Multimodal dynamic robotic systems

• US 9,020,639 B2
• Filed: 08/06/2010
• Issued: 04/28/2015
• 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: Chen, Po-Ting, Bewley, Thomas R., Sams, Benjamin A.
• Primary Examiner(s): HOLLOWAY, JASON R
• Application Number:
  US13/389,256
• Publication Number:
  US 20120215355A1
• Time in Patent Office: 1,726 Days
• Field of Search: 700/250, 700/255, 700/258, 700/259, 901/1, 901/50
• 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

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.

2. The robotic system of claim 1, further comprising:

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.

3. The robotic system of claim 2, wherein at least one motor drives a corresponding wheel in a forward direction to draw the object into the channel.

4. The robotic system of claim 2, wherein the motors are configured for rotating the body relative to the wheels so that the elongated arm is oriented in a horizontal position.

5. The robotic system of claim 2, 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.

6. The robotic system of claim 5, wherein when the elongated arm is oriented in a horizontal position, activation of the release gate releases the object to the base portion.

7. The robotic system of claim 2, wherein the elongated arm comprises a curved track upon which the object rolls.

8. The robotic system of claim 2, wherein the one or more sensors comprise at least two accelerometers for measuring rotational and translational acceleration, and wherein the system controller is configured for comparing measured acceleration for controlling the motors for self-balancing.

9. The robotic system of claim 2, wherein the system controller is responsive to a wireless remote control signal.

10. The robotic system of claim 2, wherein the one or more sensors comprise sensors for detecting location of an object or another robot.

11. The robotic system of claim 10, wherein the system controller responds autonomously to feedback from the sensors.

24. The robotic system of claim 1, further comprising an object release mechanism, comprising:

a release opening disposed in the body, wherein the release opening is configured to permit the at least one object to pass therethrough; and

a gate mechanism configured to prevent the at least one object from exiting through the release opening;

wherein the at least two motors further comprise a gate motor configured for activating the gate mechanism to release the object in response to control signals from the system controller.

25. The robotic system of claim 24, further comprising an object throwing mechanism configured to, in response to a control signal, impart a forward velocity to the at least one object when the gate mechanism releases the object.

26. The robotic system of claim 25, wherein the object throwing mechanism comprises an elongated arm extending away from the body perpendicular to the rotational axis, the elongated arm having a base portion in communication with the release opening, wherein, when the body is oriented in a horizontal position, activating the gate mechanism releases the object to the base portion.

27. The robotic system of claim 26, 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 to launch the object.

28. The robotic system of claim 1, wherein the one or more sensors comprise at least two accelerometers configured for measuring rotational and translational acceleration, and wherein the system controller is configured to compare measured acceleration for controlling the motors for self-balancing.

29. The robotic system of claim 1, wherein the system controller is responsive to a wireless remote control signal.

30. The robotic system of claim 1, wherein the one or more sensors comprise sensors for detecting location of an object or another robot.

31. The robotic system of claim 1, wherein the one or more sensors are selected from the group consisting of accelerometers, optical sensors, audio sensors, temperature sensors, motion sensors, and chemical sensors.

32. The robotic system of claim 31, wherein the system controller responds autonomously to feedback from the sensors.

33. The robotic system of claim 1, wherein the body further comprises a platform configured for carrying a payload.

45. The robotic system of claim 2, 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.

46. The robotic system of claim 45, 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.

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.

13. The robotic system of claim 12, wherein at least one motor drives a corresponding wheel in a forward direction to draw the object into the channel.

14. The robotic system of claim 12, wherein the motors are configured for rotating the body relative to the wheels so that the elongated arm is oriented in a horizontal position.

15. The robotic system of claim 12, 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.

16. The robotic system of claim 12, wherein when the elongated arm is oriented in a horizontal position, activation of the release gate releases the object to the base portion.

17. The robotic system of claim 12, wherein the elongated arm comprises a curved track upon which the object rolls.

18. The robotic system of claim 12, 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.

19. The robotic system of claim 18, wherein the 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.

20. The robotic system of claim 12, wherein the one or more sensors comprise at least two accelerometers configured for measuring rotational and translational acceleration, and wherein the system controller is configured to compare measured acceleration for controlling the motors for self-balancing.

21. The robotic system of claim 12, wherein the system controller is configured to respond to a wireless remote control signal.

22. The robotic system of claim 12, wherein the one or more sensors comprise sensors configured for detecting location of the object, an obstacle, or another robot.

23. The robotic system of claim 22, wherein the system controller responds autonomously to feedback from the sensors.

34. The robotic system of claim 12, wherein the one or more sensors are selected from the group consisting of accelerometers, optical sensors, audio sensors, temperature sensors, motion sensors, and chemical sensors.

35. The robotic system of claim 34, wherein the system controller responds autonomously to feedback from the sensors.

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.

37. The robotic system of claim 36, wherein the object release mechanism further comprises:

a gate configured to prevent the object from passing through the release opening;

a gate motor configured for activating the gate for releasing the object in response to control signals from the system controller.

38. The robotic system of claim 36, wherein the object release mechanism is further configured to activate one or more of the at least two motors in response to a control signal for imparting a forward velocity to the object.

39. The robotic system of claim 36, 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 for controlling the motors for self-balancing.

40. The robotic system of claim 36, wherein the system controller is responsive to a wireless remote control signal.

41. The robotic system of claim 36, wherein the one or more sensors comprise sensors for detecting location of an object or another robot.

42. The robotic system of claim 36, wherein the one or more sensors are selected from the group consisting of accelerometers, optical sensors, audio sensors, temperature sensors, motion sensors, and chemical sensors.

43. The robotic system of claim 42, wherein the system controller responds autonomously to feedback from the sensors.

44. The robotic system of claim 36, wherein the body further comprises a platform configured for carrying a payload.