Climber robot

• US 5,551,525 A
• Filed: 08/19/1994
• Issued: 09/03/1996
• Est. Priority Date: 08/19/1994
• Status: Expired due to Fees

• Current Assignee: Vanderbilt University
• Original Assignee: Vanderbilt University
• Inventors: Pack, Robert T., Kawamura, Kazuhiko, Iskarous, Moenes Z.
• Primary Examiner(s): Culbreth, Eric D.
• Assistant Examiner(s): ZEENDER, FLORIAN M
• Application Number:
  US08/293,498
• Time in Patent Office: 746 Days
• Field of Search: 180/901, 180/8.1, 180/8.6
• US Class Current: 180/8.6
• CPC Class Codes: B62D 57/024 specially adapted for moving on inclined or vertical surfaces endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence
• CPC Class Codes: Y10S 180/901 Devices for traversing vertical surfaces

Abstract

A climber robot has front and rear legs joined together by a pivoting knee joint and having pivoting ankle joints at their distal ends. Pneumatic muscle pairs attached to each leg allow the robot to move vertically and horizontally and make easy transitions over obstacles and from the horizontal to vertical plane.

Claims

1. A mobile robot adapted for movement and climbing on horizontal and vertical surfaces comprising:

a. a movement mechanism having a front leg assembly and a rear leg assembly, a front ankle pivotally attached to a distal end of said front leg assembly, a rear ankle pivotally attached to a distal end of said rear leg assembly, and said front and rear leg assemblies pivotally joined at their proximal ends by a knee joint;

b. at least one pair of front leg pneumatic muscles mounted to said front leg assembly and operably attached to said knee joint and to said front ankle;

c. at least one pair of rear leg pneumatic muscles mounted to said rear leg and operably attached to said rear ankle;

d. each of said pneumatic muscles comprising a pneumatic cavity within an elastic tube, said tube having an opening therein for delivering and releasing air from said cavity, said tube defining a cylinder having a circumference and length, and whereby said circumference increases in proportion to an increase in air pressure within said cavity and whereby said length decreases in proportion to said increase in said circumference;

e. said front leg muscles operably connected in a cooperative relationship whereby said front ankle can be pivoted above and below a horizontal plane defined by said front leg assembly and whereby said front leg can be pivoted about said knee joint above and below a horizontal plane defined by said rear leg assembly;

f. said rear leg muscles operably connected in a cooperative relationship whereby said rear ankle can be pivoted above and below a horizontal plane defined by said rear leg assembly; and

g. a front foot attached to said front ankle and a rear foot attached to said rear ankle, said front foot and said rear foot adapted for releasably engaging horizontal and vertical surfaces.

2. The robot of claim 1 further comprising traction means attached to said front foot and to said rear foot.

3. The robot of claim 2 further comprising a control system means for controlling movement of said front leg assembly, said rear leg assembly, said front ankle, and said rear ankle, by pressurization and de-pressurization of said muscles.

4. The robot of claim 3 wherein said control system means comprises joint position indicating means for indicating a position of said knee joint, muscle pressure sensing means for sensing pressure inside said pneumatic cavity, and muscle pressure adjustment means for varying the pressure inside said pneumatic cavity.

5. A climber robot comprising:

a. front leg and rear leg each having a proximal end, the front leg and rear leg directly pivotally connected at their respective proximal ends by a knee joint;

b. a front ankle pivotally connecting a front foot to a distal end of said front leg;

c. a rear ankle pivotally connecting a rear foot to a distal end of said rear leg;

d. leg movement means to pivot said front leg with respect to said rear leg whereby said front leg and said rear leg can be lifted off of a horizontal or a vertical surface and whereby said front leg and said rear leg can be moved toward and away from each other in a walking motion; and

e. front foot pivot movement means to pivot said front foot with respect to said front leg and rear foot pivot means to pivot said rear foot with respect to said rear leg, said front foot pivot means including a front ankle drive means attached to said front ankle, and said rear foot pivot means including a rear ankle drive means attached to said rear ankle, whereby said robot can engage and move from a horizontal surface to a vertical surface.

6. The climber robot of claim 5 further comprising foot rotation means for rotating at least one of said rear foot and said front foot.

7. The climber robot of claim 6 where said leg movement means, each of said front and rear foot pivot movement means, and said foot rotation means, each comprise pneumatic muscles.