Spherical vehicle control system
First Claim
1. A spherical vehicle control system comprising, a spherical shell adapted to roll on a supporting surface, an axle extending diametrically across the interior of said shell, the ends of said axle being rigidly connected to the inner surface of said shell, frame means mounted on said axle, motor drive means mounted on said frame means and operatively connected to said axle for rotating said axle and associated spherical shell to thereby cause said shell to roll on a supporting surface, said frame means being journaled on said axle whereby said frame means remains in a vertical plane during rotation of said shell, mass means, means suspending said mass means from said frame means so that it is movable in a plane containing said axle, and control means operatively connected to said mass means for changing the position of said mass means by moving it toward one end of said axle or toward the other end thereof during the rolling motion of said shell, to thereby shift the center of gravity of said shell, whereby continuous steering of the vehicle is accomplished during the rolling thereof.
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Accused Products
Abstract
A spherical vehicle including a spherical shell having a drive shaft secured to the interior wall thereof. A drive motor is connected to the shaft for imparting a rolling motion to the spherical vehicle on a supporting surface. Continuous steering of the vehicle is accomplished by changing the position of a mass suspended from the drive shaft to thereby change the center of gravity of the vehicle.
69 Citations
9 Claims
- 1. A spherical vehicle control system comprising, a spherical shell adapted to roll on a supporting surface, an axle extending diametrically across the interior of said shell, the ends of said axle being rigidly connected to the inner surface of said shell, frame means mounted on said axle, motor drive means mounted on said frame means and operatively connected to said axle for rotating said axle and associated spherical shell to thereby cause said shell to roll on a supporting surface, said frame means being journaled on said axle whereby said frame means remains in a vertical plane during rotation of said shell, mass means, means suspending said mass means from said frame means so that it is movable in a plane containing said axle, and control means operatively connected to said mass means for changing the position of said mass means by moving it toward one end of said axle or toward the other end thereof during the rolling motion of said shell, to thereby shift the center of gravity of said shell, whereby continuous steering of the vehicle is accomplished during the rolling thereof.
Specification