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Self-propelled device implementing three-dimensional control

  • US 9,150,263 B2
  • Filed: 01/03/2012
  • Issued: 10/06/2015
  • Est. Priority Date: 01/05/2011
  • Status: Active Grant
First Claim
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1. A method for operating a self-propelled device comprising an internal drive system, the method comprising:

  • using processing resources of the self-propelled device to perform steps comprising;

    maintaining, on the self-propelled device, an initial frame of reference that rotates about each of an x-axis, a y-axis, and a z-axis as the self-propelled device moves;

    receiving, from a two-dimensional steering mechanism of a controller device, a two-dimensional input to control the self-propelled device;

    translating the two-dimensional input into a three-dimensional, rotational motion for the self-propelled device about each of the x-axis, the y-axis, and the z-axis; and

    based on translating the two-dimensional input, maneuvering the self-propelled device about each of the x-axis, the y-axis, and the z-axis while continuously maintaining the initial frame of reference;

    wherein the internal drive system of the self-propelled device is dynamically unstable when maneuvering about one or more of the x-axis, the y-axis, or the z-axis, and wherein maneuvering the self-propelled device includes processing feedback during movement, from one or more sensors of the self-propelled device, to compensate for the internal drive system being dynamically unstable.

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