Virtual-wheeled vehicle

• US 20070227786A1
• Filed: 10/03/2005
• Published: 10/04/2007
• Est. Priority Date: 10/01/2004
• Status: Active Grant

• Current Assignee: Applied Invention, LLC
• Original Assignee: Applied Minds, Inc.
• Inventors: Ferren, Bran, Setrakian, Mark, Khanlian, Luke, Hillis, W.
• Granted Patent: US 7,588,105 B2
• Time in Patent Office: Days
• US Class Current: 180/8.100
• CPC Class Codes: B62D 57/022 consisting of members having both rotational and walking movements
• CPC Class Codes: B62D 57/04 having other than ground-engaging propulsion means, e.g. having propellers arrangement of jet-propulsion units B60K
• CPC Class Codes: B62D 61/00 Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern

Abstract

A virtual wheel provides a leg pair as a conveyance mechanism for a land vehicle. The virtual wheel propels the vehicle across a surface using a repetitive motion of the legs that contact the ground as would a wheel, due to their geometry. Vehicle embodiments include at least two-, three-, four- and six-wheeled vehicles, both transverse and in-line. Additionally, the invention provides a bipedal walking robot. One embodiment provides a robotic mule—a payload-carrying vehicle. The invention combines the flexible mobility of bipedal vehicles with the stability and functionality of very large-wheeled vehicles. Additionally, a bimodal conveyance mechanism readily converts between walking and rolling modes

Claims

1. A method of propelling a vehicle comprising:

configuring a land vehicle with a plurality of virtual wheels, wherein a virtual wheel comprises a leg pair, each leg of the pair including a curved foot that contacts the underlying surface as would a wheel;

supplying a control signal, said control signal having embodied therein machine-readable instructions for activating said leg pairs in a coordinated manner;

applying motive force to the leg pairs through a plurality of actuators to cause a repetitive, stepping motion from said leg pairs; and

propelling said vehicle over said surface through engagement of the feet with the underlying surface;

wherein said virtual wheels provide a large effective diameter without producing a high vehicle profile.

2. The method of claim 1, wherein said step of configuring a land vehicle with a plurality of virtual wheels comprises any of the steps of:

providing said virtual wheels in any of bipedal, tripedal, quadrupedal and hexapedal configurations;

mounting at least two of said virtual wheels in transverse pairs on a common axle;

mounting at least two of said virtual wheels in a staggered configuration;

mounting at least two of said virtual wheels in an in-line configuration;

mounting at least two of said virtual wheels on independent axles; and

mounting at least two of said virtual wheels directly on a body of said vehicle without axles.

3. The method of claim 1, wherein said step of configuring a land vehicle with a plurality of virtual wheels comprises:

providing three virtual wheels, wherein each of the legs of a virtual wheel step in a common direction, and wherein a first two of said three virtual wheels are mounted in single plane relative to a centerline of said vehicle and wherein said common direction pivots freely relative to said center line for each of said first two virtual wheels; and

wherein a remaining third of said three virtual wheels is offset from said first two and wherein said direction is stationary relative to said center line.

4. The method of claim 1, wherein said step of configuring a land vehicle with a plurality of virtual wheels comprises any of the steps of:

providing at least one leg that is jointed at the knee;

providing at least one leg having the foot attached to the leg by means of a joint, wherein said foot pivots relative to said leg;

providing at least one leg with shock absorbers;

providing at least one foot that defines an arc of a circle;

providing at least one foot having curved footpads; and

providing scimitar feet.

5. The method of claim 1, wherein said vehicle comprises any of:

a two-wheeled vehicle;

a bipedal robot;

a bicycle;

a robotic mule; and

a payload-carrying vehicle.

6. The method of claim 1, wherein said step of supplying a control signal comprises:

providing a program of machine-readable instructions for control of said vehicle;

executing said instructions by means of a processing element;

delivering said instructions embodied on a carrier signal to a controller associated with said vehicle; and

controlling elements of said vehicle by said controller according to said instructions.

7. The method of claim 6, wherein said step of providing a program of machine-readable instructions for control of said vehicle comprises:

providing a central pattern generator;

generating waveforms that activate the leg pairs in a coordinated manner, wherein said wave forms control lift and swing in individual legs;

generating control signals for said actuators, said actuators comprising servomotors associated with said legs, wherein said instructions control parameters that include any of;

body swing, ride height, and step length;

generating macro commands that carry out standard tasks including;

starting, stopping and turning;

monitoring environmental variables that are critical to the functioning of the vehicle including any of;

terrain surface, gradient and obstacles, wherein data concerning said environmental variables serve as inputs to modify said central pattern generator.

8. The method of claim 6, wherein executing said instructions by means of a processing element comprises:

executing on any of an off-board and an on-board processor. supplying a control signal, said control signal having embodied therein machine-readable instructions.

9. The method of claim 6, wherein supplying said supplying said control signal having embodied therein machine-readable instructions comprises any of:

delivering said signal wirelessly;

delivering said signal over a wired connection.

10. The method of claim 1, wherein supplying a control signal comprises:

manually generating a control signal through a user input device in communication with said controller.

11. The method of claim 1, wherein applying motive force to the leg pairs through a plurality of actuators to cause a repetitive, stepping motion from said leg pairs comprises:

providing a power source;

supplying power to said actuators from said power source;

applying force to said legs by said actuators under the control of said control signal to produce said stepping motion.

12. The method of claim 11, wherein said actuators comprise servomotors, wherein each leg has at least one servomotor associated therewith.

13. The method of claim 11, wherein said actuators comprise an assemblage of cams and gears.

14. The method of claim 11, wherein said motive force is translated to said legs by means of an assembly of joints and hinges.

15. The method of claim 1, further comprising:

maneuvering said vehicle by means of a steering system.

16. The method of claim 15, wherein said steering system includes any of:

all-wheel steering;

articulated steering;

counter-rotating transverse-mounted virtual wheels; and

a pair of transverse-mounted wheels that are steered together.

17. The method of claim 1, further comprising balancing a load

18. The method of claim 17, wherein balancing a load comprises:

altering an effective diameter of at least one virtual wheel;

pivoting axles of said vehicle to suit the terrain slope; and

shifting said load to maintain balance.

19. A virtual wheel, said virtual wheel comprising:

a leg pair, each leg of the pair including a curved foot that contacts the underlying surface as would a wheel;

wherein application of motive force to said leg pair causes a repetitive stepping motion; and

wherein said stepping motion propels a vehicle configured with a plurality of said leg pairs across said underlying surface;

said virtual wheel providing a large effective diameter relative to size of said virtual wheel'"'"'s contact surface.

20. The virtual wheel of claim 19, wherein a plurality of actuators associated with said leg pair apply said motive force.

21. The virtual wheel of claim 19, wherein said virtual wheel is provided in any of single, bipedal, tripedal, quadrupedal and hexapedal configurations.

22. The virtual wheel of claim 19, wherein said virtual wheel is mounted in any of:

transverse pairs on a common axle;

a staggered configuration;

an in-line configuration;

independent axles;

directly on a body of said vehicle without axles.

23. The virtual wheel of claim 19, wherein said leg is jointed.

24. The virtual wheel of claim 19, wherein said foot is attached to said leg by means of a joint, so that said foot rotates relative to said leg.

25. The virtual wheel of claim 19, wherein said leg is provided with a shock absorbing means.

26. The virtual wheel of claim 19, wherein said foot defines an arc of a circle.

27. The virtual wheel of claim 19, wherein said foot has curved footpads.

28. The virtual wheel of claim 19, wherein said foot is a scimitar foot.

29. The virtual wheel of claim 19, wherein a control signal activates said leg pair in a coordinated manner with other leg pairs.

30. A vehicle comprising:

a plurality of virtual wheels, wherein a virtual wheel comprises a leg pair, each leg of the pair including a curved foot that contacts the underlying surface as would a wheel

means for applying motive force to said virtual wheels; and

a vehicle body, said virtual wheels mounted thereon;

wherein said vehicle is configured to carry a payload and wherein engagement of the feet with the underlying surface propels the vehicle across the underlying surface using a repetitive stepping motion.

31. The vehicle of claim 30, comprising two virtual wheels, wherein said two virtual wheels are any of:

transversely mounted on a single axle, said axle mounted on said vehicle body;

transversely mounted on individual axles;

transversely mounted on said vehicle body; and

mounted in-line.

32. The vehicle of claim 30, comprising four virtual wheels, wherein said four virtual wheels are any of:

transversely mounted in pairs, each pair mounted on a single axle, said axle mounted on said vehicle body;

transversely mounted in pairs, each virtual wheel mounted on an individual axle;

transversely mounted in pairs on said vehicle body;

mounted in-line; and

staggered.

33. The vehicle of claim 30, wherein said means for applying motive force comprises a plurality of actuators associated with said virtual wheels.

34. The vehicle of claim 30, wherein said leg pairs include any of

legs that are jointed at the knee;

legs having the foot attached to the leg by means of a joint, wherein said foot pivots relative to said leg;

legs with shock absorbers;

feet that define the arc of a circle;

feet having curved footpads; and

scimitar feet.

35. The vehicle of claim 30, further comprising means for supplying a control signal for activating said leg pairs in a coordinated manner.

36. The vehicle of claim 30, wherein said means for supplying a control signal comprises:

a processing element programmed to;

generate waveforms that activate the leg pairs in a coordinated manner;

generate control signals for actuators associated with said legs, wherein said control signals control parameters that include any of;

body swing, ride height, and step length;

generate macro commands that carry out standard tasks including;

starting, stopping and turning; and

monitor environmental variables that are critical to the functioning of the vehicle including any of;

terrain surface, gradient and obstacles, wherein data concerning said environmental variables serve as inputs to modify said central pattern generator.

37. The vehicle of claim 36, further comprising a controller for receiving a signal from said processing element and controlling said actuators.

38. The vehicle of claim 30, wherein said means for supplying a control signal comprises a user input device in communication with a controller wherein a user manually generates said signal.

39. The vehicle of claim 30, further comprising at least one power source, wherein said power source comprises any of:

a rechargeable battery;

a generator and/or an internal combustion engine;

a fuel cell.

40. The vehicle of claim 34, wherein said actuators comprise any of:

at least one servomotor; and

at least one assembly of cams and gears.

41. The vehicle of claim 40, wherein said motive force is translated to said legs by means of an assembly of joints and hinges.

42. The vehicle of claim 30, further comprising a steering system.

43. The vehicle of claim 30, further comprising a load-bearing system.

44. The vehicle of claim 30, wherein said mule is fabricated using any of:

chromoly steel;

high-performance carbon steel;

5000-7000 series aluminum alloys;

polycarbonate;

6-4 titanium.