Mobile platform

• US 9,957,002 B2
• Filed: 02/01/2016
• Issued: 05/01/2018
• Est. Priority Date: 02/01/2015
• Status: Active Grant

• Current Assignee: Genesis Robotics and Motion Technologies Canada, ULC
• Original Assignee: Genesis Robotics LLP (Genesis Advanced Technology Inc.)
• Inventors: Klassen, James Brent
• Primary Examiner(s): Winner, Tony H
• Application Number:
  US15/012,664
• Publication Number:
  US 20160251044A1
• Time in Patent Office: 820 Days
• Field of Search: 180 71, 180 81, 180 82, 180 86
• CPC Class Codes: B60F 3/0007 Arrangement of propulsion or steering means on amphibious vehicles marine propulsion or steering B63H
• CPC Class Codes: B60F 5/00 Other convertible vehicles, i.e. vehicles capable of travelling in or on different media vehicles having alternatively-usable runners and wheels B62B13/18; cycles convertible into other types of land vehicles B62K13/00; aircraft B64; flying-boats or seaplanes B64C
• CPC Class Codes: B62D 57/022 consisting of members having both rotational and walking movements
• CPC Class Codes: B62D 57/028 having wheels and mechanical legs B62D57/024 takes precedence; ground-engaging vehicle fittings for supporting, lifting or manoeuvring the vehicle, wholly or in part B60S9/00

Abstract

A mobile platform intended for civilian, industrial, research or other use. An ambulation system or mobile platform such as for traveling over uneven terrain includes one or more leg arrangements attached to a main body or chassis. In an embodiment, a leg arrangement comprises one or more legs, such as legs that rotate in the same and singular direction around their respective rotary joints when the vehicle is moving in a single direction. The rotational axis for both legs is located near each other and preferably coaxially and allows ground contact of two or more legs at all times.

Claims

1. A mobile platform, comprising:

a main body having a first side and a second side which together define a lateral direction with respect to the main body;

a first leg mounted for 360 degree rotation in a first plane on the main body at a first rotary joint on the first side of the mobile platform, the first leg connected to be driven by a first actuator controlled by a processor and the first rotary joint having a first rotation axis;

a second leg mounted for 360 degree rotation in a second plane on the main body at a second rotary joint on the main body, the second leg connected to be driven by a second actuator controlled by the processor and the second rotary joint having a second rotation axis;

the processor being configured to instruct the first actuator to rotate the first leg at higher speed when the first leg is not in contact with a ground surface than when the first leg is in contact with the ground surface;

the processor being configured to instruct the second actuator to rotate the second leg at higher speed when the second leg is not in contact with the ground surface than when the second leg is in contact with the ground surface;

a third leg mounted for 360 degree rotation in a third plane on the main body at a third rotary joint on the second side of the mobile platform, the third leg connected to be driven by a third actuator controlled by the processor and the third rotary joint having a third rotation axis;

a fourth leg mounted for 360 degree rotation in a fourth plane on the main body at a fourth rotary joint on the second side of the mobile platform, the fourth leg connected to be driven by a fourth actuator controlled by the processor and the fourth rotary joint having a fourth rotation axis;

the processor being configured to instruct the third actuator to rotate the third leg at higher speed for more than 180 degrees of rotation when the third leg is generally expected to not be in contact with the ground surface and when the third leg is generally expected to be in contact with the ground surface; and

the processor being configured to instruct the fourth actuator to rotate the fourth leg at higher speed when the fourth leg is expected to be generally not in contact with the ground surface and when the fourth leg is expected to be generally in contact with the ground surface;

in which the sensor arrangement is arranged to determine when the third leg is in contact with a ground surface and when the fourth leg is in contact with the ground surface; and

in which the third leg and the fourth leg are mounted co-axially.

2. A mobile platform, comprising:

a main body having a first side and a second side which together define a lateral direction with respect to the main body;

a first leg mounted for 360 degree rotation in a first plane on the main body at a first rotary joint on the first side of the mobile platform, the first leg connected to be driven by a first actuator controlled by a processor and the first rotary joint having a first rotation axis;

a second leg mounted for 360 degree rotation in a second plane on the main body at a second rotary joint on the main body, the second leg connected to be driven by a second actuator controlled by the processor and the second rotary joint having a second rotation axis;

the processor being configured to instruct the first actuator to rotate the first leg at higher speed when the first leg is not in contact with a ground surface than when the first leg is in contact with the ground surface; and

the processor being configured to instruct the second actuator to rotate the second leg at higher speed when the second leg is not in contact with the ground surface than when the second leg is in contact with the ground surface;

in which the second rotary joint is located on the first side of the main body, axially displaced from the first actuator.

3. The mobile platform of claim 2 further comprising a sensor arrangement for determining when the first leg is in contact with the ground surface and when the second leg is in contact with the ground surface and the processor is responsive to the sensor arrangement to control the first actuator and the second actuator.

4. The mobile platform of claim 2 in which the processor is configured to instruct the first actuator and the second actuator to follow stored leg rotation algorithms.

5. A mobile platform, comprising:

a main body having a first side and a second side which together define a lateral direction with respect to the main body;

a first leg mounted for 360 degree rotation in a first plane on the main body at a first rotary joint on the first side of the mobile platform, the first leg connected to be driven by a first actuator controlled by a processor and the first rotary joint having a first rotation axis;

a second leg mounted for 360 degree rotation in a second plane on the main body at a second rotary joint on the main body, the second leg connected to be driven by a second actuator controlled by the processor and the second rotary joint having a second rotation axis;

the processor being configured to instruct the first actuator to rotate the first leg at higher speed when the first leg is not in contact with a ground surface than when the first leg is in contact with the ground surface; and

the processor being configured to instruct the second actuator to rotate the second leg at higher speed when the second leg is not in contact with the ground surface than when the second leg is in contact with the ground surface;

in which each of the first leg and the second leg are variable in length and exert an increased extension force as the respective first leg and the second leg are compressed allowing a terminal point on each of the first leg and the second leg to travel in a generally circular path for greater than 180 degrees, and a generally straight and horizontal path for less than 180 degrees as a result of ground contact forces shortening the leg length progressively toward a vertical leg angle.

6. The mobile platform of claim 5 in which the first leg is more flexible in the lateral direction than in the first plane and the second leg is more flexible in the lateral direction than in the second plane.

7. The mobile platform of claim 5 in which the processor is configured to rotate the first leg and the second leg so that at least one of the first leg and the other leg is in contact with the ground at all times.

8. The mobile platform of claim 5 in which the processor is configured to rotate the first leg and the second leg so that the rotational speed of each of the first leg and the second leg is lower at an initial and a final ground contact positions and higher at a vertical leg position to maintain a generally constant horizontal speed of the respective first rotary joint and second rotary joint.

9. A mobile platform, comprising:

a main body having a first side and a second side which together define a lateral direction with respect to the main body;

a first leg mounted for 360 degree rotation in a first plane on the main body at a first rotary joint on the first side of the mobile platform, the first leg connected to be driven by a first actuator controlled by a processor and the first rotary joint having a first rotation axis;

a second leg mounted for 360 degree rotation in a second plane on the main body at a second rotary joint on the main body, the second leg connected to be driven by a second actuator controlled by the processor and the second rotary joint having a second rotation axis;

the processor being configured to instruct the first actuator to rotate the first leg at higher speed when the first leg is not in contact with a ground surface than when the first leg is in contact with the ground surface; and

the processor being configured to instruct the second actuator to rotate the second leg at higher speed when the second leg is not in contact with the ground surface than when the second leg is in contact with the ground surface;

in which, in each of the first leg and the second leg, two or more feet are rotational attached to a generally vertically movable suspension member.

10. A mobile platform, comprising:

a main body having a first side and a second side which together define a lateral direction with respect to the main body;

a first leg mounted for 360 degree rotation in a first plane on the main body at a first rotary joint on the first side of the mobile platform, the first leg connected to be driven by a first actuator controlled by a processor and the first rotary joint having a first rotation axis;

a second leg mounted for 360 degree rotation in a second plane on the main body at a second rotary joint on the main body, the second leg connected to be driven by a second actuator controlled by the processor and the second rotary joint having a second rotation axis;

the processor being configured to instruct the first actuator to rotate the first leg at higher speed when the first leg is not in contact with a ground surface than when the first leg is in contact with the ground surface; and

the processor being configured to instruct the second actuator to rotate the second leg at higher speed when the second leg is not in contact with the ground surface than when the second leg is in contact with the ground surface;

in which the first leg and the second leg are mounted co-axially.

11. A mobile platform having a main body with a first side and a second side which together define a lateral direction with respect to the main body, and at least one leg arrangement, said at least one leg arrangement comprising

a first leg mounted for 360 degree rotation in a first plane on the main body at a first rotary joint on the first side of the mobile platform, the first leg connected to be driven by a first actuator controlled by a processor and the first rotary joint having a first rotation axis;

a second leg mounted for 360 degree rotation in a second plane on the main body at the first rotary joint, the second leg connected to be driven by a second actuator controlled by the processor; and

the processor being configured to Instruct the first actuator to rotate the first leg and the second actuator to rotate the second leg.

12. The mobile platform of claim 11 further comprising a swing arm mounted on the main body, the at least one leg arrangement being mounted on the swing arm.

13. The mobile platform of claim 12 wherein the swing arm is mounted on the main body via a spar extending from the main body.

14. The mobile platform of claim 11 wherein the at least one leg arrangement comprises a plurality of leg arrangements, each leg arrangement of the plurality of leg arrangements being mounted on a respective swing arm mounted on the main body.

15. The mobile platform of claim 14 wherein the at least one leg arrangement comprises at least four leg arrangements, each leg arrangement of the at least four leg arrangements being mounted on a swing arm, and the swing arms are mounted in pairs on opposed sides of the main body.

16. The mobile platform of claim 11 wherein each of the first leg and the second leg is variable in length and exerts an increased extension force as the respective first leg and the second leg is compressed allowing a terminal point on each of the first leg and the second leg to travel in a generally circular path for greater than 180 degrees, and a generally straight and horizontal path for less than 180 degrees as a result of ground contact forces shortening the leg length progressively toward a vertical leg angle.

17. The mobile platform of claim 11 wherein the first leg is more flexible in the lateral direction than in the first plane and the second leg is more flexible in the lateral direction than in the second plane.

18. The mobile platform of claim 17 wherein a lateral flexibility of the first leg and the second leg is provided by flexible members or spring joints.

19. The mobile platform of claim 11 wherein the processor is configured to cause, when the mobile platform is travelling in a straight line, the first leg and the second leg to rotate at a same average ground speed.

20. The mobile platform of claim 11 wherein the at least one leg arrangement comprises a plurality of leg arrangements, each said leg arrangement includes a respective first leg and second leg, said respective first and second legs are placed on a diagonal across a center of gravity of the mobile platform, and the legs across the diagonal rotate in phase.

21. The mobile platform of claim 11 least one leg arrangement comprises a plurality of leg arrangements, the processor is configured to instruct the respective first and second legs of the plurality of leg arrangements so that when the mobile platform is traveling in a straight line, the respective first and second legs on a front corner of the mobile platform rotate to achieve a same average ground speed as the respective first and second legs on an opposite side of the mobile platform, said legs on the opposite side out of phase with legs on the first side by an average of 360 degrees divided by twice a number of legs on a corner.

22. The mobile platform of claim 11 wherein the at least one leg arrangement comprises a plurality of leg arrangements, the processor Is configured to instruct the respective first and second legs of the plurality of leg arrangements so that the respective first and second legs on a corner rotate at a higher ground contact speed to change a mobile platform direction than the respective first and second legs on an opposite side of the mobile platform, while staying, on average, in phase with the respective m at a diagonal corner.

23. The mobile platform of claim 11 wherein the least one leg arrangement comprises a plurality of leg arrangements, the processor is configured to instruct the respective first and second legs of the plurality of leg arrangements so that the respective first and second legs on a front corner rotate at a higher ground contact speed to change a mobile platform direction than the respective first and second legs on an opposite side of the mobile platform, while staying, on average, out of phase by an average of 360 degrees divided by twice a number of legs on a corner.

24. The mobile platform of claim 11 wherein the processor is configured to instruct the legs on a corner of the mobile platform to rotate at a same speed in a high speed mode.