ROBOTIC TWO-WHEELED VEHICLE

• US 20120273284A1
• Filed: 04/28/2011
• Published: 11/01/2012
• Est. Priority Date: 04/28/2011
• Status: Active Grant

• Current Assignee: California Institute of Technology
• Original Assignee: California Institute of Technology
• Inventors: Nesnas, Issa A.D., Matthews, Jaret B., Edlund, Jeffrey A., Burdick, Joel, Abad-Manterola, Pablo
• Granted Patent: US 8,496,077 B2
• Time in Patent Office: Days
• US Class Current: 180/7.5
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B62D 21/04 single longitudinal type
• 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
• CPC Class Codes: B62D 63/02 Motor vehicles
• CPC Class Codes: Y10S 901/27 Arm part
• CPC Class Codes: Y10T 74/20305 Robotic arm

Abstract

A robotic two-wheeled vehicle comprising a connection body interposed between the two wheels are described. A drum can be coaxially located in a central region of the connection body and can support a hollow arm projecting radially from the drum. A tether can be inserted in the arm and connected to a second drum. Instruments and sensors can be accommodated in a case housed inside each wheel.

Claims

1. A robotic two-wheeled vehicle comprising:

a first wheel;

a second wheel;

a connection body, the connection body being interposed between the first wheel and the second wheel, the first wheel, the second wheel and the connection body being aligned along, and centered to, a longitudinal axis, wherein the connection body comprises;

i) a first drum coaxially located in a central region of the connection body, the first drum supporting a hollow arm projecting radially from the first drum; and

ii) a second drum coaxially located inside the first drum, the robotic two-wheeled vehicle further comprising;

a first actuator adapted to drive and rotate the first wheel;

a second actuator adapted to drive and rotate the second wheel;

a third actuator adapted to drive and rotate the first drum; and

a fourth actuator adapted to drive and rotate the second drum, the first actuator, the second actuator, the third actuator and the fourth actuator being controlled independently of each other.

2. The robotic two-wheeled vehicle of claim 1, wherein the first actuator, the second actuator, the third actuator and the fourth actuator rotate the first wheel, second wheel, first drum and second drum, respectively, around the longitudinal axis.

3. The robotic two-wheeled vehicle of claim 1, further comprising a tether housed in the hollow arm and fixedly connected to the second drum.

4. The robotic two-wheeled vehicle of claim 1, wherein the robotic two-wheeled vehicle is symmetrical with respect to a plane passing through the hollow arm orthogonally to an X-axis.

5. The robotic two-wheeled vehicle of claim 1, further comprising a first container and a second container in the connection body, the first container located between the first wheel and the central region of the connection body, and the second container located between the second wheel and the central region of the connection body.

6. The robotic two-wheeled vehicle of claim 5, wherein the first container and the second container each comprises a plurality of compartments.

7. The robotic two-wheeled vehicle of claim 6, wherein the plurality of compartments are further configured as one central compartment, and four peripheral compartments, each compartment of the plurality of compartments being angularly distributed around the central compartment.

8. The robotic two-wheeled vehicle of claim 7, wherein each compartment of the plurality compartments houses one or more devices selected from the group consisting of:

batteries, the first actuator, the second actuator, the third actuator, the fourth actuator, avionics, camera, and camcorder.

9. The robotic two-wheeled vehicle of claim 8, wherein the camera is located in the central compartment, further comprising a lens housing inserted in a through-hole passing through one peripheral compartment and exposed to an external environment.

22. A dual robotic two-wheeled vehicle, comprising two robotic two-wheeled vehicles of claim 1 and a central module interposed between the two robotic two-wheeled vehicles.

10. A robotic two-wheeled vehicle comprising:

a first wheel;

a second wheel; and

a connection body, the connection body being interposed between the first wheel and the second wheel, the first wheel, the second wheel and the connection body being aligned along, and centered to, a longitudinal axis, wherein the connection body comprises;

i) a first drum coaxially located in a central region of the connection body, the first drum supporting a hollow arm projecting radially from the first drum; and

ii) a second drum coaxially located inside the first drum, wherein the first wheel and the second wheel each houses a case, the case accommodating one or more sensors and/or instruments.

11. The robotic two-wheeled vehicle of claim 10, wherein the first wheel and the second wheel are cup-shaped such that a recess faces towards the connection body, the case being housed in the recess.

12. The robotic two-wheeled vehicle of claim 10, wherein the case is a hub or a cylindrical casing with a through hole in the middle of the hub or the cylindrical casing.

13. The robotic two-wheeled vehicle of claim 10, wherein the case is fixed to the connection body and rotates independently from a respective first wheel and a respective second wheel.

14. The robotic two-wheeled vehicle of claim 10, wherein both the first wheel and the second wheel further comprises grousers formed radially from a center of each wheel, the grousers adapted to enable the robotic two-wheeled vehicle to overcome obstacles having a height that is a radius of the first wheel or the second wheel.

23. A dual robotic two-wheeled vehicle, comprising two robotic two-wheeled vehicles of claim 10 and a central module interposed between the two robotic two-wheeled vehicles.

15. A robotic two-wheeled vehicle comprising:

a first wheel;

a second wheel;

a connection body, the connection body being interposed between the first wheel and the second wheel, the first wheel, the second wheel and the connection body being aligned along, and centered to, a longitudinal axis, wherein the robotic two-wheeled vehicle comprises a mechanism for deploying one or more instruments and/or sensors from at least one of the first wheel and second wheel towards an external environment, one or more of the instruments and/or sensors being mounted on the mechanism, wherein the mechanism is associated to at least one of the first wheel and the second wheel.

16. The robotic two-wheeled vehicle of claim 15, wherein the mechanism is a single degree-of-freedom four-bar mechanism.

24. A dual robotic two-wheeled vehicle, comprising two robotic two-wheeled vehicles of claim 15 and a central module interposed between the two robotic two-wheeled vehicles.

17. A robotic two-wheeled vehicle comprising:

a first wheel;

a second wheel;

a connection body, the connection body being interposed between the first wheel and the second wheel, the first wheel, the second wheel and the connection body being aligned along, and centered to, a longitudinal axis, wherein the connection body comprises;

i) a first drum coaxially located in a central region of the connection body, the first drum supporting a hollow arm projecting radially from the first drum; and

ii) a second drum coaxially located inside the first drum;

the robotic two-wheeled vehicle further comprising;

a first actuator and a second actuator, the first actuator connected to the first drum, and the second actuator connected to the second drum; and

a tether housed in the hollow arm and fixedly connected to the second drum,

wherein spinning the first drum in a first direction and spinning the second drum in a direction opposite the direction of rotation of the first drum, the tether is wound or unwound about the second drum,

wherein spinning the first drum and the second drum in a same direction of rotation, the second drum rotates without reeling or unreeling the tether on the second drum, whereby the reeling and the unreeling of the tether is independent of motion of the first wheel and the second wheel.

18. The robotic two-wheeled vehicle of claim 17, further comprising a third actuator for actuating a level winding mechanism located between the hollow arm and the second drum to maximize an amount of tether that is wrapped on the second drum and to separate tension between the second drum and the first drum.

19. The robotic two-wheeled vehicle of claim 17, wherein a level winding mechanism includes a first rollers and second rollers, wherein the second rollers are mounted on a roller mechanism that slides over first rollers, wherein tether runs between the first rollers and second rollers to orderly wind the tether around the second drum.

20. The robotic two-wheeled vehicle of claim 17, further comprising a tether tension sensing element.

21. The robotic two-wheeled vehicle of claim 20, wherein said tether tension sensing element further comprises a first plate attached to the second actuator and a second plate connected to the first plate with springs and attached to the second drum, wherein a tension of the tether is measured as a displacement between said first plate and said second plate.

25. A dual robotic two-wheeled vehicle, comprising two robotic two-wheeled vehicles of claim 17 and a central module interposed between the two robotic two-wheeled vehicles.

26. A dual robotic two-wheeled vehicle comprising:

two robotic two-wheeled vehicles, each of the two robotic two-wheeled vehicles further comprising;

i) a first wheel;

ii) a second wheel; and

iii) a connection body, the connection body being interposed between the first wheel and the second wheel, the first wheel, the second wheel and the connection body being aligned along, and centered to, a longitudinal axis;

a central module interposed between the two robotic two-wheeled vehicles; and

a deploying mechanism associated with the central module to deploy an anchor when the robotic two-wheeled vehicle separates from the central module.

27. A dual robotic two-wheeled vehicle comprising:

two robotic two-wheeled vehicles, each of the two robotic two-wheeled vehicles further comprising;

i) a first wheel;

ii) a second wheel; and

iii) a connection body, the connection body being interposed between the first wheel and the second wheel, the first wheel, the second wheel and the connection body being aligned along, and centered to, a longitudinal axis;

a central module interposed between the two robotic two-wheeled vehicles; and

a joint to connect one or more robotic two-wheeled vehicle to the central module.