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Self-propelled device with actively engaged drive system

  • US 9,766,620 B2
  • Filed: 10/15/2015
  • Issued: 09/19/2017
  • Est. Priority Date: 01/05/2011
  • Status: Active Grant
First Claim
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1. A self-propelled device comprising:

  • a drive system comprising one or more motors and one or more wheels;

    a spherical housing that contains the drive system;

    a support structure coupled to bias the drive system to cause the one or more wheels to continuously engage an inner surface of the spherical housing and cause the spherical housing to be driven by the drive system;

    a wireless communication port that receives control inputs from a controller device; and

    an internal controller to implement control commands corresponding to the control inputs on the drive system to maneuver the self-propelled device.

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