Folding robotic system

• US 6,999,849 B2
• Filed: 01/24/2003
• Issued: 02/14/2006
• Est. Priority Date: 01/24/2002
• Status: Active Grant

• Current Assignee: Robotic Sciences, Inc.
• Original Assignee: John Clinton Bridges
• Inventors: Bridges, John Clinton
• Primary Examiner(s): SHRIVER II, JAMES A
• Application Number:
  US10/351,451
• Publication Number:
  US 20030155747A1
• Time in Patent Office: 1,117 Days
• Field of Search: 700/245, 700/248, 700/249, 700/254, 700/257, 700/262, 901/15, 901/21, 901/50, 701/23, 414/680, 451/57, 244/159
• US Class Current: 700/245
• CPC Class Codes: B25J 5/007 mounted on wheels

Abstract

A portable robotic system having a folding carriage is disclosed. The carriage in one embodiment includes two legs and a lateral stabilizer. The folding legs and stabilizer allow the carriage to be maneuvered into a plurality of open and closed positions. In the open positions, the legs and stabilizer are spaced apart to support the robotic system during operation. In the closed positions, the legs and stabilizer and substantially parallel to one another. In one closed position with one leg or stabilizer extended to within reach of a person, the carriage may be rolled like a dolly. In another closed position with one leg or stabilizer collapsed against the carriage, the carriage may be carried like a suitcase. Methods of folding and transporting a robotic system and carriage are also disclosed.

Claims

1. A robotic apparatus capable of moving over a surface, comprising:

a trunk comprising one or more segments pivotably connected;

at least one first leg having a first proximal end adjacent to and supporting said trunk and an opposing first distal end, said at least one first leg comprising a first contact element connected to said first distal end by a first mounting assembly;

at least one second leg having a second proximal end adjacent to and supporting said trunk and an opposite second distal end, said at least one second leg comprising a second contact element connected to said second distal end by a second mounting assembly;

at least one lateral stabilizer having a fixed end and an opposing free end, said at least one lateral stabilizer comprising a lateral contact element connected to said free end by a lateral mounting assembly;

at least one motorized assembly connected to drive one of said contact elements of a member selected from the group consisting of said at least one first leg, said at least one second leg, and said at least one lateral stabilizer; and

means for disengaging said at least one motorized assembly such that said one of said contact elements moves freely,

wherein said legs and said stabilizer are foldable with respect to said trunk from at least one open position in which said robotic apparatus is substantially balanced with respect to said surface, to at least one closed position in which said legs and said stabilizer are substantially parallel to one another and define a closed carriage plane,

wherein one of said at least one closed positions is further characterized by a portion of said member being positioned within a reach envelope of a person, said reach envelope approximating a space above said surface in which an object may be grasped, and

wherein said portion within said reach envelope comprises a pull for grasping by said person.

2. A robotic apparatus capable of moving over a surface, comprising:

a trunk comprising one or more segments pivotably connected;

at least one first leg having a first proximal end adjacent to and supporting said trunk and an opposing first distal end, said at least one first leg comprising a first contact element connected to said first distal end by a first mounting assembly;

at least one second leg having a second proximal end adjacent to and supporting said trunk and an opposing second distal end, said at least one second leg comprising a second contact element connected to said second distal end by a second mounting assembly;

at least one lateral stabilizer baring a fixed end and an opposing free end, said at least one lateral stabilizer comprising a lateral contact element connected to said free end by a lateral mounting assembly;

at least one motorized assembly connected to drive one of said contact elements of a member selected from the group consisting of said at least one first leg, said at least one second leg, and said at least one lateral stabilizer; and

means for disengaging said at least one motorized assembly such that said one of said contact elements moves freely, wherein said legs and said stabilizer are foldable with respect to said trunk from at least one open position in which said robotic apparatus is substantially balanced with respect to said surface, to at least one closed position in which said legs and said stabilizer are substantially parallel to one another and define a closed carriage plane; and

a handle located within a lift distance from a reach envelope of a person when said system is in one of said at least one closed positions, said reach envelope approximating a space above said surface in which an object may be grasped, said lift distance being less than a radius of said reach envelope.

3. A robotic apparatus capable of moving over a surface, comprising:

a trunk comprising one or more segments pivotably connected;

at least one first leg having a first proximal end adjacent to and supporting said trunk and an opposing first distal end, said at least one first leg comprising a first contact element connected to said first distal end by a first mounting assembly;

at least one second leg having a second proximal end adjacent to and supporting said trunk and opposing second distal end, said at least one second leg comprising a second contact element connected to said second distal end by a second mounting assembly;

at least one lateral stabilizer having a fixed end and an opposing free end, said at least one lateral stabilizer comprising a lateral contact element connected to said free end by a lateral mounting assembly;

at least one motorized assembly connected to drive one of said contact elements of a member selected from the group consisting of said at least one first leg, said at least one second leg, and said at least one lateral stabilizer; and

means for disengaging said at least one motorized assembly such that said one of said contact elements moves freely,

wherein said legs and said stabilizer are foldable with respect to said trunk from at least one open position in which said robotic apparatus is substantially balanced with respect to said surface, to at least one closed position in which said legs and said stabilizer are substantially parallel to one another and define a closed carriage plane,

wherein one of said at least one closed positions is further characterized by said free end of said lateral stabilizer being positioned within a reach envelope of a person, said reach envelope approximating a space above said surface in which an object may be grasped, and

wherein one of said at least one closed positions is further characterized by a pull connected to said lateral stabilizer and located within said reach envelope.

4. A mobile robotic apparatus, comprising:

a trunk;

a contact element supporting said trunk and powered by a drive assembly for transporting said apparatus over a surface;

means for disengaging said drive assembly such that said contact element moves freely; and

a lateral stabilizer configured to balance said apparatus with respect to said surface,

wherein said contact element is foldable with respect to said trunk, from a plurality of open positions in which said apparatus is substantially balanced, to a plurality of closed positions in which said trunk and said element are substantially parallel, and

wherein said contact clement comprises;

a lower element having a joint end and an opposing distal end; and

an upper element connected to said lower element at a joint, said upper element having a joint end and an opposing graspable end,

wherein said upper element is foldable with respect to said lower element to form a first closed position of said plurality of first closed positions, said plurality of first closed positions characterized in that;

said distal end of said lower element is in contact with said surface;

said upper element is substantially parallel to said lower element; and

said graspable end lies with a reach envelope of a person, said reach envelope approximating a space above said surface in which an object may be grasped.

5. A mobile robotic apparatus, comprising:

a trunk;

a contact element supporting said trunk and powered by a drive assembly for transporting said apparatus over a surface;

means for disengaging said drive assembly such that said contact element moves freely; and

a lateral stabilizer configured to balance said apparatus with respect to said surface,

wherein said contact element is foldable with respect to said trunk, from a plurality of open positions in which said apparatus is substantially balanced, to a plurality of closed positions in which said trunk and said element are substantially parallel, and

wherein said contact element comprises;

a lower element having a joint end and an opposing distal end; and

an upper element connected to said lower element at a joint, said upper element having a joint end and an opposing graspable end,

wherein said upper element is foldable with respect to said lower element to form a first closed position of said plurality of first closed positions, said plurality of first closed positions characterized in that;

said distal end of said lower element is in contact with said surface;

said upper element is substantially parallel to said lower element; and

said graspable end lies with a reach envelope of a person, said reach envelope approximating a space above said surface in which an object may be grasped, and

wherein said joint further comprises a handle and wherein said upper element is foldable with respect to said lower element to form a second closed position of said plurality of first closed positions, said second closed position characterized in that;

said distal end of said lower element is in contact with said surface;

said upper element is substantially parallel to said lower element;

said graspable end lies near said distal end; and

said handle lies within a lift distance from a reach envelope of a person, said reach envelope approximating a space above said surface in which an object may be gasped, and said lift distance being less than a radius of said reach envelope.

6. A mobile robotic apparatus, comprising:

a trunk;

a contact element supporting said trunk and powered by a drive assembly for transporting said apparatus over a surface;

means for disengaging said drive assembly such that said contact element moves freely; and

a lateral stabilizer configured to balance said apparatus with respect to said surface,

wherein said contact element is foldable with respect to said trunk, from a plurality of open positions in which said apparatus is substantially balanced, to a plurality of closed positions in which said trunk and said element are substantially parallel, and

wherein said contact element comprises;

a lower element having a joint end and an opposing distal end; and

an upper element connected to said lower element at a joint, said upper element having a joint end and an opposing graspable end,

wherein said upper element is foldable with respect to said lower element to form a first closed position of said plurality of first closed position of said plurality of first closed positions characterized by;

said distal end of said lower element is in contact with said surface;

said under element is substantially parallel to said lower element; and

said graspable end lies with a reach envelope of a person, said reach envelope approximating a space above said surface in which an object may be grasped, and

wherein said joint further comprises a handle and wherein said upper element is foldable with respect to said lower element to form a second closed position of said plurality of first closed positions, said second closed position characterized in that;

said distal end of said lower element is in contact with said surface;

said upper element is substantially parallel to said lower element;

said graspable end lies near said distal end; and

said handle lies within a lift distance from a reach envelope of a person, said reach envelope approximating a space above said surface in which an object may be grasped, and said lift distance being less than a radius of said reach envelope;

wherein said contact element further comprises an auxiliary element connected to said joint and having a joint end and an opposing handle end,

wherein said auxiliary element is foldable with respect to said upper element and with respect to said lower element, to form a third closed position of said plurality of first closed positions, said third closed position characterized in that;

said auxiliary element is substantially parallel to said upper element and to said lower element;

said handle end lies with said reach envelope of a person.