×

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

  • US 7,798,264 B2
  • Filed: 11/02/2006
  • Issued: 09/21/2010
  • Est. Priority Date: 11/02/2006
  • Status: Active Grant
First Claim
Patent Images

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, said propulsion element including a first rear wheel and a second rear wheel;

    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;

    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;

    e. 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;

    f. wherein said control system is configured to transition said reconfigurable robot from said transit configuration to said balanced configuration byi. applying power to said propulsion element to propel said robot backward; and

    ii. 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.

View all claims
  • 2 Assignments
Timeline View
Assignment View
    ×
    ×