Spherical mobile robot
First Claim
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1. A spherical robot comprising:
- a spherical body defining a cavity and a center; and
a drive mechanism having a shaft fixed to said spherical body disposed within said cavity and coupled to said spherical body, wherein said drive mechanism includes a plurality of masses coupled to said body which are radially movable within said cavity to create a moment about said center of said body, said moment causing said body to rotate.
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Abstract
A spherical robot having a spherical body and a drive mechanism. The spherical body defines a cavity and a center. The drive mechanism is disposed within the cavity, coupled to the spherical body, wherein said drive mechanism includes a plurality of masses coupled to said body which are radially positionable within said cavity to create a moment about said center of said body, and is adapted to create a moment about the center of the body. This moment causes the body to rotate.
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Citations
16 Claims
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1. A spherical robot comprising:
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a spherical body defining a cavity and a center; and
a drive mechanism having a shaft fixed to said spherical body disposed within said cavity and coupled to said spherical body, wherein said drive mechanism includes a plurality of masses coupled to said body which are radially movable within said cavity to create a moment about said center of said body, said moment causing said body to rotate. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method for moving a spherical robot from a first configuration to a second configuration comprising the steps of:
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(a) providing a robot having a spherical body defining a cavity with a drive mechanism disposed in said cavity and coupled to said body wherein said drive mechanism includes a shaft fixed to said spherical body and a plurality of masses coupled to said shaft which are radially positionable within said cavity to create a moment about said center of said body;
(b) sensing the position and orientation of said body;
(c) calculating target angular velocities for rotating said body to said second configuration; and
(d) actuating said drive mechanism to rotate said body at said target angular velocities. - View Dependent Claims (15, 16)
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Specification