Robotic vehicle deck adjustment
First Claim
Patent Images
1. A method performed by a robotic vehicle for climbing a step, the method comprising, in order substantially as recited:
- approaching the step;
pivoting tracked flippers upward to engage an edge of the step;
pivoting the tracked flippers downward to engage a top of the step;
driving the vehicle forward on driven tracks different from the tracked flippers;
rotating each of first and second pivots at opposite ends of a linkage that connects a payload deck to a chassis of the robotic vehicle to position the center of gravity of the payload deck and any removable payload thereon beyond the front end of the chassis and beyond the edge of the step;
moving the center of gravity of the payload deck and any removable payload thereon further beyond the front end of the chassis, by tilting the deck with respect to the chassis; and
driving the vehicle forward to pull the chassis over the edge of the step.
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Abstract
A method is disclosed for a robotic vehicle to climb a step. The robotic vehicle uses tracked flippers to engage the top of the step and drives with additional tracks other than the tracked flippers. The robotic vehicle also shifts and tilts a payload in order to move the CG of the payload ahead of the vehicle chassis and past the edge of the step.
102 Citations
13 Claims
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1. A method performed by a robotic vehicle for climbing a step, the method comprising, in order substantially as recited:
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approaching the step; pivoting tracked flippers upward to engage an edge of the step; pivoting the tracked flippers downward to engage a top of the step; driving the vehicle forward on driven tracks different from the tracked flippers; rotating each of first and second pivots at opposite ends of a linkage that connects a payload deck to a chassis of the robotic vehicle to position the center of gravity of the payload deck and any removable payload thereon beyond the front end of the chassis and beyond the edge of the step; moving the center of gravity of the payload deck and any removable payload thereon further beyond the front end of the chassis, by tilting the deck with respect to the chassis; and driving the vehicle forward to pull the chassis over the edge of the step. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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Specification