Self-propelled device with center of mass drive system
First Claim
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1. A self-propelled device comprising:
- a substantially cylindrical body;
a drive system comprising a carrier, a left motor to operate a left wheel, a right motor to operate a right wheel, and one or more power units to power the left and right motors, wherein the left motor and the right motor are each mounted to hang freely from the carrier between the left and right wheels and below a common rotational axis of both the left and right wheels;
a receiver coupled to the carrier to receive control inputs from a mobile computing device; and
a processor coupled to the circuit board to;
in response to execution of a software application on the mobile computing device, establish a wireless communication link with the mobile computing device to receive, via the receiver, the control inputs; and
process the control inputs for maneuvering the self-propelled device by independently operating the left motor and the right motor;
wherein actuation of the left motor and the right motor by the processor causes the left and right motors, hanging freely from the carrier, to pitch rotationally, causing a displacement in the center of mass of the self-propelled device in order to propel the self-propelled device.
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Abstract
A self-propelled device is disclosed that includes a center of mass drive system. The self-propelled device includes a substantially cylindrical body and wheels, with each wheel having a diameter substantially equivalent to the body. The self-propelled device may further include an internal drive system with a center of mass below a rotational axis of the wheels. Operation and maneuvering of the self-propelled device may be performed via active displacement of the center of mass.
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Citations
20 Claims
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1. A self-propelled device comprising:
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a substantially cylindrical body; a drive system comprising a carrier, a left motor to operate a left wheel, a right motor to operate a right wheel, and one or more power units to power the left and right motors, wherein the left motor and the right motor are each mounted to hang freely from the carrier between the left and right wheels and below a common rotational axis of both the left and right wheels; a receiver coupled to the carrier to receive control inputs from a mobile computing device; and a processor coupled to the circuit board to; in response to execution of a software application on the mobile computing device, establish a wireless communication link with the mobile computing device to receive, via the receiver, the control inputs; and process the control inputs for maneuvering the self-propelled device by independently operating the left motor and the right motor; wherein actuation of the left motor and the right motor by the processor causes the left and right motors, hanging freely from the carrier, to pitch rotationally, causing a displacement in the center of mass of the self-propelled device in order to propel the self-propelled device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification