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Dynamic balancing mobile robot

  • US 7,847,504 B2
  • Filed: 10/10/2007
  • Issued: 12/07/2010
  • Est. Priority Date: 10/10/2006
  • Status: Active Grant
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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