Toroidal propulsion and steering system
First Claim
1. A method of moving a device having a torus skin body with a torus skin and cylindrical shaped inner and outer runs, comprising the steps of:
- simultaneously moving the inner run and the outer run of the torus skin body in a non-rectilinear, serpentine manner, in opposing longitudinal directions; and
propelling the device in the non-rectilinear, serpentine manner as a result of the outer run frictionally engaging a surface external to the device during the simultaneously moving step.
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Accused Products
Abstract
An apparatus comprises a body having a torus skin with inner and outer layers, and a drive system configured to propel the apparatus by moving the inner layer relative to the outer layer. The active skin propulsion system allows movement and steering of a device. A drive system includes a plurality of drive segments coupled together so that the skin engaging unit of the drive segment frictionally moves the inner layer of the torus skin relative to the outer layer of the torus skin. As a result of the relative skin motion and contact with the surface by the outer layer of the torus skin, the body is propelled and may be steered.
92 Citations
20 Claims
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1. A method of moving a device having a torus skin body with a torus skin and cylindrical shaped inner and outer runs, comprising the steps of:
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simultaneously moving the inner run and the outer run of the torus skin body in a non-rectilinear, serpentine manner, in opposing longitudinal directions; and propelling the device in the non-rectilinear, serpentine manner as a result of the outer run frictionally engaging a surface external to the device during the simultaneously moving step. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for moving a device having a torus skin body including a torus skin, a plurality of longitudinally linked drive segments, at least one of the drive segments having a plurality of drive wheels, the drive wheels being located on opposing sides of a longitudinal center line, comprising the steps:
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receiving a control signal from a control source; powering a plurality of internally housed motors each linked to a distinct drive wheel configured to frictionally engage an inner run of the torus skin body; rotating the plurality of drive wheels configured to frictionally engage the inner run of the torus skin body; biasing a plurality of skin engaging units forcing the plurality of drive wheels to frictionally engage the inner run of the torus skin body; and moving the inner run of the torus skin. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A method of moving a torus skin body having a pattern generator, and a plurality of micro-controller nodes, each of the micro-controller nodes being associated with a drive segment, comprising the steps of:
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receiving selection of a target; receiving control signals at a pattern generator for processing; sending output control signals from the pattern generator to a first micro-controller node; driving a motor housed within a device based upon the output control signals;
wherein the device comprises a torus skin bodypropelling the device toward the target as a result of an outer run of the torus skin body frictionally engaging a surface external to the device. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification