Self-balancing robot including an ultracapacitor power source
First Claim
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1. A robotic system comprising:
- a dynamically balancing robot including an electrically activated component that is employed when the robot is brought to a stable shutdown configuration; and
a power system configured to power the component and includinga voltage converter configured to receive power from a power source,an energy storage device in electrical communication between the voltage converter and the component, the energy storage device being capable of providing the component with sufficient power to bring the robot to the stable shutdown configuration during a deleterious power event, anda controller configured to monitor for an indication of the deleterious power event.
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Abstract
A power system is provided for robotic systems such as dynamically balancing robots, including inverted pendulum robots, robots that balance on two legs, and dynamically balancing robotic personal vehicles. Under normal operation, the power system provides operating power from a power source such as an internal battery system or an external AC power supply. The power system includes an energy storage device, such as an ultracapacitor assembly, that can provide emergency power sufficient to power components of the robotic system to a stable shutdown configuration in the event of a deleterious power event.
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Citations
27 Claims
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1. A robotic system comprising:
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a dynamically balancing robot including an electrically activated component that is employed when the robot is brought to a stable shutdown configuration; and a power system configured to power the component and including a voltage converter configured to receive power from a power source, an energy storage device in electrical communication between the voltage converter and the component, the energy storage device being capable of providing the component with sufficient power to bring the robot to the stable shutdown configuration during a deleterious power event, and a controller configured to monitor for an indication of the deleterious power event. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A method comprising:
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balancing a robot on no more than two points of contact with the ground, wherein balancing the robot comprising drawing power from a power source; and responding to a deleterious power event by transitioning the robot to a stable shutdown configuration while drawing power from an ultracapacitor assembly. - View Dependent Claims (19, 20, 21, 22, 23)
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24. A method comprising:
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balancing a robot on no more than two points of contact with the ground, including drawing power from a power source characterized by a safe discharge rate, the robot including an ultracapacitor assembly characterized by a maximum charge voltage; and drawing power in parallel from both the power source and from the ultracapacitor assembly, where the power drawn from the power source is limited by the safe discharge rate where power drawn responding to a deleterious power event transitions the robot to a stable shutdown configuration while drawing power from the ultracapacitor assembly. - View Dependent Claims (25, 26, 27)
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Specification