Locomotion of amorphous surface robots

• US 9,902,446 B2
• Filed: 01/04/2016
• Issued: 02/27/2018
• Est. Priority Date: 01/10/2011
• Status: Active Grant

• Current Assignee: United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration
• Original Assignee: United States of America as represented by the Administrator of NASA
• Inventors: Bradley, Arthur T.
• Primary Examiner(s): Cass, Jean-Paul
• Application Number:
  US14/986,797
• Publication Number:
  US 20160114842A1
• Time in Patent Office: 785 Days
• Field of Search: None
• CPC Class Codes: B62D 57/00 Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track sledges B62B; motor sledges B62M
• CPC Class Codes: B62D 57/02 with ground-engaging propulsion means, e.g. walking members
• CPC Class Codes: B62D 57/021 the ground engaging means being sequentially inflatable bags for peristaltic movement B62D57/024 takes precedence
• CPC Class Codes: B64G 1/16 Extraterrestrial cars
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

An amorphous robot includes a compartmented bladder containing fluid, a valve assembly, and an outer layer encapsulating the bladder and valve assembly. The valve assembly draws fluid from a compartment(s) and discharges the drawn fluid into a designated compartment to displace the designated compartment with respect to the surface. Another embodiment includes elements each having a variable property, an outer layer that encapsulates the elements, and a control unit. The control unit energizes a designated element to change its variable property, thereby moving the designated element. The elements may be electromagnetic spheres with a variable polarity or shape memory polymers with changing shape and/or size. Yet another embodiment includes an elongated flexible tube filled with ferrofluid, a moveable electromagnet, an actuator, and a control unit. The control unit energizes the electromagnet and moves the electromagnet via the actuator to magnetize the ferrofluid and lengthen the flexible tube.

Claims

1. An amorphous robot for use on a surface, the amorphous robot comprising:

an elongated flexible tube having closed first and second ends, wherein the elongated flexible tube is filled with ferrofluid and has a longitudinal axis;

a moveable electromagnet positioned with respect to the elongated flexible tube;

an actuator that is connected to the electromagnet and that selectively moves the electromagnet; and

a control unit that is electrically connected to the moveable electromagnet and to the actuator;

wherein the control unit alternatively;

energizes the electromagnet and moves the electromagnet, via the actuator, in a first direction with respect to the longitudinal axis to thereby magnetize the ferrofluid to create a rigid clump of magnetized particles of the ferrofluid at one of the closed ends of the inner tube and thereby lengthen the flexible tube in the first direction; and

de-energizes the electromagnet to thereby de-magnetize the ferrofluid and shorten the flexible tube in the first direction, thus moving the robot in the first direction with respect to the surface.

2. The amorphous robot of claim 1, wherein the electromagnet is annular and circumscribes an outer surface of the elongated flexible tube.

3. The amorphous robot of claim 2, further comprising a flexible outer layer which encapsulates the electromagnet and the elongated flexible tube, wherein:

a gap is defined between the elongated flexible tube and the flexible outer layer; and

the electromagnet moves through the gap.

4. The amorphous robot of claim 3, further comprising a pair of end magnets positioned at either end of the elongated flexible tube, wherein the control unit selectively activates at least one of the end magnets to thereby assist in the movement of the electromagnet through the gap.

5. The amorphous robot of claim 2, wherein the control unit includes a transceiver in communication with a remote source, and wherein the transceiver receives a set of control signals broadcast by the remote source.

6. The amorphous robot of claim 1, wherein the ferrofluid comprises a Brownian suspension of nanoscale ferromagnetic or ferrimagnetic particles in an organic solvent.

7. The amorphous robot of claim 6, wherein the ferromagnetic particles comprise magnetite or hematite.

8. The amorphous robot of claim 1, wherein the actuator comprises a motor, a motorized ball screw, a linear actuator, cables, or smart material.

9. The amorphous robot of claim 8, wherein the smart material comprises a shape memory alloy (SMA) wire.

10. The amorphous robot of claim 1, wherein the actuator consists of a shape memory alloy material.

11. An amorphous robot for use on a surface, the amorphous robot comprising:

an elongated flexible tube filled with ferrofluid and having a longitudinal axis, and having closed first and second ends such that the ferrofluid is contained within the elongated flexible tube;

a moveable electromagnet positioned with respect to the elongated flexible tube;

a flexible outer layer which encapsulates the electromagnet and the elongated flexible tube, wherein a gap is defined between the elongated flexible tube and the flexible outer layer; and

the electromagnet moves through the gap;

an actuator that is connected to the electromagnet and that selectively moves the electromagnet; and

a control unit that is electrically connected to the moveable electromagnet and to the actuator;

wherein the control unit alternatively;

energizes the electromagnet and moves the electromagnet, via the actuator, in a first direction with respect to the longitudinal axis to thereby magnetize the ferrofluid to thereby create a rigid clump of magnetized particles of the ferrofluid at one of the closed ends of the inner tube, and to thereby lengthen the flexible tube in the first direction; and

de-energizes the electromagnet to thereby de-magnetize the ferrofluid and shorten the flexible tube in the first direction, thus moving the robot in the first direction with respect to the surface.

12. The amorphous robot of claim 11, wherein:

a gap is defined between the elongated flexible tube and the flexible outer layer; and

the electromagnet moves through the gap.

13. The amorphous robot of claim 12, wherein the control unit includes a transceiver in communication with a remote source, and wherein the transceiver receives a set of control signals broadcast by the remote source.

14. The amorphous robot of claim 13, wherein the actuator comprises a motor, a motorized ball screw, a linear actuator, cables, or smart material.

15. The amorphous robot of claim 14, wherein the smart material comprises a shape memory alloy (SMA) wire.

16. The amorphous robot of claim 13, wherein the actuator consists of a shape memory alloy material.

17. An amorphous robot for use on a surface, the amorphous robot comprising:

an elongated flexible tube filled with ferrofluid and having a longitudinal axis, the elongated flexible tube having closed first and second ends;

a moveable electromagnet positioned with respect to the elongated flexible tube;

a flexible outer layer which encapsulates the electromagnet and the elongated flexible tube;

an actuator that is connected to the electromagnet and that selectively moves the electromagnet; and

a control unit that is electrically connected to the moveable electromagnet and to the actuator, wherein the control unit comprises a transceiver in communication with a remote source, and wherein the transceiver receives a set of control signals broadcast by the remote source;

wherein the control unit alternatively;

energizes the electromagnet and moves the electromagnet, via the actuator, in a first direction with respect to the longitudinal axis to thereby magnetize the ferrofluid to thereby create a rigid clump of magnetized particles of the ferrofluid at one of the closed ends of the inner tube, and to thereby lengthen the flexible tube in the first direction; and

de-energizes the electromagnet to thereby de-magnetize the ferrofluid and shorten the flexible tube in the first direction, thus moving the robot in the first direction with respect to the surface.

18. The amorphous robot of claim 17, further comprising a pair of end magnets positioned at either end of the elongated flexible tube, wherein the control unit selectively activates at least one of the end magnets to thereby assist in the movement of the electromagnet through the gap.

19. The amorphous robot of claim 17, wherein the actuator comprises a motor, a motorized ball screw, a linear actuator, cables, or smart material.

20. The amorphous robot of claim 19, wherein the smart material comprises a shape memory alloy (SMA) wire.