Operating a mobile robot
First Claim
1. A method of operating a mobile robot to traverse a threshold, the method comprising:
- detecting a threshold proximate the robot, the robot comprising a drive system having first, second, and third drive elements;
moving the first drive element onto the threshold from a first side;
moving the second drive element onto the threshold to place both the first and second drive elements on the threshold;
moving the first drive element off a second side of the threshold, opposite to the first side of the threshold;
moving the third drive element onto the threshold, placing both the second and third drive elements on the threshold; and
moving both the second and third drive elements off the second side of the threshold.
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Accused Products
Abstract
A method of operating a mobile robot to traverse a threshold includes detecting a threshold proximate the robot. The robot includes a holonomic drive system having first, second, and third drive elements configured to maneuver the robot omni-directionally. The method further includes moving the first drive element onto the threshold from a first side and moving the second drive element onto the threshold to place both the first and second drive elements on the threshold. The method includes moving the first drive element off a second side of the threshold, opposite to the first side of the threshold, and moving the third drive element onto the threshold, placing both the second and third drive elements on the threshold. The method includes moving both the second and third drive elements off the second side of the threshold.
433 Citations
34 Claims
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1. A method of operating a mobile robot to traverse a threshold, the method comprising:
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detecting a threshold proximate the robot, the robot comprising a drive system having first, second, and third drive elements; moving the first drive element onto the threshold from a first side; moving the second drive element onto the threshold to place both the first and second drive elements on the threshold; moving the first drive element off a second side of the threshold, opposite to the first side of the threshold; moving the third drive element onto the threshold, placing both the second and third drive elements on the threshold; and moving both the second and third drive elements off the second side of the threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A mobile robot comprising:
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a drive system having first, second, and third drive elements; and a controller in communication with the drive system, upon detecting a threshold proximate the robot, the controller issuing commands to the drive system to; move the first drive element onto the threshold from a first side; move the second drive element onto the threshold to place both the first and second drive elements on the threshold; move the first drive element off a second side of the threshold, opposite to the first side of the threshold; move the third drive element onto the threshold, placing both the second and third drive elements on the threshold; and move both the second and third drive elements off the second side of the threshold. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
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Specification