Multimodal dynamic robotic systems
First Claim
Patent Images
1. A robotic system comprising:
- a body having a body front, a body back, body sides with a body width therebetween, and a lower body portion having a peaked center and a lower body width less than the body width, the body having a cavity therein defining a storage volume configured for retaining at least one object, each body side defining a hub having an axle defining a rotational axis, wherein the body has a center of gravity disposed above the rotational axis, wherein the peaked center is centered on the body front along a plane bisecting the body and is configured to guide the at least one object to one side of the lower body portion;
at least two wheels, wherein one wheel is rotatably mounted on each axle;
at least two motors, wherein one motor of the at least two motors is configured for independently driving the wheel mounted on each axle;
a system controller configured to generate control signals adapted configured to actuate each motor;
one or more sensors configured to generate feedback signals to the system controller, in response to which the system controller reactively actuates the at least two motors so that the body self-balances and further performs one or more functions selected from the group consisting of forward motion, backward motion, lying down, retrieving an object, carrying an object, throwing an object and catching an object;
an object retrieval mechanism configured for picking up at least one object and placing the at least one object in the storage volume, the object retrieval mechanism comprising a channel disposed on each side of the peaked center, the channel 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, wherein the channel has a dimension configured for receiving the at least one object whereby a frictional contact is created between the inner surface of the wheel and the channel, wherein rotation of the wheel draws the object into the channel and into the storage volume; and
a power source for configured for powering the motors, the system controller and the one or more sensors.
1 Assignment
0 Petitions
Accused Products
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.
92 Citations
46 Claims
-
1. A robotic system comprising:
-
a body having a body front, a body back, body sides with a body width therebetween, and a lower body portion having a peaked center and a lower body width less than the body width, the body having a cavity therein defining a storage volume configured for retaining at least one object, each body side defining a hub having an axle defining a rotational axis, wherein the body has a center of gravity disposed above the rotational axis, wherein the peaked center is centered on the body front along a plane bisecting the body and is configured to guide the at least one object to one side of the lower body portion; at least two wheels, wherein one wheel is rotatably mounted on each axle; at least two motors, wherein one motor of the at least two motors is configured for independently driving the wheel mounted on each axle; a system controller configured to generate control signals adapted configured to actuate each motor; one or more sensors configured to generate feedback signals to the system controller, in response to which the system controller reactively actuates the at least two motors so that the body self-balances and further performs one or more functions selected from the group consisting of forward motion, backward motion, lying down, retrieving an object, carrying an object, throwing an object and catching an object; an object retrieval mechanism configured for picking up at least one object and placing the at least one object in the storage volume, the object retrieval mechanism comprising a channel disposed on each side of the peaked center, the channel 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, wherein the channel has a dimension configured for receiving the at least one object whereby a frictional contact is created between the inner surface of the wheel and the channel, wherein rotation of the wheel draws the object into the channel and into the storage volume; and a power source for configured for powering the motors, the system controller and the one or more sensors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 45, 46)
-
-
12. 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 configured for retaining an object; a wheel rotatably disposed on each axle; a motor configured 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 configured 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 configured for generating a signal for actuating each motor; one or more sensors in communication with the system controller configured for generating feedback signals for reactively actuating the motors to perform one or more functions selected from the group consisting of forward motion, backward motion, lying in a horizontal orientation, self-balancing, retrieving the object, carrying the object, throwing the object and catching the object; and a power source for providing power to operate the motors, the system controller and the one or more sensors. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 34, 35)
-
-
36. A robotic system comprising:
-
a body having a body front, a body back and body sides with a cavity therein defining a storage volume configured for retaining at least one object, the body having a rotational axis and a center of gravity above the rotational axis, each body side defining a hub having an axle aligned with the rotational axis, wherein the body further comprises a lower body portion having a peaked leading edge centered between the body sides configured to guide an object to one side of the lower body portion; a pair of wheels, wherein one wheel is rotatably disposed on each axle; at least two motors, wherein one motor is configured for independently driving each wheel; an object release mechanism comprising a release opening in communication with the storage volume, wherein the release opening is configured to pass the object from the storage volume and outside of the body; a channel disposed on either side of the lower body portion, the channel 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 configured for receiving the object and producing a frictional contact between a surface of the object and the inner surface of the wheel and the channel, wherein rotation of the wheel draws the object into the channel and into the storage volume; one or more sensors configured for generating feedback signals indicative of an orientation of the body; a system controller configured for generating actuation signals to each motor in response to the feedback signals to reactively actuate the motors to control rotation of the wheels so that the body self-balances and further performs one or more functions selected from the group consisting of forward motion, backward motion, lying in a horizontal orientation, retrieving an object, carrying an object, throwing an object and catching an object; and a power source configured for powering the motors, the system controller and the one or more sensors. - View Dependent Claims (37, 38, 39, 40, 41, 42, 43, 44)
-
Specification