06/2016
  • Est. Priority Date: 01/05/2011
  • Status: Active Grant
First Claim
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1. A self-propelled device comprising:

  • a spherical housing;

    an internal drive system included within the spherical housing and operable to engage an inner surface of the spherical housing to accelerate and maneuver the self-propelled device;

    a wireless communication interface;

    one or more processors included within the spherical housing; and

    one or more memory resources storing instructions that, when executed by the one or more processors, cause the one or more processors to;

    determine an initial reference frame of the self-propelled device in three-dimensional space;

    receive control inputs over the wireless communication interface from a controller device, the control inputs being received to control movement of the self-propelled device, the control inputs further being inputted by a user on a steering mechanism of the controller device;

    interpret the control inputs as control commands to maneuver the self-propelled device;

    implement the control commands on the internal drive system to maneuver the self-propelled device based on the control inputs;

    while maneuvering the self-propelled device, determine an orientation of the internal drive system within the spherical housing in relation to the initial reference frame; and

    transmit feedback to the controller device based on the orientation of the internal drive system in order to calibrate an orientation the steering mechanism with the orientation of the internal drive system.

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