초록 ▼

An exemplary embodiment of the invention is a method for detecting a potentially locked axle on a vehicle propelled by an AC motor. The method includes conducting a speed test by estimating axle speed and comparing estimated axle speed to measured vehicle speed. The existence of a potential locked a

An exemplary embodiment of the invention is a method for detecting a potentially locked axle on a vehicle propelled by an AC motor. The method includes conducting a speed test by estimating axle speed and comparing estimated axle speed to measured vehicle speed. The existence of a potential locked axle condition is determined based on the comparing of estimated axle speed to measured vehicle speed. Additional tests are disclosed for determining a potential locked axle condition and a sensor fault condition.

대표청구항 ▼

An exemplary embodiment of the invention is a method for detecting a potentially locked axle on a vehicle propelled by an AC motor. The method includes conducting a speed test by estimating axle speed and comparing estimated axle speed to measured vehicle speed. The existence of a potential locked a

An exemplary embodiment of the invention is a method for detecting a potentially locked axle on a vehicle propelled by an AC motor. The method includes conducting a speed test by estimating axle speed and comparing estimated axle speed to measured vehicle speed. The existence of a potential locked axle condition is determined based on the comparing of estimated axle speed to measured vehicle speed. Additional tests are disclosed for determining a potential locked axle condition and a sensor fault condition. ttached to said first joint and said second joint, and wherein said second anatomical segment is attached to said second joint. 8. The robot of claim 7 further comprising: a second biarticular muscle-like actuator having a first end fixed to a position along said first anatomical segment and a second end fixed to a position along said second anatomical segment, wherein said second biarticular muscle-like actuator has a predefined control operating range, such that when said second. biarticular muscle-like actuator is activated said joints., traversed by said first and second biarticular muscle-like actuators, rotate by an amount that differs from the amount said joints would rotate if said first biarticular muscle-like actuator is activated and said second biarticular muscle-like actuator is deactivated. 9. The robot of claim 6, wherein said second joint rotates by a second corresponding, predefined amount that is a function of the predefined change in length of said muscle-like actuator and the positions along said first and second anatomical segments to which the first and second ends of said muscle-like actuator are fixed. 10. The robot of claim 9, wherein the predefined amount of rotation associated with said joint is a function of a first moment arm, wherein the first moment arm represents a perpendicular distance from said muscle-like actuator to a joint axis associated with said joint. 11. The robot of claim 9, wherein the predefined amount of rotation associated with said second joint is a function of a second moment arm, wherein the second moment arm represents a perpendicular distance from said muscle-like actuator to a joint axis associated with said second joint. 12. The robot of claim 1, wherein said muscle like actuator further comprises: a non-contractile portion, said non-contractile portion having a first end and a second end, wherein the first end of the non-contractile portion is attached to a first end of the contractile portion and the second end of the non-contractile portion is attached to the position along said first anatomical segment. 13. The robot of claim 12, wherein said muscle-like actuator further comprises: a second non-contractile portion, said second non-contractile portion having a first end and a second end, wherein the first end of the second non-contractile portion is attached to a second end of the contractile portion and the second end of the second non-contractile portion is attached to the position along said second anatomical segment. 14. The robot of claim 1, wherein said muscle-like actuator is activated by inflating the contractile portion with pressurized air. 15. The robot of claim 1, wherein said muscle-like actuator is activated by exposing the contractile portion to electric current. 16. The robot of claim 1, wherein said muscle-like actuator is activated by applying a chemical reactant to the contractile portion. 17. A multi-segmented robot comprising: a plurality of anatomical segments; a plurality of joints, wherein each of said plurality of joints couples two adjacent anatomical segments such that the two adjacent anatomical segments move relative to each other as a function of an amount of rotation associated with the joint; a plurality of muscle-like actuators, each comprising a first end fixed to a position along one of said plurality of anatomical segments and a second end fixed to a position along a second one of said plurality of anatomical segments, wherein activation of a muscle-like actuator causes torque to be applied to at least one of said plurality of joints thereby causing two or more of said anatomical segments to move relative to each other; and a controller, coupled to each of said plurality of muscle-like actuators, comprising means for defining each of a plurality of states, wherein each of the plurality of states corresponds with a different functional grouping of muscle-like actuators, and wherein for a given state, the muscle-l ike actuators associated with the corresponding functional grouping are defined as being activated and the muscle-like actuators that are not associated with the functional grouping are defined as being deactived. 18. The multi-segmented robot of claim 17, wherein the functional grouping of muscle-like actuators associated with a given state corresponds with a desired mobility event. 19. The multi-segmented robot of claim 18, wherein the desired mobility event corresponds with a desired positioning of said plurality of anatomical segments. 20. The multi-segmented robot of claim 18, wherein said FMG comprises a combination of muscle-like actuators capable of providing the control needed to accomplish the mobility event. 21. The multi-segmented robot of claim 20, wherein the combination of muscle-like actuators minimizes energy losses during the mobility event. 22. The multi-segmented robot of claim 21, wherein the combination of muscle-like actuators includes only monoarticular muscle-like actuators. 23. The multi-segmented robot of claim 21, wherein the combination of muscle-like actuators includes only biarticular muscle-like actuators. 24. The multi-segmented robot of claim 21, wherein the combination of muscle-like actuators includes monoarticular and biarticular antagonist muscle-like actuators. 25. The multi-segmented robot of claim 17, wherein each muscle-like actuator associated with a functional muscle grouping is further associated with a level of activation selected from a set of levels that includes at least one intermediated level, and wherein the level of activation associated with each muscle-like actuator belonging to the functional muscle grouping defines a desired mobility event, wherein the desired mobility event corresponds with a desired positioning of said plurality of anatomical segments. 26. The multi-segmented robot of claim 17, wherein said plurality of muscle-like actuators and joints are configured such that they provide mechanical feedback which opposes undesired movements of said plurality of anatomical segments. 27. The multi-segmented robot of claim 17, further comprising: one or more sensors, wherein each of said one or more sensors provides a respective sensor feedback signal to said controller which indicates a position of one or more of said plurality of anatomical sensors. 28. The multi-segmented robot of claim 17, wherein a change in the signal associated with the one or more sensors causes the controller to transition from a present state to a next state. 29. The multi-segmented robot of claim 17, wherein mobility is achieved through a sequence of controller states, each associated with activating a corresponding functional muscle grouping. 30. A biologically-inspired, multi-segmented robot comprising: a plurality of anatomical segments; a plurality of joints, wherein each of said plurality of joints couples two adjacent anatomical segments; a plurality of muscle-like actuators, wherein each of said muscle-like actuators includes a first and a second end, wherein the first end of each muscle-like actuator is attached to one of said plurality of anatomical segments, wherein the second end of each muscle-like actuator is attached to a second one of said plurality of anatomical segments, and wherein said plurality of muscle-like actuators and joints are configured so as to provide mechanical feedback for said muscle-like actuators; a controller for activating one or more functional groupings of said muscle-like actuators to achieve a desired mobility event; and one or more sensors coupled to said controller and said anatomical segments, said sensors providing feedback data to said controller, wherein feedback data defines a position associated with one or more of said anatomical segments. 31. The biologically-inspired, multi-segmented robot of claim 30, wherein each of said muscle-like actuators comprises: a contractile portion. 32. The biologically-inspired, multi-segmen