Mobile robot with hydraulic mechanism

• US 8,102,134 B1
• Filed: 03/11/2010
• Issued: 01/24/2012
• Est. Priority Date: 03/30/2006
• Status: Active Grant

• Current Assignee: Vecna Robotics, Inc.
• Original Assignee: Daniel Theobald
• Inventors: Theobald, Daniel
• Primary Examiner(s): Masih, Karen
• Application Number:
  US12/721,792
• Time in Patent Office: 684 Days
• Field of Search: 318/568.21, 318/568.12, 318/568.11, 318/567, 318/569, 901/1, 901/30, 901/8, 700/245
• US Class Current: 318/568.21
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B62D 55/065 Multi-track vehicles, i.e. more than two tracks soil-shifting machines E02F; mining machines E21C
• CPC Class Codes: B62D 55/075 Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfacesmagnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00
• CPC Class Codes: B62D 57/028 having wheels and mechanical legs B62D57/024 takes precedence; ground-engaging vehicle fittings for supporting, lifting or manoeuvring the vehicle, wholly or in part B60S9/00

Abstract

A mobile robot along with a method and system for a mobile robot including a hydraulic powered mechanism operably connected to the mobile robot for movement of the hydraulic powered mechanism with respect to the mobile robot.

Claims

1. A mobile robot, comprising:

A body member; and

A hydraulic powered mechanism operably connected to the body member for movement with respect to the body member.

2. The robot as defined in claim 1, wherein the mechanism is an arm member.

3. The robot as defined in claim 1, including providing impedance control to the mechanism.

4. The robot as defined in claim 3, wherein the impedance control is provide by a series-elastic actuator.

5. The robot as defined in claim 1, wherein the mechanism is an articulating arm member having a hydraulic manipulator.

6. The robot as defined in claim 1, wherein the robot is a humanoid robot.

7. The robot as defined in claim 1, wherein the robot is autonomous.

8. The robot as defined in claim 1, wherein the body member includes a track drive type of propulsion mechanism.

9. The robot as defined in claim 1, including a mechanism that enables dynamic balancing of the robot.

10. The robot as defined in claim 9, where the robot can transition from a static operation to a dynamic balanced operation.

11. The robot as defined in claim 1, wherein the hydraulic powered mechanism is contained within the confines of the robot.

12. The robot as defined in claim 1, wherein the hydraulic powered mechanism is driven by an electrical power source.

13. A method of operating a mobile robot, comprising:

Providing a robot body member;

Providing an hydraulic powered mechanism operably connected to the body member for movement with respect to the body member; and

Actuating the hydraulic powered mechanism when desired to accomplish a particular task.

14. The method as defined in claim 13, wherein the mechanism is an arm member.

15. The method as defined in claim 13, including providing impedance control to the mechanism.

16. The method as defined in claim 13, wherein the mechanism is an articulating arm member having a hydraulic manipulator.

17. The method as defined in claim 13, including providing a mechanism that enables dynamic balancing of the robot.

18. The method as defined in claim 13, wherein the hydraulic powered mechanism is contained within the confines of the robot.

19. A robotic system, comprising:

A mobile robot;

Wireless communication elements for controlling the operation of the mobile robot; and

A self-contained hydraulic powered mechanism operably connected for movement with respect to the mobile robot.

20. A non-transitory computer readable media including program instructions which when executed by a processor causes the processor to perform the following:

Provide various commands to enable desired movement of a mobile robot; and

Enable a self-contained hydraulic powered mechanism operably connected to the mobile robot to move with respect to the mobile robot.