Maneuvering robotic vehicles having a positionable sensor head
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B62D-055/075
B25J-005/00
B62D-037/04
B62D-055/02
B62D-055/065
B62D-057/024
출원번호
US-0872783
(2015-10-01)
등록번호
US-9650089
(2017-05-16)
발명자
/ 주소
Ohm, Timothy R.
Bassett, Michael
출원인 / 주소
IROBOT DEFENSE HOLDINGS, INC.
대리인 / 주소
Jenkins, Wilson, Taylor & Hunt, P.A.
인용정보
피인용 횟수 :
0인용 특허 :
72
초록▼
Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses.
Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.
대표청구항▼
1. A robot having an overall center of gravity and comprising: a chassis having a leading end and a trailing end; a pair of flippers each having a proximal end and a distal end, the proximal end of each flipper being coupled to a respective side of the chassis adjacent the leading end of the chassis
1. A robot having an overall center of gravity and comprising: a chassis having a leading end and a trailing end; a pair of flippers each having a proximal end and a distal end, the proximal end of each flipper being coupled to a respective side of the chassis adjacent the leading end of the chassis;a neck having a pivot end and a distal end, the neck being pivotable at the pivot end about a neck pivot axis adjacent the leading end of the chassis; anda sensor head at the distal end of the neck, the sensor head having a pivot end and a distal end, the sensor head being pivotable at the pivot end of the sensor head with respect to the neck about a head pivot axis at the distal end of the neck, wherein the neck and sensor head are movable between a stair ascending configuration and a stair descending configuration, and wherein, in the stair descending position, the sensor head is pivoted such that the distal end of the sensor head is directed toward the leading end of the chassis. 2. The robot of claim 1, wherein, in the stair descending position, the neck is pivoted such that the pivot end of the sensor head trails the leading end of the chassis. 3. The robot of claim 1, wherein, in the stair ascending position, the sensor head is pivoted such that the distal end of the sensor head is directed away from the leading end of the chassis. 4. The robot of claim 3, wherein, in the stair ascending position, the neck is pivoted such that the pivot end of the sensor head leads the distal end of the chassis. 5. The robot of claim 1, wherein, when the neck and sensor head move from the stair ascending configuration to the stair descending configuration, an overall center of gravity of the robot shifts toward the trailing end of the chassis. 6. The robot of claim 1, wherein the distal end of each of the pair of flippers comprises a wheel about which a ground-contacting track is trained. 7. The robot of claim 6, wherein: the chassis further comprises a wheel about which a ground-contacting track is trained, and,in the stair ascending position, a bottom surface of the ground-contacting track of each of the pair of flippers is aligned with a bottom surface of the ground-contacting track of the chassis. 8. The robot of claim 1, further comprising a tilt axis actuator coupling the pivot end of the neck to the chassis and configured to pivot the neck about the neck pivot axis. 9. The robot of claim 1, further comprising a tilt axis actuator coupling the pivot end of the head to the distal end of the neck and configured to pivot the head about the head pivot axis. 10. The robot of claim 9, wherein the tilt axis actuator is configured to rotate the neck 360 degrees about the neck pivot axis. 11. The robot of claim 9, wherein the tilt axis actuator comprises an actuator motor, a motor driver, digital logic circuitry for controlling the motor driver, and transceiver circuitry for communicating with an actuator control bus. 12. The robot of claim 9, further comprising a one-axis actuator along a length of the sensor head, wherein the neck has at least one angled bend. 13. The robot of claim 12, further comprising a shoulder tilt actuator coupling the neck to the chassis, the shoulder tilt actuator comprising an actuator motor, a motor driver, digital logic circuitry for controlling the motor driver. 14. The robot of claim 1, further comprising: a one-axis actuator along a length of the sensor head,a shoulder tilt actuator coupling the neck to the chassis,a tilt axis actuator coupling the pivot end of the head to the distal end of the neck, andtransceiver circuitry for communicating with an actuator control bus and with at least one of the one-axis actuator, the shoulder tilt actuator, and the tilt axis actuator. 15. The robot of claim 14, wherein the neck comprises one or more conductive slip rings coupling signals to at least one actuator of: the tilt axis actuator, the shoulder tilt actuator, and the one-axis actuator. 16. The robot of claim 1, wherein the chassis comprises a central open volume comprising a stowage cavity. 17. The robot of claim 1, wherein the neck comprises at least a first piece and a second offset piece, the second offset piece being approximately parallel to the first piece and connected to the first piece such that when the sensor head is in a first stowed position, the offset piece is offset below the first piece. 18. The robot of claim 1, wherein the pair of flippers each are pivotable about the proximal end of each of the pair of flippers with respect to the chassis and about a flipper pivot axis at the leading end of the chassis. 19. The robot of claim 1, wherein: the stair ascending position is a stable stair ascending position, andthe neck and head are pivotable to the stable stair ascending position such that a vertical projection of an overall center of gravity of the robot is located in a stable range within at least one step span in front of a rearmost ground contact point and at least one step span behind a foremost flipper ground contact point. 20. The robot of claim 19, wherein the neck and head are pivotable to an unstable stair ascending position in which the vertical projection of the overall center of gravity of the robot to outside the stable range.
White John R. (Oak Ridge TN) Walker Kenneth L. (Clinton TN) Coughlan Joel B. (Oak Ridge TN) Upton R. Glen (Oak Ridge TN) Farnstrom Kenneth A. (Oak Ridge TN) Harvey Howard W. (Oak Ridge TN), All terrain mobile robot.
Coughlan Joel B. (Bonnerville County ID) Farnstrom Kenneth A. (Anderson County TN) Harvey Howard W. (Roane County TN) Upton R. Glen (Anderson County TN) White John R. (Roane County TN) Walker Kenneth, Small all terrain mobile robot.
Goldfarb Adolph E. (1432 SE. Wind Cir. Westlake Village CA 91361) Everitt Delmar K. (Woodland Hills CA), Ultracompact miniature toy vehicle with four-wheel drive and unusual climbing capability.
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