Mobile robot and method of operating thereof
First Claim
1. A method of operating a mobile robot, the method comprising:
- driving the robot according to a drive command issued by a remote operator control unit in communication with the robot;
determining a driven path from an origin;
after experiencing a loss of communications with the operator control unit, determining an orientation of the robot; and
executing a self-righting maneuver when the robot is oriented upside down, the self-righting maneuver comprising;
rotating an appendage of the robot from a stowed position alongside a main body of the robot downward and away from the main body, raising and supporting the main body on the appendage, and thenfurther rotating the appendage to drive the upright main body past a vertical position, causing the robot to fall over and thereby invert the main body, wherein the appendage comprises at least one flipper rotatably mounted near one end of the main body of the robot, the at least one flipper rotatable in a continuous 360 degrees with respect to the main body.
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Abstract
A method of operating a mobile robot includes driving the robot according to a drive command issued by a remote operator control unit in communication with the robot, determining a driven path from an origin, and after experiencing a loss of communications with the operator control unit, determining an orientation of the robot. The method further includes executing a self-righting maneuver when the robot is oriented upside down. The self-righting maneuver includes rotating an appendage of the robot from a stowed position alongside a main body of the robot downward and away from the main body, raising and supporting the main body on the appendage, and then further rotating the appendage to drive the upright main body past a vertical position, causing the robot to fall over and thereby invert the main body.
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Citations
14 Claims
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1. A method of operating a mobile robot, the method comprising:
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driving the robot according to a drive command issued by a remote operator control unit in communication with the robot; determining a driven path from an origin; after experiencing a loss of communications with the operator control unit, determining an orientation of the robot; and executing a self-righting maneuver when the robot is oriented upside down, the self-righting maneuver comprising; rotating an appendage of the robot from a stowed position alongside a main body of the robot downward and away from the main body, raising and supporting the main body on the appendage, and then further rotating the appendage to drive the upright main body past a vertical position, causing the robot to fall over and thereby invert the main body, wherein the appendage comprises at least one flipper rotatably mounted near one end of the main body of the robot, the at least one flipper rotatable in a continuous 360 degrees with respect to the main body. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method of operating a mobile robot, the method comprising:
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driving the robot according to a drive command issued by a remote operator control unit in communication with the robot; determining a driven path from an origin; after experiencing a loss of communications with the operator control unit, determining an orientation of the robot; and executing a self-righting maneuver when the robot is oriented upside down, the self-righting maneuver comprising; rotating an appendage of the robot from a stowed position alongside a main body of the robot downward and away from the main body, raising and supporting the main body on the appendage, and then further rotating the appendage to drive the upright main body past a vertical position, causing the robot to fall over and thereby invert the main body, wherein the appendage comprises; an arm having a pivot end and a distal end, the pivot end pivotally coupled to the main body; and a head mounted on the distal end of the arm.
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14. A method of operating a mobile robot, the method comprising:
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driving the robot according to a drive command issued by a remote operator control unit in communication with the robot; determining a driven path from an origin; after experiencing a loss of communications with the operator control unit, determining an orientation of the robot; and executing a self-righting maneuver when the robot is oriented upside down, the self-righting maneuver comprising; rotating an appendage of the robot from a stowed position alongside a main body of the robot downward and away from the main body, raising and supporting the main body on the appendage, and then further rotating the appendage to drive the upright main body past a vertical position, causing the robot to fall over and thereby invert the main body, wherein the appendage comprises; an arm having a pivot end and a distal end, the pivot end pivotally coupled to the main body; and a gripper mounted on the distal end of the arm.
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Specification