Multimodal agile robots
First Claim
Patent Images
1. A robot, comprising:
- a robot frame;
an elongated rigid beam movably engaged to the robot frame as a hopping leg;
two pitch-axis reaction drive wheels engaged to the robot frame, mounted on opposite sides of the robot frame, to spin around a pitch axis and provide reaction-wheel stabilization when the pitch-axis reaction drive wheels are not in contact with one or more surfaces, or to drive and steer the robot when these wheels are in contact with one or more surfaces, wherein the pitch-axis reaction drive wheels are independently powered, controlled and operated;
a roll-axis reaction drive wheel engaged to the robot frame to spin around a rotation axis that is perpendicular to the pitch axis, and operable to balance the robot when the pitch axis wheel is not in contact with a surface; and
a hopping propulsion mechanism comprising coupled linkages tensioned by one or more springs and actuated in a rotary manner, thereby acting as continuously variable transmission between rotation of a motor output shaft and linear motion of the hopping leg.
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Abstract
Examples and implementations of various robotic mechanisms, devices, components, systems and techniques are provided, including multimodal robotic devices and systems. For example, a multimodal robot can be configured to autonomously reconfigure between two or more primary modes of operation. Such robots may be used in a wide range of applications, including reconnaissance, exploration, search and rescue, military, sports, personal assistance, education, and entertainment and toys. Described examples of multimodal robots can be wheeled robots that use two or more drive wheels to perform various motions and operations.
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Citations
37 Claims
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1. A robot, comprising:
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a robot frame; an elongated rigid beam movably engaged to the robot frame as a hopping leg; two pitch-axis reaction drive wheels engaged to the robot frame, mounted on opposite sides of the robot frame, to spin around a pitch axis and provide reaction-wheel stabilization when the pitch-axis reaction drive wheels are not in contact with one or more surfaces, or to drive and steer the robot when these wheels are in contact with one or more surfaces, wherein the pitch-axis reaction drive wheels are independently powered, controlled and operated; a roll-axis reaction drive wheel engaged to the robot frame to spin around a rotation axis that is perpendicular to the pitch axis, and operable to balance the robot when the pitch axis wheel is not in contact with a surface; and a hopping propulsion mechanism comprising coupled linkages tensioned by one or more springs and actuated in a rotary manner, thereby acting as continuously variable transmission between rotation of a motor output shaft and linear motion of the hopping leg. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A robot, comprising:
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a robot frame; an elongated rigid beam movably engaged to the robot frame as a hopping leg; first and second pitch-axis reaction drive wheels engaged to the robot frame on two opposite sides to spin around a first rotation axis, wherein the first and second pitch-axis reaction drive wheels are positioned to stabilize the robot and to drive and move the robot, and wherein the first and second pitch-axis reaction drive wheels are independently powered, controlled and operated; a roll-axis reaction drive wheel engaged to the robot frame to spin around a second rotation axis that is perpendicular to the first rotation axis around which the first and second pitch-axis reaction drive wheels spin and operable to balance the robot; and a spring-loaded hopping propulsion device mounted to the hopping leg and the robot frame to comprise a linkage structure that engages the hopping leg to the robot frame and a hopping propulsion motor that causes a motion of the hopping leg relative to the robot frame. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27)
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28. A robot, comprising:
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a first reaction drive wheel comprising a first rotation axis around which the first reaction drive wheel spins, a first wheel motor to cause the first reaction drive wheel to spin, and a first power supply that energizes the first wheel motor; a second reaction drive wheel comprising a second rotation axis around which the second reaction drive wheel spins, a second wheel motor to cause the second reaction drive wheel to spin, and a second power supply that energizes the second wheel motor; a pole; a wheel mount movably engaged to the pole and engaged to the first and second reaction drive wheels on two sides of the pole, the wheel mount comprising a motorized unit to drive the wheel mount along the pole; and an adjustable wheel holding unit engaged to the first and second reaction drive wheels and located between the first and second reaction drive wheels to control and adjust a relative orientation between the first and second reaction drive wheels to include at least (1) a first relative orientation in which the first and second reaction drive wheels are parallel, and (2) a second relative orientation in which the first and second reaction drive wheels are oriented at a relative angle with respect to each other.
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29. A robot, comprising:
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a first reaction drive wheel comprising a first rotation axis around which the first reaction drive wheel spins, a first wheel motor to cause the first reaction drive wheel to spin, and a first power supply that energizes the first wheel motor; a second reaction drive wheel comprising a second rotation axis around which the second reaction drive wheel spins, a second wheel motor to cause the second reaction drive wheel to spin, and a second power supply that energizes the second wheel motor; a pole; a wheel mount movably engaged to the pole and engaged to the first and second reaction drive wheels on two sides of the pole, the wheel mount comprising a motorized unit to drive the wheel mount along the pole; a first wheel support arm having a first end engaged to the first reaction drive wheel and a second end engaged to the wheel mount, the first wheel support arm movable around the wheel mount to change a position of the first reaction drive wheel relative to the wheel mount; and a second wheel support arm having a first end engaged to the second reaction drive wheel and a second end engaged to the wheel mount, the second wheel support arm movable around the wheel mount to change a position of the second reaction drive wheel relative to the wheel mount. - View Dependent Claims (30)
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31. A robot, comprising:
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a first reaction drive wheel comprising a first rotation axis around which the first reaction drive wheel spins, a first wheel motor to cause the first reaction drive wheel to spin, and a first power supply that energizes the first wheel motor; a second reaction drive wheel comprising a second rotation axis around which the second reaction drive wheel spins, a second wheel motor to cause the second first reaction drive wheel to spin, and a second power supply that energizes the second wheel motor; a pole; and a wheel mount movably engaged to the pole and engaged to the first and second reaction drive wheels on two sides of the pole, the wheel mount comprising a motorized unit to drive the wheel mount along the pole, the wheel mount comprises; a plurality of pair of friction rollers, each pair being movably engaged to the pole to move along the pole by friction; and a plurality of friction roller motors, each friction roller motor engaged to drive a respective friction roller.
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32. A robot, comprising:
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a robot frame; an elongated rigid beam movably engaged to the robot frame as a hopping leg; a first reaction drive wheel engaged to the robot frame on a first side of the hopping leg and comprising a first rotation axis around which the first reaction drive wheel spins, a first wheel motor to cause the first reaction drive wheel to spin, and a first power supply that energizes the first wheel motor; a second reaction drive wheel engaged to the robot frame on a second side of the hopping leg and comprising a second rotation axis around which the second reaction drive wheel spins, a second wheel motor to cause the second reaction drive wheel to spin, and a second power supply that energizes the second wheel motor; and a hopping propulsion device mounted to the hopping leg and the robot frame and structured to include a linkage structure that engages the hopping leg to the robot frame and a hopping propulsion motor that causes a motion of linkage structure to move the hopping leg relative to the robot frame to cause the robot to hop. - View Dependent Claims (33, 34, 35, 36, 37)
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Specification