Multimodal Dynamic Robotic Systems

• US 20120215355A1
• Filed: 08/06/2010
• Published: 08/23/2012
• Est. Priority Date: 08/06/2009
• Status: Active Grant

• Current Assignee: Regents of the University of California (University of California)
• Original Assignee: Regents of the University of California (University of California)
• Inventors: Bewley, Thomas R., Schmidt-Wetekam, Christopher, Cavender, Andrew, Morozovsky, Nicholas, Sams, Benjamin, Chen, Po-Ting, Grinberg, Matt
• Granted Patent: US 9,020,639 B2
• Time in Patent Office: Days
• US Class Current: 700/258
• CPC Class Codes: A63H 15/06 Self-righting toys
• CPC Class Codes: A63H 17/262 Chassis; Wheel mountings; Wheels; Axles; Suspensions; Fitting body portions to chassis
• CPC Class Codes: A63H 17/266 Movable parts other than toy figures, driven by the wheels
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: B60K 7/00 Disposition of motor in, or adjacent to, traction wheel roller-skate driving mechanisms A63C17/12
• CPC Class Codes: B62D 37/00 Stabilising vehicle bodies without controlling suspension arrangements
• CPC Class Codes: B62D 55/00 Endless track vehicles steering aspects B62D11/00; characterised by the driver not being seated B62D51/007
• CPC Class Codes: B62D 55/075 Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfacesmagnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00
• CPC Class Codes: B62D 57/02 with ground-engaging propulsion means, e.g. walking members
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

Robotic systems according to the invention include a frame or body with two or more wheels rotatably mounted on the frame or body and a motor for independently driving each wheel. A system controller generates a signal for actuating each motor based on information provided by one or more sensors in communication with the system controller for generating feedback signals for providing reactive actuation of the motors for generating one or more functions selected from the group consisting of forward motion, backward motion, climbing, hopping, balancing, throwing and catching. A power source is included for providing power to operate the drive motors, system controller and the one or more sensors.

Claims

29-1. The robotic system of claim 29, wherein the shell is spherical or ellipsoidal.

36-2. The robotic system of claim 32, wherein, when the elongated arm is in a horizontal position, rapid activation of the motors rotates the corresponding wheels in a first direction causing the body to rotate around the rotational axis in an opposite direction to rapidly accelerate the horizontal arm toward a vertical position.

37-3. The robotic system of claim 36, wherein an object disposed on the base portion of the elongated arm rolls toward a distal end of the arm as the elongated arm accelerates toward the vertical position, wherein the object is thrown when the object reaches the distal end of the arm.

42. A robotic system comprising:

a frame;

two or more wheels rotatably mounted on the frame, wherein the frame comprises;

two arms, each having a distal end on which a wheel is mounted and a proximal end; and

a leg centrally disposed between the two arms with the proximal end of each arm rotatably attached to the leg;

a drive motor attached to the frame for independently driving each wheel of the two or more wheels;

an arm motor disposed on each arm for independently driving rotation of the arm relative to the leg;

a system controller for generating a signal for actuating each motor;

one or more sensors in communication with the system controller for generating feedback signals for providing reactive actuation of the motors for generating one or more functions selected from the group consisting of forward motion, backward motion, climbing, hopping, balancing, throwing and catching; and

a power source for providing power to operate the motors, the system controller and the one or more sensors;

wherein, when the leg is disposed in a vertical orientation with an end of the leg in contact with a support surface,

(i) downward symmetrical rotation of the arms positions the wheels in contact with the support surface for wheeled locomotion on the support surface;

(ii) rapid upward symmetrical rotation of the arms lifts the leg off of the support surface to produce a hopping motion; and

(iii) antisymmetrical rotation of the arms balances the frame on the end of the leg.

43. The robotic system of claim 42, wherein the leg further comprises an arm carrier disposed on a leadscrew for moving the proximal ends of the arms along a length of the leg.

44. The robotic system of claim 42, wherein, when the wheels are in contact with the support surface, rotation of the wheels in same direction moves the leg into a horizontal orientation in the direction of the rotation so that the leg is in front of the arms for horizontal roving.

45. The robotic system of claim 44, wherein sudden rotation of the wheels in a forward direction rotates the leg in an opposite direction from the horizontal orientation to the vertical orientation.

46. The robotic system of claim 42, wherein each arm comprises a parallelogram linkage.

47. A robotic system comprising:

a body comprising a chassis;

two drive wheels rotatably mounted on axles disposed on opposite sides of the body;

a motor for independently driving each drive wheel;

a pair of elongated arms rotatably mounted on opposite sides of and perpendicular to the chassis, each arm having a proximal end disposed on a corresponding axle, and a distal end;

a second wheel disposed on the distal end of each arm in a common plane with the corresponding drive wheel;

a second motor associated with each arm;

a linkage between the second motor and the axle for each arm, wherein activation of the second motor rotates one of the chassis and the corresponding arm relative to the other;

wherein independent activation of the second motor of both arms to rotate the arms symmetrically relative to the chassis shifts a center of gravity for balancing on one of the distal end or proximal end of the arms;

a system controller for generating a signal for actuating each motor;

one or more sensors in communication with the system controller for generating feedback signals for providing reactive actuation of the motors for generating one or more functions selected from the group consisting of forward motion, backward motion, climbing, hopping, balancing, throwing and catching; and

a power source for providing power to operate the motors, the system controller and the one or more sensors.

48. The robotic system of claim 47, wherein the linkage between the second motor and the axle for each arm and a linkage between the drive motor and the drive wheel are incorporated in a two-degree of freedom joint.

49. The robotic system of claim 47, wherein the system controller controls the drive motors and the second motors to reactively shift the center of gravity for stability.

50. The robotic system of claim 47, wherein independent activation of the second motor of both arms to rotate the arms antisymmetrically relative to the chassis extends an effective width of the robot for spanning an opening in a support surface.

51. The robotic system of claim 47, wherein the drive wheels and the second wheels each comprise sprockets and the elongated arms have treads mounted are driven by the sprockets.

52. The robotic system of claim 47, further comprising a platform connected to the chassis.

53. A method for maneuvering a robotic system having a chassis and a pair of elongated arms disposed on opposite sides of the chassis, wherein each arm supports a distal end wheel and a proximal end wheel in a planar relationship, the proximal end wheel being rotatably disposed on an axle coaxial with the chassis, the method comprising:

providing a first motor for rotating the wheels of each arm;

providing a second motor for rotating the chassis relative to each arm;

activating the second motors to rotate the chassis at a non-parallel angle relative to a support surface;

activating the first motors to lift one of the distal end wheel and the proximal end wheel away from the support surface so that the other wheel is positioned at a contact point on the support surface;

activating the second motors to position the chassis at a balance angle relative to the arms to shift a center of gravity of the robot over the contact point; and

activating the first motors in short bursts to maintain the center of gravity over the contact point.

54. The method of claim 53, wherein the balance angle defines a V-mode, wherein the distal end wheel is lifted and the proximal end wheel is at the contact point.

55. The method of claim 53, wherein the balance angle defines a C-balancing mode, wherein the proximal end wheel is lifted and the distal end wheel is at the contact point.

56. The method of claim 54, wherein activating the first motors rotates a tread mounted on the distal end wheel and the proximal end wheel.

57. A robotic system comprising:

a body comprising a chassis;

two drive wheels rotatably mounted on axles disposed on opposite sides of the body;

a motor for independently driving each drive wheel;

a pair of elongated arms rotatably mounted on opposite sides of and perpendicular to the chassis, each arm having a proximal end disposed on a corresponding axle, and a distal end;

a second wheel disposed on the distal end of each arm in a common plane with the corresponding drive wheel;

a boom arm pivotably mounted on the chassis, the boom arm comprising a weighted portion and connector arms, wherein one connector arm is mounted on each side of the chassis so that the weighted portion is disposed parallel to the chassis;

at least one second motor connected to the connector arms; and

a linkage between the at least one second motor and the connector arms, wherein activation of the at least one second motor rotates one of the chassis and the boom arm relative to the other;

wherein independent activation of the at least one second motor shifts a center of gravity for balancing on one of the distal end or proximal end of the drive arms;

a system controller for generating a signal for actuating each motor;

one or more sensors in communication with the system controller for generating feedback signals for providing reactive actuation of the motors for generating one or more functions selected from the group consisting of forward motion, backward motion, climbing, hopping, balancing, throwing and catching; and

a power source for providing power to operate the motors, the system controller and the one or more sensors.

58. The robotic system of claim 57, wherein the system controller controls the drive motors and the at least one second motor to reactively shift the center of gravity for stability.

59. The robotic system of claim 57, wherein the linkage between the at least one second motor and the connector arm and a linkage between the drive motor and the drive wheel are incorporated into a two-degree of freedom joint.

60. The robotic system of claim 57, wherein the drive wheels and the second wheels each comprise sprockets and the elongated arms have treads mounted thereon that are driven by the sprockets.

61. The robotic system of claim 57 further comprising a platform connected to the chassis.

62. The robotic system of claim 57, wherein the platform is adapted for mounting a payload or instrument.

63. A robotic system comprising:

a frame;

a plurality of momentum exchange elements mounted on the frame, each element comprising;

a housing;

a wheel disposed within the housing;

a motor for independently driving the wheel, wherein each wheel comprises a reaction wheel;

one or more axes for attaching each element to the frame;

a system controller for generating a signal for actuating each motor;

one or more sensors in communication with the system controller for generating feedback signals for providing reactive actuation of the motors for generating one or more functions selected from the group consisting of forward motion, backward motion, climbing, hopping, balancing, throwing and catching; and

a power source for providing power to operate the motors, the system controller and the one or more sensors.

64. The robotic system of claim 63, wherein the frame comprises a geometrical structure so that the plurality of momentum exchange elements are distributed about the frame to individually or simultaneously generate angular momentum in a plurality of different directions.

65. The robotic system of claim 63, wherein the one or more axes comprises a single gimbal axis, each having a corresponding gimbal motor.

66. The robotic system of claim 63, wherein the one or more axes comprises a double gimbal axis, each having two corresponding gimbal motors.

67. The robotic system of claim 63, further comprising a shell enclosing the frame and momentum exchange elements.

68. The robotic system of claim 67, wherein the shell is spherical or ellipsoidal.

69. The robotic system of claim 63, further comprising a buoyancy compensating means.

70. The robotic system of claim 63, wherein the frame has a cubic configuration and the plurality of momentum exchange elements comprises four single gimbal control moment gyroscopes.

71. A method for moving a robot in a desired direction within a fluid near a solid surface or a free surface of the fluid, the method comprising:

providing a shell having a seal against the fluid, the shell having a spherical or ellipsoidal shape;

enclosing a frame within the shell, the frame supporting at least one momentum exchange element;

actuating the at least one momentum exchange element to generate an aggregate torque to induce an angular acceleration of the robot, wherein the angular acceleration produces a linear acceleration of the robot in the desired direction.

72. A robotic system comprising:

a body comprising a cylinder having a rotational axis, the cylinder having two ends, each end defining a hub having an axle aligned with the rotational axis, the body having a cavity therein defining a storage volume for retaining an object having an object diameter;

a wheel rotatably disposed on each axle;

a motor for independently driving each wheel;

an elongated arm extending away from the body perpendicular to the rotational axis, the elongated arm having a base portion in communication with the storage volume;

a lower body portion disposed on the body opposite the elongated arm, wherein the lower body portion is symmetrical along a plane bisecting the cylinder; and

a curved channel disposed on each side of the bisecting plane having an exit end in communication with the storage volume and an entrance end defined by the hub, the lower body portion and an inner surface of the wheel and having a dimension for receiving the object to produce a frictional contact between the inner surface of the wheel, the hub and the lower body portion, wherein rotation of the wheel draws the object into the channel and into the storage volume;

a system controller for generating a signal for actuating each motor;

one or more sensors in communication with the system controller for generating feedback signals for providing reactive actuation of the motors for generating one or more functions selected from the group consisting of forward motion, backward motion, balancing, throwing and catching; and

a power source for providing power to operate the motors, the system controller and the one or more sensors.

73. The robotic system of claim 72, wherein at least one motor drives a corresponding wheel in a forward direction to draw the object into the channel.

74. The robotic system of claim 72, wherein the motors are adapted for rotating the body relative to the wheels so that the elongated arm is oriented in a horizontal position.

75. The robotic system of claim 72, further comprising a release gate disposed between the storage volume and the base portion of the elongated arm, wherein activation of the release gate releases an object to pass from one of the storage volume and the base portion to the other.

76. The robotic system of claim 72, wherein when the elongated arm is oriented in a horizontal position, activation of the release gate releases the object to the base portion.

77. The robotic system of claim 72, wherein the elongated arm comprises a curved track upon which the object rolls.

78. The robotic system of claim 72, wherein, when the elongated arm is in a horizontal position, rapid activation of the motors rotates the corresponding wheels in a first direction causing the body to rotate around the rotational axis in an opposite direction to rapidly accelerate the horizontal arm toward a vertical position.

79. The robotic system of claim 78, wherein an object disposed on the base portion of the elongated arm rolls toward a distal end of the arm as the elongated arm accelerates toward the vertical position, wherein the object is thrown when the object reaches the distal end of the arm.

80. The robotic system of claim 72, wherein the one or more sensors comprise at least two accelerometers for measuring rotational and translational acceleration, and wherein the system controller compares measured acceleration to control the motors for self-balancing.

81. The robotic system of claim 72, wherein the system controller is responsive to a wireless remote control signal.

82. The robotic system of claim 72, wherein the one or more sensors comprise sensors for detecting location of an object or another robot.

83. The robotic system of claim 82, wherein the system controller responds autonomously to feedback from the sensors.