Friction drive system and methods for use
First Claim
1. A robotic system comprising:
- a body;
one or more sensors;
a first wheel and a second wheel coupled to the body, wherein both the first wheel and the second wheel are configured to rotate about a first axis, and wherein each of the first wheel and the second wheel comprise;
an outermost diameter configured to contact a ground surface in an environment of the robotic system; and
a motor coupled to a rotatable component, wherein the motor is configured to rotate the rotatable component about a second axis, and wherein the rotatable component is frictionally engaged with the outermost diameter such that (i) a rotation of the rotatable component about the second axis is translated to a rotation of the wheel about the first axis and (ii) a gear ratio of the wheel to the rotatable component is defined based on a size of the outermost diameter relative to a size of the rotatable component; and
a controller that operates the motor of the first wheel and the motor of the second wheel to cause the robotic system to maintain balance and navigate within the environment based on data received from the one or more sensors.
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Accused Products
Abstract
An example implementation includes a robotic system including a first wheel and a second wheel configured to rotate about a first axis. Each wheel of the first wheel and the second wheel includes a contact surface and a motor coupled to a rotatable component. Each motor is configured to rotate the rotatable component about a respective second axis. The rotatable component is frictionally engaged with the contact surface such that a rotation of the rotatable component about the respective second axis is translated to a rotation of the wheel about the first axis. The robotic system further includes a controller configured to operate the motor of the first wheel and the motor of the second wheel in order to cause the robotic system to maintain its balance and navigate within an environment based on data received from one or more sensors.
31 Citations
15 Claims
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1. A robotic system comprising:
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a body; one or more sensors; a first wheel and a second wheel coupled to the body, wherein both the first wheel and the second wheel are configured to rotate about a first axis, and wherein each of the first wheel and the second wheel comprise; an outermost diameter configured to contact a ground surface in an environment of the robotic system; and a motor coupled to a rotatable component, wherein the motor is configured to rotate the rotatable component about a second axis, and wherein the rotatable component is frictionally engaged with the outermost diameter such that (i) a rotation of the rotatable component about the second axis is translated to a rotation of the wheel about the first axis and (ii) a gear ratio of the wheel to the rotatable component is defined based on a size of the outermost diameter relative to a size of the rotatable component; and a controller that operates the motor of the first wheel and the motor of the second wheel to cause the robotic system to maintain balance and navigate within the environment based on data received from the one or more sensors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification