Servo-articulated modules and robotic assemblies incorporating them

• US 6,459,227 B2
• Filed: 01/26/2001
• Issued: 10/01/2002
• Est. Priority Date: 04/20/1999
• Status: Expired due to Fees

• Current Assignee: Steven Barr
• Original Assignee: Steven Barr
• Inventors: Barr, Steven
• Primary Examiner(s): Ro, Bentsu
• Application Number:
  US09/770,976
• Publication Number:
  US 20010004195A1
• Time in Patent Office: 613 Days
• Field of Search: 318/560, 318/567, 318/568.1, 318/568.11, 404/14, 404/18, 404/19, 404/20, 403/52, 403/53, 403/54, 712/220, 712/223, 712/225
• US Class Current: 318/568.1
• CPC Class Codes: G09F 19/08 Dolls, faces, or other representations of living forms with moving parts in the nature of toys A63H
• CPC Class Codes: Y10T 403/32008 Plural distinct articulation axes

Abstract

A doubly articulated module for attaching a first portion of a robotic assembly to a second portion of said assembly, said first portion being rotatable with respect to said second portion about a first axis substantially perpendicular to a first axis of the first portion and about a second axis substantially coaxial with said first axis. Preferably, the articulated module comprises servos. Several of the modules can be incorporated into arms, legs, torso, neck and head of a mannequin in order to animate as much of the mannequin as is required. Although the servos can be activated by directly wired controls or by remote radio-controlled devices, a preferred programmed system is provided for the computerized control of the modules so that the mannequin can be used for display or demonstration purposes.

Claims

1. A method for creating choreographs for animating a mannequin, said method comprising the steps of:

(a) running a graphical animation program of the desired action;

(b) generating output in the program'"'"'s proprietary format;

(c) transforming said output into a standard ASCII file format; and

(d) inputting the combined files from step (c) together with a file having mannequin specifications into a program that transforms the choreograph instructions into a compressed binary output file for operation by a run program.

2. A method for creating choreographs as created in accordance with claim 1, thereby animating the mannequin in a desired manner, which comprises:

(a) inputting the compressed binary file of choreograph instructions from step (d) in claim 1 into a run program;

(b) the run program output being to an interface;

(c) the interface interfacing with pulse width modulation controller circuitry;

(d) the pulse width modulation controller circuitry controlling the mannequin and causing it to execute the choreograph instruction; and

(e) a power supply to supply power to the mannequin.

3. A method for creating choreographs as created in accordance with claim 2, thereby animating the mannequin in a desired manner, in which the interface is a serial interface.

4. A method for creating choreographs for animating a mannequin, said method comprising the steps of:

(a) using a spreadsheet program to develop a choreograph;

(b) outputting the choreograph in a spreadsheet file;

(c) transforming the spreadsheet file into an ASCII input file;

(d) inputting the file from step (c) together with a file having mannequin specifications into a program that transforms the choreograph instructions into a compressed binary output file for operation by a run program.

5. A method for creating choreographs as created in accordance with claim 4, thereby animating the mannequin in a desired manner, which comprises:

(a) inputting the compressed binary file of choreograph instructions from step (d) in claim 4 into a run program;

(b) the run program output being to an interface;

(c) the interface interfacing with pulse width modulation controller circuitry;

(d) the pulse width modulation controller circuitry controlling the mannequin and causing it to execute the choreograph instructions; and

(e) a power supply to supply power to the mannequin.

6. A method for creating choreographs as created in accordance with claim 5, thereby animating the mannequin in a desired manner, in which the interface is a serial interface.