Reconfigurable balancing robot and method for dynamically transitioning between statically stable mode and dynamically balanced mode

• US 20080105481A1
• Filed: 11/02/2006
• Published: 05/08/2008
• Est. Priority Date: 11/02/2006
• Status: Active Grant

• Current Assignee: Florida Institute Of Human & Machine Cognition
• Original Assignee: Florida Institute For Human And Machine Cognition, Inc.
• Inventors: Pratt, Jerry E., Hutcheson, Timothy L.
• Granted Patent: US 7,798,264 B2
• Time in Patent Office: Days
• US Class Current: 180/209
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/08 characterised by modular constructions
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2220/46 Wheel motors, i.e. motor connected to only one wheel
• CPC Class Codes: B60L 2240/26 Vehicle weight
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2260/34 Stabilising upright position of vehicles, e.g. of single axle vehicles
• CPC Class Codes: B62D 61/12 with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels for manoeuvring purposes only B60S
• CPC Class Codes: F41H 7/005 Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors F41H11/16 takes precedence
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility
• CPC Class Codes: Y10T 74/20329 Joint between elements

Abstract

An apparatus and a method for robotic control that allows an unbalanced pendulum robot to raise its Center of Mass and balance on two motorized wheels. The robot includes a pair of arms that are connected to the upper body of the robot through motorized joints. The method consists of a series of movements employing the arms of the robot to raise the robot to the upright position. The method comprises a control loop in which the motorized drives are included for dynamic balance of the robot and the control of the arm apparatus. The robot is first configured as a low Center of Mass four-wheeled vehicle, then its Center of Mass is raised using a combination of its wheels and the joint located at the attachment point of the arm apparatus and the robot body, between the rear and front wheels; the method then applies accelerations to the rear wheels to dynamically pivot and further raise the Center of Mass up and over the main drive wheels bringing the robot into a balancing pendulum configuration.

Claims

1. A reconfigurable robot capable of traveling across the ground comprising:

a. a base, having a first end, a second end, and a rear ground contact attached proximal said first end of said base, said rear ground contact including a propulsion element for moving said robot along said ground;

b. an arm, having a first end, a second end, and a front ground contact attached proximal said second end of said arm;

c. a joint connecting said first end of said arm to said second end of said base, said joint configured to allow said arm to rotate with respect to said base; and

d. wherein said reconfigurable robot is capable of changing its configuration between a transit configuration wherein said reconfigurable robot travels across said ground with said rear ground contact and said front ground contact touching the ground and a balanced configuration wherein said reconfigurable robot travels across said ground with said rear ground contact touching said ground and said front ground contact held elevated above said ground.

2. The reconfigurable robot of claim 1, said propulsion element including a first rear wheel and a second rear wheel.

3. The reconfigurable robot of claim 2, wherein said first rear wheel and said second rear wheel are configured to be differentially powered, thereby allowing said reconfigurable robot to turn when in said balanced configuration.

4. The reconfigurable robot of claim 1, further comprising a control system, said control system having a balancing control module configured to provide power inputs to said propulsion element to hold said reconfigurable robot in a state of balance as an inverted pendulum and maintain said reconfigurable robot in said balanced position.

5. The reconfigurable robot of claim 1, further comprising a control system, said control system having a transitioning control module configured to provide power inputs to said propulsion element in order to transition said reconfigurable robot from said transit configuration to said balanced configuration.

6. The reconfigurable robot of claim 1, further comprising a turret attached proximate said joint connecting said first end of said arm to said second end of said base.

7. The reconfigurable robot of claim 1, wherein said joint connecting said first end of said arm to said second end of said base is articulated by a motor.

8. The reconfigurable robot of claim 5, wherein said transitioning control module is configured to transition said reconfigurable robot from said transit configuration to said balanced configuration by:

a. applying power to said propulsion element to propel said robot backward; and

b. after propelling said robot backward, applying power to said propulsion element to accelerate said robot forward and cause said front ground contact to lift off of said ground, thereby allowing said robot to pivot about said propulsion element.

9. The reconfigurable robot of claim 1, further comprising an inertial measurement unit attached to said base, said inertial measurement unit configured to detect changes in the pitch angle of said base with respect to said ground.

10. The reconfigurable robot of claim 1, wherein said robot is configured such that during transition from said transit configuration to said balanced configuration, said robot intermediately attains an intermediate configuration, wherein when said robot is in said intermediate configuration, said front ground contact and said rear ground contact are both contacting said ground and the center of mass of said robot is at a higher elevation from said ground than when said robot is in said transit configuration.

11. The reconfigurable robot of claim 7, wherein said robot is configured such that during transition from said transit configuration to said balanced configuration, power is applied to said motor to articulate said joint connecting said first end of said arm to said second end of said base so that said robot attains an intermediate configuration, wherein said front ground contact and said rear ground contact are both contacting said ground and the center of mass of said robot is at a higher elevation from said ground than when said robot is in said transit configuration.

12. The reconfigurable robot of claim 1, further comprising motorized tracks attached between said first end and said second end of said base.

13. The reconfigurable robot of claim 6, further comprising a weapon system attached to said turret.

14. The reconfigurable robot of claim 1, wherein said propulsion element is powered by a first electric motor.

15. The reconfigurable robot of claim 14, wherein said front ground contact is configured to provide propulsion along the ground and is powered by a second electric motor.

16. A reconfigurable robot capable of traveling across the ground comprising:

a. a base, having a first end, a second end, and a rear ground contact attached proximal said first end of said base, said rear ground contact including a propulsion element for moving said robot along said ground;

b. an arm, having a first end, a second end, and a front ground contact attached proximal said second end of said arm;

C. wherein said reconfigurable robot is capable of changing its configuration between a transit configuration wherein said reconfigurable robot travels across said ground with said rear ground contact and said front ground contact touching said ground and a balanced configuration wherein said reconfigurable robot travels across said ground with said rear ground contact touching said ground and said front ground contact held elevated above said ground; and

d. wherein during transitioning between said transit configuration and said balanced configuration, said robot passes through an intermediate phase in which the projection of the Center of Mass of said robot on said ground lies outside the support polygon defined by the convex hull of the points of contact between said robot and said ground.

17. The reconfigurable robot of claim 16, further comprising a joint connecting said first end of said arm to said second end of said base, said joint configured to allow said arm to rotate with respect to said base.

18. The reconfigurable robot of claim 16, said propulsion element including a first rear wheel and a second rear wheel.

19. The reconfigurable robot of claim 18, wherein said first rear wheel and said second rear wheel are configured to be differentially powered, thereby allowing said reconfigurable robot to turn when in said balanced configuration.

20. The reconfigurable robot of claim 16, further comprising a control system, said control system having a balancing control module configured to provide power inputs to said propulsion element to hold said reconfigurable robot in a state of balance as an inverted pendulum and maintain said reconfigurable robot in said balanced position.

21. The reconfigurable robot of claim 16, further comprising a control system, said control system having a transitioning control module configured to provide power inputs to said propulsion element in order to transition said reconfigurable robot from said transit configuration to said balanced configuration.

22. The reconfigurable robot of claim 16, further comprising a turret attached to said base.

23. The reconfigurable robot of claim 17, wherein said joint connecting said first end of said arm to said second end of said base is powered by a motor.

24. The reconfigurable robot of claim 21, wherein said transitioning control module is configured to transition said reconfigurable robot from said transit configuration to said balanced configuration by:

a. applying power to said propulsion element to propel said robot backward; and

b. after propelling said robot backward, applying power to said propulsion element to accelerate said robot forward and cause said front ground contact to lift off of said ground and said robot to pivot relative to said rear ground contact.

25. The reconfigurable robot of claim 16, further comprising an inertial measurement unit attached to said base, said inertial measurement unit configured to detect changes in the pitch angle of said base with respect to said ground.

26. The reconfigurable robot of claim 16, wherein during transition from said transit configuration to said balanced configuration, said robot intermediately attains a second intermediate configuration, wherein when said robot is in said second intermediate configuration, said front ground contact and said rear ground contact are both contacting said ground and the center of mass of said robot is at a higher elevation from said ground than when said robot is in said transit configuration.

27. The reconfigurable robot of claim 17, wherein during transition from said transit configuration to said balanced configuration, power is applied to said motor connecting said first end of said arm to said second end of said base to rotate said joint so that said robot attains a second intermediate configuration, wherein when said robot is in said second intermediate configuration, said front ground contact and said rear ground contact are both contacting said ground and the center of mass of said robot is at a higher elevation from said ground than when said robot is in said transit configuration.

28. The reconfigurable robot of claim 16, further comprising motorized tracks attached between said first end and said second end of said base.

29. The reconfigurable robot of claim 22, further comprising a weapon system attached to said turret.

30. The reconfigurable robot of claim 16, wherein said propulsion element is powered by a first electric motor.

31. The reconfigurable robot of claim 30, wherein said front ground contact includes a second propulsion element which is powered by a second electric motor.