Multimodal dynamic robotic systems

• US 9,757,855 B2
• Filed: 03/12/2015
• Issued: 09/12/2017
• Est. Priority Date: 08/06/2009
• Status: Active Grant

• Current Assignee: Regents of the University of California (University of California)
• Original Assignee: Regents of the University of California (University of California)
• Inventors: Bewley, Thomas R., Schmidt-Wetekam, Christopher, Morozovsky, Nicholas, Grinberg, Matt
• Primary Examiner(s): HOLLOWAY, JASON R
• Application Number:
  US14/656,676
• Publication Number:
  US 20150202769A1
• Time in Patent Office: 915 Days
• CPC Class Codes: A63H 15/06 Self-righting toys
• CPC Class Codes: A63H 17/262 Chassis; Wheel mountings; Wheels; Axles; Suspensions; Fitting body portions to chassis
• CPC Class Codes: A63H 17/266 Movable parts other than toy figures, driven by the wheels
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: B60K 7/00 Disposition of motor in, or adjacent to, traction wheel roller-skate driving mechanisms A63C17/12
• CPC Class Codes: B62D 37/00 Stabilising vehicle bodies without controlling suspension arrangements
• CPC Class Codes: B62D 55/00 Endless track vehicles steering aspects B62D11/00; characterised by the driver not being seated B62D51/007
• 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 57/02 with ground-engaging propulsion means, e.g. walking members
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

Robotic systems according to the invention include a frame or body with two or more wheels rotatably mounted on the frame or body and a motor for independently driving each wheel. A system controller generates a signal for actuating each motor based on information provided by one or more sensors in communication with the system controller for generating feedback signals for providing reactive actuation of the motors for generating one or more functions selected from the group consisting of forward motion, backward motion, climbing, and balancing. A power source is included for providing power to operate the drive motors, system controller and the one or more sensors.

Claims

1. A robotic system comprising:

a body having a body length, the body having a chassis near one end of the body;

a pair of drive arms pivotably disposed on opposite sides of the chassis, each drive arm having an arm length slightly longer than the body length, each drive arm comprising;

a proximal end rotatably disposed on an axle attached to the chassis, the proximal end having a drive wheel rotatably disposed thereon for driving translational movement of the body; and

a distal end having an arm wheel rotatably disposed therein;

wherein each drive arm is configured for independent rotation around the axle at a plurality of arm angles relative to the body and to extend the distal end away from the body;

a first motor associated with each drive arm, the first motor coupled to the axle and configured for independently rotating the drive wheel relative to the chassis;

a second motor associated with each drive arm;

a linkage between the second motor and the axle for each drive arm, wherein activation of the second motor rotates one of the chassis and the corresponding drive arm relative to the other;

a system controller configured for generating a signal for actuating each motor;

one or more sensors in communication with the system controller configured for generating feedback signals to reactively and independently actuate one or more of the motors to independently control each drive arm to dynamically shift a combined center of gravity of the body and drive arms in line with a contact point and to execute one or more functions selected from the group consisting of forward motion, backward motion, climbing, and balancing relative to the contact point; and

a power source.

2. The robotic system of claim 1, wherein the linkage between the second motor and the axle for each drive arm and a linkage between the drive motor and the drive wheel are incorporated in a two-degree of freedom joint.

3. The robotic system of claim 1, wherein the drive arms are configured to rotate antisymmetrically to extend an effective length of the robot.

4. The robotic system of claim 1, wherein the drive wheels and the arm wheels each comprise sprockets and further comprising a tread extending around an outer surface of each drive arm, wherein the sprockets are configured to rotate the tread around the drive arms.

5. The robotic system of claim 1, wherein the body comprises a platform configured for mounting a payload or instrument.

6. The robotic system of claim 1, further comprising a plurality of wheels disposed on a second end of the body.

7. The robotic system of claim 1, further comprising a boom arm pivotably mounted on the chassis, the boom arm comprising a weighted portion and connector arms, wherein one connector arm is mounted on each side of the chassis so that the weighted portion is disposed parallel to the chassis.

8. The robotic system of claim 1, wherein the system controller is responsive to a wireless remote control signal.

9. The robotic system of claim 1, wherein the one or more sensors comprise sensors for detecting location of an object.

10. A robotic system, comprising:

a body comprising a chassis, the body having a body length, wherein the chassis is disposed near a first end of the body;

a drive arm pivotably disposed on each side of the chassis, each drive arm having an arm length slightly longer than the body length, a drive wheel disposed adjacent a proximal end of the drive arm for driving translational movement of the body, and a distal end having an arm wheel, wherein each drive arm is configured for independent rotation at a plurality of arm angles relative to the body and to extend the distal end away from the body;

a tread extending around an outer surface of each drive arm, wherein the drive wheel and the arm wheel of each drive arm are configured to cause the tread to move around the outer surface of the drive arm;

a hip joint having two-degrees of freedom configured for rotatably connecting the proximal end of each drive arm to the chassis, the hip joint comprising;

a drive motor configured for rotating the drive wheel;

an arm motor configured for driving rotation of one of the drive arm and the chassis relative to the other;

a system controller configured for generating a signal for actuating each motor;

one or more sensors in communication with the system controller configured for generating feedback signals to independently reactively actuate one or more of the motors to independently control each drive arm to dynamically shift a combined center of gravity of the body and drive arms in line with a contact point and to execute one or more functions selected from the group consisting of forward motion, backward motion, climbing, balancing relative to the contact point; and

a power source.

11. The robotic system of claim 10, wherein the body comprises a platform configured for mounting a payload or instrument.

12. The robotic system of claim 11, further comprising a plurality of wheels disposed on a second end of the body.

13. The robotic system of claim 10, wherein the hip joints are disposed within the chassis.

14. The robotic system of claim 10, wherein the hip joint is disposed within each drive arm.

15. The robotic system of claim 10, further comprising a boom arm pivotably mounted on the chassis, the boom arm comprising a weighted portion and connector arms, wherein one connector arm is mounted on each side of the chassis so that the weighted portion is disposed parallel to the chassis.

16. The robotic system of claim 10, wherein the system controller is responsive to a wireless remote control signal.

17. The robotic system of claim 10, wherein the one or more sensors comprise sensors for detecting location of an object.

18. A method for maneuvering a robotic system having a body comprising a chassis, the body having a body length and a pair of independently operable drive arms having arm lengths slightly longer than the body length disposed on opposite sides of the chassis, wherein each drive arm supports a distal end wheel and a proximal end wheel in a planar relationship, the proximal end wheel being rotatably disposed on an axle coaxial with the chassis for driving translational movement, wherein each drive arm is configured for independent rotation at different arm angles relative to the body and to extend the distal end wheel away from the body, the method comprising:

providing a first motor for rotating the proximal end wheel of each drive arm;

providing a second motor for rotating the chassis relative to each drive arm;

activating the second motors to rotate the chassis at a non-parallel angle relative to a support surface;

activating the first motors to lift one of the distal end wheel and the proximal end wheel away from the support surface so that the other wheel is positioned at a contact point on the support surface;

activating the second motors to position the chassis at a balance angle relative to the drive arms to shift a combined center of gravity of the body and drive arms over the contact point; and

activating the first motors in short bursts to maintain the combined center of gravity over the contact point.

19. The method of claim 18, wherein the balance angle defines a V-mode, wherein the distal end wheel is lifted and the proximal end wheel is at the contact point.

20. The method of claim 18, wherein the balance angle defines a C-balancing mode, wherein the proximal end wheel is lifted and the distal end wheel is at the contact point.