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Reconfigurable balancing robot and method for dynamically transitioning between statically stable mode and dynamically balanced mode

IPC분류정보
국가/구분 United States(US) Patent 등록
국제특허분류(IPC7판)
  • B60L-015/20
  • B60L-015/32
출원번호 UP-0591925 (2006-11-02)
등록번호 US-7798264 (2010-10-11)
발명자 / 주소
  • Hutcheson, Timothy L.
  • Pratt, Jerry E.
대리인 / 주소
    Houston, J. Wiley
인용정보 피인용 횟수 : 22  인용 특허 : 34

초록

An apparatus and a method for robotic control that allows an unbalanced pendulum robot to raise its Center of Mass and balance on two motorized wheels. The robot includes a pair of arms that are connected to the upper body of the robot through motorized joints. The method consists of a series of mov

대표청구항

Having described our invention, we claim: 1. A reconfigurable robot capable of traveling across the ground comprising: a. a base, having a first end, a second end, and a rear ground contact attached proximal said first end of said base, said rear ground contact including a propulsion element for mo

이 특허에 인용된 특허 (34)

  1. Field, J. Douglas; Morrell, John B., Accelerated startup for a balancing personal vehicle.
  2. Davis Stuart D. (980 Kiely Blvd. #215 Santa Clara CA 95051), Agile versatile mobile robot body.
  3. Larson,Ted W.; Allen,Robert, Balancing device.
  4. Kamen, Dean L.; Field, Douglas; Heinzmann, Richard Kurt, Balancing personal vehicle.
  5. Collins ; Jr. Earl R. (La Canada CA), Body steered rover.
  6. Dean L. Kamen ; Robert R. Ambrogi ; John David Heinzmann ; Richard Kurt Heinzmann ; David Herr ; John B. Morrell, Control inputs for a balancing personal vehicle.
  7. Kamen Dean L. ; Ambrogi Robert R. ; Duggan Robert J. ; Heinzmann Richard K. ; Key Brian R. ; Dastous Susan D., Control loop for transportation vehicles.
  8. Dean L. Kamen ; Robert R. Ambrogi ; John David Heinzmann ; Richard Kurt Heinzmann ; David Herr ; John B. Morrell, Control of a balancing personal vehicle.
  9. Kamen, Dean L.; Ambrogi, Robert R.; Heinzmann, John D.; Heinzmann, Richard Kurt; Herr, David; Morrell, John B., Control of a balancing personal vehicle.
  10. Kamen, Dean L.; Ambrogi, Robert R.; Amsbury, Burl; Dastous, Susan D.; Duggan, Robert J.; Heinzmann, John David; Heinzmann, Richard Kurt; Herr, David W.; Kerwin, John M.; Morrell, John B.; Steenson, J, Control system and method.
  11. Ball ; Douglas, Curb climbing wheel chair.
  12. Gray,Larry B.; Norris,Matthew A., Footrest tuck mechanism.
  13. Wildman, John R.; Morrison, Howard J., Four wheel drive toy.
  14. Wilcox Brian H. ; Nasif Annette K., High mobility vehicle.
  15. Kamen Dean L. (Bedford NH) Ambrogi Robert R. (Manchester NH) Duggan Robert J. (Northwood NH) Heinzmann Richard K. (Francestown NH) Key Brian R. (Pelham NH) Skoskiewicz Andrzej (Manchester NH) Kristal, Human transporter.
  16. Crane ; III Carl D. (Gainesville FL) Haukoos Dana S. (Fountain Valley CA), Hybrid robotic vehicle.
  17. Arling,R. William; Field,J. Douglas; Heinzmann,John David; Hill,Jeffrey W.; Slate,Michael, Method for attaching a carrier to a balancing transporter.
  18. Chen Chun-Ta,TWX ; Hsieh Yu-An,TWX, Mobile robot.
  19. Theobold,Daniel; Ornstein,Joshua; Nichol,Jamie G; Kullberg,Scott Eric, Mobile robot platform.
  20. Ishimoto Zenichi (Tokyo JPX), Movable toy automatically swingable between an up position and a down position.
  21. Kamen,Dean; Field,J. Douglas; Heinzmann,John David, Multiple-passenger transporter.
  22. Dean L. Kamen ; Robert R. Ambrogi ; Robert J. Duggan ; J. Douglas Field ; Richard Kurt Heinzmann ; Burl Amsbury ; Christopher C. Langenfeld, Personal mobility vehicles and methods.
  23. Bart Philip D. ; Wilkinson William T., Remote controlled simulated tire amusement device.
  24. Skoog,Hans, Robot system.
  25. Burt, Ian T.; Papanikolopoulos, Nikolaos P., Ruggedized robotic vehicles.
  26. Kamen, Dean L.; Heinzmann, John David, Self-balancing ladder and camera dolly.
  27. Jorgensen Glen Howard ; Garbini Joseph L., Stabilizing wheeled passenger carrier capable of traversing stairs.
  28. Morrell John B. ; Kerwin John M. ; Kamen Dean L. ; Ambrogi Robert R. ; Duggan Robert J. ; Heinzmann Richard K. ; Key Brian R., System and method for stair climbing in a cluster-wheel vehicle.
  29. J. Douglas Field ; John David Heinzmann, Trailer for balancing vehicle.
  30. Kamen Dean L. ; Ambrogi Robert R. ; Heinzmann Richard Kurt, Transportation vehicles with stability enhancement using CG modification.
  31. Ishii,Shinji, Traveling apparatus and method for controlling thereof.
  32. Ishii,Shinji, Traveling apparatus and method for controlling thereof.
  33. Clement Gilles (Paris FRX) Villedieu Eric (Palaiseau FRX), Variable geometry track vehicle.
  34. De Fazio, Thomas L.; Barrett, David S.; Won, Chikyung; Slipichevich, Selma, Wheeled platforms.

이 특허를 인용한 특허 (22)

  1. Jacobsen, Stephen C.; Smith, Fraser M.; Olivier, Marc X., Amphibious robotic crawler.
  2. Belenkii, Mikhail; Barrett, Todd; Brinkley, Timothy, Celestial compass kit.
  3. Jacobsen, Stephen C.; Maclean, Brian J.; Pensel, Ralph W.; Hirschi, Christopher R., Conformable track assembly for a robotic crawler.
  4. Smith, Fraser M., Coordinated robotic control.
  5. Doi, Katsunori, Inverted pendulum vehicle with stability on a slope.
  6. Jacobsen, Stephen C.; Olivier, Marc X.; Pensel, Ralph W.; Smith, Fraser M., Method and system for deploying a surveillance network.
  7. Belenkii, Mikhail; Bruns, Donald; Brinkley, Timothy, Miniature celestial direction detection system.
  8. Pikulski, Joseph L., Mobilized cooler device with fork hanger assembly.
  9. Jacobsen, Stephen C.; Olivier, Marc X., Modular robotic crawler.
  10. Schlee, Keith L.; Schlee, Bruce A., Multi-unit mobile robot.
  11. Jacobsen, Stephen C.; Olivier, Marc X., Point and go navigation system and method.
  12. Karras, Jaakko T.; Fuller, Christine; Carpenter, Kalind C.; Buscicchio, Alessandro; Parcheta, Carolyn E., Puffer: pop-up flat folding explorer robot.
  13. Blackwell, Trevor; Casner, Daniel; Wiley, Scott; Nelson, Benjamin, Remotely controlled self-balancing robot including a stabilized laser pointer.
  14. Sokol, John L.; Blackwell, Trevor; Wiley, Scott; Casner, Daniel; Holson, Benjamin, Self-balancing robot having a shaft-mounted head.
  15. Pensel, Ralph W., Serpentine robotic crawler.
  16. Smith, Fraser M., Serpentine robotic crawler.
  17. Smith, Fraser M.; Olivier, Marc; McCullough, John, Serpentine robotic crawler for performing dexterous operations.
  18. Ecklein, Bryce A., Step on-step off motorized utility vehicle.
  19. Hodgins, Jessica K.; Yamane, Katsu, Systems and methods for tracking and balancing robots for imitating motion capture data.
  20. Jacobsen, Stephen C., Tracked robotic crawler having a moveable arm.
  21. Jacobsen, Stephen C.; Marceau, David P., Two-dimensional layout for use in a complex structure.
  22. Deguire, Daniel R.; Bruck, Kurt; Young, John; Kirillov, Alex; Chung, James, Weapon robot with situational awareness.
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