Multimodal dynamic robotic systems

• US 9,902,058 B1
• Filed: 09/11/2017
• Issued: 02/27/2018
• 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 M., Morozovsky, Nicholas, Grinberg, Matt
• Primary Examiner(s): HOLLOWAY, JASON R
• Application Number:
  US15/701,406
• Publication Number:
  US 20180036876A1
• Time in Patent Office: 169 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 include a frame or body with two or more wheels rotatably mounted on the frame or body and a motor for 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, hopping, 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, a first body end, and a second body end;

a pair of treaded arms disposed on opposite sides of the body each treaded arm comprising;

a first arm end rotatably disposed on an axle defining a pivot point near the first body end, the first arm end having a first wheel rotatably disposed thereon;

a second arm end having a second wheel rotatably disposed thereon,

wherein the treaded arm has an arm length from the pivot point to the second arm end that is slightly longer than the body length from the pivot point to the second body end; and

a tread having an inner surface configured to engage the first wheel and the second wheel, and an outer surface configured to contact a support surface;

wherein each treaded arm is configured for rotation around the pivot point at a plurality of arm angles relative to the body and to extend the second arm end away from the body;

a first motor associated with each treaded arm, the first motor configured to drive the tread around the associated treaded arm;

at least one second motor associated with the treaded arms;

a linkage between the at least one second motor and the axle for each treaded arm, wherein activation of the at least one second motor rotates one of the body and the corresponding treaded 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 actuate one or more of the motors to control each treaded arm to dynamically shift a combined center of gravity of the body and treaded arms in line with a contact point on the support surface 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 at least one second motor and the axle for each treaded arm and a linkage between the first motor and the first wheel are incorporated in a two-degree of freedom joint.

3. The robotic system of claim 1, wherein the treaded arms are configured to rotate anti-symmetrically to extend an effective length of the robot.

4. The robotic system of claim 1, wherein the first wheels and the second wheels each comprise sprockets configured to engage with the inner surface of the tread.

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

6. The robotic system of claim 1, wherein the system controller is configured to generate signals to the at least one second motor to extend the body upward from the treaded arms and to the first motors to cause the treaded arms to toe balance on the second arm ends.

7. The robotic system of claim 1, wherein the system controller is configured to generate signals to the at least one second motor to extend the body upward from the treaded arms and to the first motors to drive the treads around the treaded arms to effect forward motion or backward motion.

8. The robotic system of claim 1, wherein the system controller is configured to generate signals to the first motor and the at least one second motor to cause the body to extend upward from the treaded arms while balancing on the second arm ends and to effect forward motion or backward motion.

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

10. A robotic system, comprising:

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

a drive arm disposed on each side of the chassis at a pivot point, each drive arm having a first arm end having a first wheel, and a second arm end having a second wheel, wherein each drive arm is configured for rotation at the pivot point to effect a plurality of arm angles relative to the body and to extend the second arm end away from the body, and wherein an arm length from the pivot point to the second arm end is slightly longer than a body length from the pivot point to the second body end;

a tread extending around each drive arm, the tread having an inner surface configured to engage the first wheel and the second wheel, and an outer surface configured to contact a support surface;

a drive motor configured for rotating the tread around the drive arm;

at least one arm motor configured for driving rotation of the drive arms 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 reactively actuate one or more of the motors to control each drive arm to dynamically shift a combined center of gravity of the body and drive arms in line with a contact point on the support surface 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, further comprising a plurality of wheels disposed on a second end of the body.

12. The robotic system of claim 10, further comprising a first linkage between the drive motor and the first wheel, and a second linkage between the at least one arm motor and an axle for each drive arm.

13. The robotic system of claim 12, wherein the first linkage and the second linkage are incorporated into a two-degree of freedom joint.

14. The robotic system of claim 10, wherein the first wheels and the second wheels each comprise sprockets configured to engage with the inner surface of the tread.

15. The robotic system of claim 10, wherein the system controller is configured to generate signals to the at least one arm motor to extend the body upward from the drive arms and to the drive motors to cause the drive arms to toe balance on the second arm ends.

16. The robotic system of claim 10, wherein the system controller is configured to generate signals to the at least one arm motor to extend the body upward from the drive arms and to the drive motors to drive the treads around the drive arms to effect forward motion or backward motion.

17. The robotic system of claim 10, wherein the system controller is configured to generate signals to the drive motor and at least one arm motor to cause the body to extend upward from the drive arms while balancing on the second arm ends and to effect forward motion or backward motion.

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

20. The method of claim 10, wherein the balance angle defines a C-balancing mode, wherein the first wheel is lifted and the second wheel corresponds to the contact point.

19. A method for maneuvering a robotic system having a body comprising a chassis and a pair of treaded drive arms disposed on opposite sides of the chassis near a first body end, wherein each treaded drive arm has a first arm end having a first wheel, a second arm end having a second wheel, and a tread extending around the first wheel and the second wheel, the first wheel being rotatably disposed on an axle coaxial with the chassis at a pivot point, wherein an arm length from the pivot point to the second arm end is slightly longer than a body length from the pivot point to the second body end, and wherein each drive arm is configured for rotation at different arm angles relative to the body and to extend the second wheel away from the body, the method comprising:

providing a drive motor for rotating the tread of each treaded drive arm;

providing at least one arm motor for rotating the chassis and the treaded drive arms relative to each other;

activating the at least one arm motor to rotate the chassis at a non-parallel angle relative to a support surface;

activating the drive motors to lift one of the first wheel and the second wheel away from the support surface so that the tread associated with the other wheel is in contact with a contact point on the support surface;

activating the at least one arm motor to position the chassis at a balance angle relative to the treaded drive arms to shift a combined center of gravity of the body and treaded drive arms over the contact point; and

activating the drive motors to maintain the combined center of gravity over the contact point.