Multimodal dynamic robotic systems
AssigneeThe Regents of the University of California
InventorsThomas R. Bewley, Christopher M. Schmidt-Wetekam
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Abstract
Robotic systems 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, hopping, climbing, and balancing. A power source is included for providing power to operate the drive motors, system controller and the one or more sensors.
Claims20
A robotic system comprising:
- an elongated leg having leg ends and a leg length;
- two arms extending from opposite sides of the leg, each arm having a proximal end and a distal end, the proximal end configured for slidable motion along the leg length, each arm comprising a jointed parallelogram frame configured to vary an angle of extension of the arm relative to the leg, the jointed parallelogram frame having upper and lower frame arms pivotally connected to end-arm and mid-arm links to define a parallelogram, each arm further comprising:
- a spring having a distal end and a proximal end;
- a spring lever having a proximal end connected to the proximal end of the spring and a distal end pivotably connected to the end-arm link;
- wherein the distal end of the spring is linked to the distal end of the other arm;
- a wheel rotatably mounted at the distal end of each arm;
- one or more wheel motors configured for independently rotating each wheel;
- a slide motor for driving movement of the two arms along the leg length;
- a system controller for generating a signal for actuating each motor;
- 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, and balancing;
- and
- a power source for providing power to operate the motors, the system controller and the one or more sensors.
A robotic system comprising:
- an assembly frame;
- two or more wheels rotatably mounted on the assembly frame, wherein the assembly frame comprises:
- two arms, each having a distal end on which a wheel is mounted and a proximal end, each arm comprising a jointed parallelogram frame configured to vary an angle of extension of the arm, the jointed parallelogram frame having upper and lower frame arms pivotally connected to end-arm and mid-arm links to define a parallelogram, each arm further comprising:
- a spring having a distal end and a proximal end;
- an arm motor disposed on the jointed parallelogram frame near the distal end of the arm;
- a spring lever having a proximal end connected to the proximal end of the spring and a distal end pivotably connected to the end-arm link;
- wherein the distal end of the spring is linked to the distal end of the other arm;
- and
- an elongated leg centrally disposed relative to the two arms with the proximal end of each arm rotatably and slidably connected to the leg, the leg having leg ends and a leg length;
- a drive motor for independently driving each wheel of the two or more wheels;
- a slide motor for driving sliding movement of the arms along the leg length;
- a system controller for generating a signal for actuating each motor;
- 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, and balancing;
- and
- a power source for providing power to operate the motors, the system controller and the one or more sensors.
Dependencies are inferred from the claim text.