Self-phase synchronized walking and turning quadruped apparatus

• US 6,705,917 B2
• Filed: 12/06/2001
• Issued: 03/16/2004
• Est. Priority Date: 12/15/2000
• Status: Expired due to Fees

• Current Assignee: Andrew S. Filo
• Original Assignee: Andrew S. Filo
• Inventors: Filo, Andrew S.
• Primary Examiner(s): Ackun, Jacob K.
• Assistant Examiner(s): Miller, Bena B.
• Application Number:
  US10/006,118
• Publication Number:
  US 20020111113A1
• Time in Patent Office: 831 Days
• Field of Search: 446/355, 446/352, 446/353, 446/356, 446/358, 446/376-381, 446/390, 901/1, 180/8.1, 180/8.6
• US Class Current: 446/379
• CPC Class Codes: A63H 11/20 with pairs of legs, e.g. horses

Abstract

An apparatus that is capable of achieving self-synchronized walking and turning includes a first motor that is attached to the apparatus that is in communication with a first limb and a second motor, independent from the first motor, that is attached to the apparatus and is in communication with a second limb. Initially, the lateral phase differential is set at 180 degrees and is maintained by a dampening mechanism that is interposed between the two limbs, or other movable members mechanically linked thereto, making sure that apparatus walks in a straight line. Regulators may forcibly upset this balance by speeding up one of the motors, thereby overcoming the force exerted by the damper mechanism, causing one limb to move faster than the other limb. This results in the apparatus turning in a prescribed radius. Finally, the regulators may withdraw their disturbing force, thereby allowing the force supplied by the dampening mechanism to slow down the faster moving limb until a lateral phase differential of 180 degrees is restored. This results in the apparatus walking in a straight line once more. This method of walking and turning works whether the apparatus is walking in a forward or reverse direction. Alternatively, a counter-phase differential of 90 degrees can be used to cause the apparatus to turn on its axis.

Claims

1. An apparatus that is capable of achieving self-synchronized walking and turning comprising:

a first motor attached to said apparatus having a drive shaft extending therefrom;

a first limb that is in communication with said first motor;

a second motor, independent from said first motor, that is attached to said apparatus having a drive shaft extending therefrom;

a second limb that is in communication with said second motor, said second limb being independent of said first motor, whereby said second limb is capable of moving at a different rate than said first limb; and

at least one damper mechanism that is interposed between said first limb, or any movable member mechanically linked thereto, and said second limb, or any movable member mechanically linked thereto, whereby a any change in phase differential between said first limb and said second limb is resisted but can be accomplished.

2. The apparatus of claim 1 wherein said communication between said first motor and said first limb comprises:

a first crank shaft; and

a first gear train that reduces the angular speed of rotation of said first crank shaft as compared to that of said drive shaft of said first motor, said first gear train including;

a first gear fixedly attached to said drive shaft of said first motor; and

a second gear that is fixedly attached to said first crank shaft.

3. The apparatus of claim 1 wherein said communication between said second motor and said second limb comprises:

a second crank shaft; and

a second gear train that reduces the angular speed of rotation of said second crank shaft as compared to that of said drive shaft of said second motor, said second gear train including;

a first gear fixedly attached to said drive shaft of said second motor; and

a second gear that is fixedly attached to said second crank shaft.

4. The apparatus of claim 3 wherein said first limb comprises a first front limb and a first bell crank that has a portion the includes a first rear limb, said first bell crank being rotatably and eccentrically attached to said first crank shaft, whereby said first crank shaft drives said first bell crank.

5. The apparatus of claim 4 wherein said first front limb is rotatably attached to said first bell crank and to said apparatus with the axis of rotation of the attachment to said first bell crank being eccentric to the axis of rotation of the attachment to said apparatus, whereby said first bell crank moves said first front limb while said first front limb is mechanically coupled to said apparatus.

6. The apparatus of claim 5 wherein said second limb comprises a second front limb and a second bell crank that has a portion the includes a second rear limb, said second bell crank being rotatably and eccentrically attached to said second crank shaft, whereby said second crank shaft drives said second bell crank.

7. The apparatus of claim 6 wherein said second front limb is rotatably attached to said second bell crank and to said apparatus with the axis of rotation of the attachment to said second bell crank being eccentric to the axis of rotation of the attachment to said apparatus, whereby said second bell crank moves said second front limb while said second front limb is mechanically coupled to said apparatus.

8. The apparatus of claim 7 which further comprises a phase lock bar that is rotatably attached to said apparatus at a pivot point.

9. The apparatus of claim 8 wherein said damper mechanism is a first damper mechanism which comprises a first compression spring that is in contact with said phase lock bar and said first bell crank.

10. The apparatus of claim 9 further comprising a second damper mechanism which includes a second compression spring that is in contact with said phase lock bar and said second bell crank.

11. The apparatus of claim 10 wherein a clutch is interposed between any motor and any bell crank mechanically linked thereto, whereby the motor will be disengaged from the bell crank if any corresponding limb becomes entangled and unable to move, thereby preventing damage to the motor.

12. The apparatus of claim 1 wherein a first regulator controls said first motor causing said first motor to change the speed of rotation of said drive shaft, thereby changing the rate at which said first limb mimics a walking motion.

13. The apparatus of claim 12 wherein a second regulator controls said second motor causing said second motor to change the speed of rotation of said drive shaft, thereby changing the rate at which said second limb mimics a walking motion.

14. The apparatus of claim 13 which further comprises a third motor, said motor being capable of causing the apparatus to lie down or perform other non-ambulatory movements.

15. The apparatus of claim 14 wherein said apparatus includes means to control said first and said second regulators, causing said first motor and said first limb to have a phase differential of less than or greater than 180 degrees with respect to said second motor and said second limb, thereby causing said apparatus to turn.

16. The apparatus of claim 15 wherein said means for controlling said regulators includes means for voice input and output computer control, allowing the user to tell the apparatus to walk, turn, stop, and bark.

17. The apparatus of claim 15 wherein said means for controlling said regulators includes means for using an infrared sensor and emitter to detect objects in its environment and move toward them or to detect obstructions in its environment and avoid them.

18. The apparatus of claim 1 wherein said apparatus responds to stimuli in its environment by learning and changing the level of its activity between different levels that include sleeping and normal activity.