Dynamic balancing mobile robot
First Claim
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1. A dynamic balancing mobile robot, comprising:
- a single spherical wheel;
a platform positioned above and resting on said wheel such that said single wheel is the sole contact point between said platform and the ground and the sole support for said platform, said platform configured such that said mobile robot has a height-to-width ratio approximating an average adult human, said platform carrying;
a sensor;
a motor;
means for coupling a torque generated by said motor to said wheel;
a control system responsive to said sensor for controlling the torque provided by said motor to said wheel; and
a power supply for supplying power to said robot.
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Abstract
A mobile robot having a height-to-width ratio approximating a normal adult human balances and maneuvers atop a single, spherical wheel. Dynamic balancing techniques incorporating fiber-optic gyroscopes and micro-electromechanical accelerometers measure a number of parameters which, along with data from motor shaft encoders, enable a computer to calculate the forces needed to be applied to the spherical wheel to maintain the robot upright as it maneuvers or remains in place.
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Citations
26 Claims
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1. A dynamic balancing mobile robot, comprising:
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a single spherical wheel; a platform positioned above and resting on said wheel such that said single wheel is the sole contact point between said platform and the ground and the sole support for said platform, said platform configured such that said mobile robot has a height-to-width ratio approximating an average adult human, said platform carrying; a sensor; a motor; means for coupling a torque generated by said motor to said wheel; a control system responsive to said sensor for controlling the torque provided by said motor to said wheel; and a power supply for supplying power to said robot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A dynamic balancing mobile robot, comprising:
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a single spherical wheel; a platform positioned above and resting on said wheel such that said single wheel is the sole contact point between said platform and the ground and the sole support for said platform, said platform carrying; a plurality of motors; means for coupling torques generated by said motors to said wheel; a plurality of gyroscopic sensors and accelerometers for providing pitch, pitch rate, roll, roll rate, and yaw rate data; a control system responsive to said plurality of sensors for generating signals for controlling the torques developed by said plurality of motors, said control system implementing an inner control loop for controlling wheel velocity and an outer control loop for controlling stability of the robot; and a power supply for supplying power to said robot. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A dynamic balancing mobile robot, comprising:
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a single spherical wheel; a platform positioned above and resting on said wheel such that said single wheel is the sole contact point between said platform and the ground, said platform carrying; a plurality of motors; means for coupling forces generated by said plurality of motors to said wheel; a plurality of sensors; a control system responsive to said plurality of sensors for controlling the forces provided by said motors to said wheel; a plurality of legs, said legs being moveable between a stowed position and a deployed position; means for moving said plurality of legs, said means for moving being responsive to said control system; and a power supply for supplying power to said robot. - View Dependent Claims (18, 19, 20)
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21. A dynamic balancing mobile robot, comprising:
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a single spherical wheel; a platform positioned above and resting on said wheel such that said single wheel is the sole contact point between said platform and the ground, said platform configured such that said mobile robot has a height-to-width ratio approximating an average adult human, said platform carrying; a sensor; a plurality of motors positioned above said wheel; a plurality of means for coupling, each for coupling a force generated by one of said motors to said wheel, wherein each of said means for coupling comprises a roller in contact with said wheel and a belt connecting said roller to one of said plurality of motors; means for coupling a torque generated by said motor to said wheel; a control system responsive to said sensor for controlling the torque provided by said motor to said wheel; and a power supply for supplying power to said robot. - View Dependent Claims (22)
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23. A dynamic balancing mobile robot, comprising:
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a single spherical wheel; a platform positioned above and resting on said wheel such that said single wheel is the sole contact point between said platform and the ground, said platform configured such that said mobile robot has a height-to-width ratio approximating an average adult human, said platform carrying; a sensor; a motor; means for coupling a torque generated by said motor to said wheel; a control system responsive to said sensor for controlling the torque provided by said motor to said wheel; a plurality of legs carried by said platform and means for automatically moving said legs between a deployed position for supporting said platform when said platform is un-powered, and a stowed position when said platform is powered; and a power supply for supplying power to said robot.
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24. A dynamic balancing mobile robot, comprising:
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a single spherical wheel; a platform positioned above and resting on said wheel such that said single wheel is the sole contact point between said platform and the ground, said platform carrying; a plurality of motors; means for coupling forces generated by said motors to said wheel, said plurality of motors is positioned above said wheel, and wherein each of said means for coupling comprises a roller in contact with said wheel and a belt connecting said roller to a motor; a plurality of gyroscopic sensors and accelerometers for providing pitch, pitch rate, roll, roll rate, and yaw rate data; a control system responsive to said plurality of sensors for generating signals for controlling the forces developed by said plurality of motors, said control system implementing an inner control loop for controlling wheel velocity and an outer control loop for controlling stability of the robot; and a power supply for supplying power to said robot. - View Dependent Claims (25)
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26. A dynamic balancing mobile robot, comprising:
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a single spherical wheel; a platform positioned above and resting on said wheel such that said single wheel is the sole contact point between said platform and the ground, said platform carrying; a plurality of motors; means for coupling forces generated by said motors to said wheel; a plurality of gyroscopic sensors and accelerometers for providing pitch, pitch rate, roll, roll rate, and yaw rate data; a control system responsive to said plurality of sensors for generating signals for controlling the forces developed by said plurality of motors, said control system implementing an inner control loop for controlling wheel velocity and an outer control loop for controlling stability of the robot; a plurality of legs carried by said platform and means for automatically moving said legs between a deployed position for supporting said platform when said platform is un-powered, and a stowed position when said platform is powered; and a power supply for supplying power to said robot.
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Specification