Bimodal conveyance mechanism
First Claim
1. A conveyance mechanism comprising:
- a plurality of radial members, each member having attached to a distal end a curved foot, said each member attached to a common axle at a proximal end;
wherein said radial members pivot freely about said axle so that said feet rotate in parallel planes to each other in a walking mode; and
wherein at least two of said feet each include at least one attachment element for attaching to each other in a common plane to form a circle in a rolling mode.
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Accused Products
Abstract
A virtual wheel provides a leg pair as a conveyance mechanism for a land vehicle. The virtual wheel propels the vehicle across a surface using a repetitive motion of the legs that contact the ground as would a wheel, due to their geometry. Vehicle embodiments include at least two-, three-, four- and six-wheeled vehicles, both transverse and in-line. Additionally, the invention provides a bipedal walking robot. One embodiment provides a robotic mule—a payload-carrying vehicle. The invention combines the flexible mobility of bipedal vehicles with the stability and functionality of very large-wheeled vehicles. Additionally, a bimodal conveyance mechanism readily converts between walking and rolling modes.
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Citations
16 Claims
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1. A conveyance mechanism comprising:
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a plurality of radial members, each member having attached to a distal end a curved foot, said each member attached to a common axle at a proximal end; wherein said radial members pivot freely about said axle so that said feet rotate in parallel planes to each other in a walking mode; and wherein at least two of said feet each include at least one attachment element for attaching to each other in a common plane to form a circle in a rolling mode. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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Specification