Self-balancing robot having a shaft-mounted head

• US 8,788,096 B1
• Filed: 11/05/2012
• Issued: 07/22/2014
• Est. Priority Date: 05/17/2010
• Status: Active Grant

• Current Assignee: Anybots 2.0, Inc.
• Original Assignee: Anybots 2.0, Inc.
• Inventors: Blackwell, Trevor, Wiley, Scott, Casner, Daniel, Holson, Benjamin, Sokol, John L.
• Primary Examiner(s): TO, TOAN C
• Application Number:
  US13/669,192
• Time in Patent Office: 624 Days
• Field of Search: 280/293, 280/304, 280/298, 280/763.1, 280/766.1, 700/259, 700/245, 700/250, 700/254, 700/257, 700/264
• US Class Current: 700/259
• CPC Class Codes: B25J 11/002 Manipulators for defensive or military tasks
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels

Abstract

Mobile self-balancing robots for telepresence are provided. The robots comprise a base, a head, and a shaft therebetween. The shaft can be telescoping to allow the head to be extended above the base to about the height of a normal sized person, or can be retracted to make the robot more compact for easier storage and transportation. The head includes components for telepresence such as cameras, a speaker, a microphone, a laser pointer, and a display screen, as well as protection from impacts and falls. The base provides locomotion and balance, and a narrow shaft between the head and base minimizes the robot'"'"'s weight and reduces the likelihood of collisions with protrusions like table edges.

Claims

1. A robot comprising:

a base, supported on wheels, and including a retractable tail that retracts into the base and that, when extended, can form a tripod with the wheels on which the robot can stably rest, the tail being pivotally attached to the base;

a control system configured to maintain balance of the robot on the wheels; and

a head joined to the base by a shaft extending therebetween.

2. The robot of claim 1 wherein the tail comprises a third wheel at a distal end thereof.

3. The robot of claim 1 wherein the wheels are joined by an axle extending through the base and wherein the tail is pivotally attached to the base at a pivot point cantilevered from the axle.

4. The robot of claim 1 further comprising logic configured to extend the tail in response to wind.

5. The robot of claim 1 wherein the head includes a forward-facing camera.

6. The robot of claim 5 wherein the head further includes a down camera.

7. The robot of claim 1 wherein the head includes impact protection.

8. A robot comprising:

a base supported on wheels and including a retractable stabilizer that can retract into the base, where the robot can stably rest on the wheels and the stabilizer when the stabilizer is extended;

a control system configured to maintain balance of the robot on the wheels; and

a head joined to the base by a shaft extending therebetween, the head including a camera.

9. The robot of claim 8 wherein the stabilizer comprises a linear actuator.

10. The robot of claim 8 wherein the stabilizer is pivotally attached to the base.

11. The robot of claim 10 wherein the control system is further configured to autonomously extend the stabilizer in response to a wind strength exceeding a threshold.

12. The robot of claim 8 wherein the base further includes a second retractable stabilizer that can retract into the base, where the robot can stably rest on the wheels and both stabilizers when the stabilizers are extended.

13. A method comprising:

transitioning a robot from a non-balancing state to a balancing state,

the robot including a base having two wheels and a retractable stabilizer, the two wheels defining a common axis of rotation;

the non-balancing state characterized by the base being supported on the two wheels and the stabilizer,

the balancing state characterized by the base being supported on only the two wheels, and

wherein transitioning the robot from the non-balancing state to the balancing state includes using the stabilizer to rotate the base around the axis of rotation.

14. The method of claim 13 wherein the retractable stabilizer comprises a linear actuator, wherein the linear actuator is extended by a first length when in the non-balancing state, and wherein using the stabilizer to rotate the base around the axis of rotation includes extending the linear actuator further beyond the first length.

15. The method of claim 13 wherein the retractable stabilizer is pivotally attached to the base at a pivot point and wherein using the stabilizer to rotate the base around the axis of rotation includes rotating the stabilizer around the pivot point.

16. A method comprising:

transitioning a robot from a balancing state to a non-balancing state,

the robot including a base having two wheels and a retractable stabilizer, the two wheels defining a common axis of rotation;

the non-balancing state characterized by the base being supported on the two wheels and the stabilizer,

the balancing state characterized by the base being supported on only the two wheels, and

wherein transitioning the robot from the balancing state to the non-balancing state includes measuring a wind strength and extending the stabilizer.