Work mode and travel mode for mobile robots
AssigneeBoston Dynamics, Inc.
InventorsAdrianna Rodriguez, Alexander Douglas Perkins
Life of this patent
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Abstract
A method for operating a robot includes receiving a drive command to drive the robot across a work surface. The drive command includes a work mode command or a travel mode command. In response to receiving the work mode command, the method includes operating the robot in a work mode. In the work mode, the robot dynamically balances on a right drive wheel and a left drive wheel on the work surface, while keeping a non-drive wheel off of the work surface. In response to receiving the travel mode command, the method includes operating the robot in a travel mode. In the travel mode, the robot statically balances on the right drive wheel, the left drive wheel, and the non-drive wheel in contact with the work surface.
Claims24
A method of operating a robot, the method comprising:
- receiving, at data processing hardware of the robot, a drive command to drive the robot across a work surface, the drive command comprising a work mode command or a travel mode command, the robot comprising:
- an inverted pendulum body;
- and
- a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body, wherein a right drive wheel is rotatably coupled to the inverted pendulum body, a left drive wheel is rotatably coupled to the inverted pendulum body, and a non-drive wheel is rotatably coupled to the counter-balance body;
- in response to receiving the work mode command, operating, by the data processing hardware, the robot in a work mode, wherein the robot dynamically balances on the right drive wheel and the left drive wheel on the work surface, while keeping the non-drive wheel off of the work surface;
- in response to receiving the travel mode command, operating, by the data processing hardware, the robot in a travel mode, wherein the robot statically balances on the right drive wheel, the left drive wheel, and the non-drive wheel in contact with the work surface;
- and
- while operating in the travel mode, adjusting, by the data processing hardware, based on movement of the counter-balance body relative to the inverted pendulum body, a wheel base between the non-drive wheel and the right and left drive wheels in contact with the work surface.
A robot comprising:
- an inverted pendulum body;
- a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body;
- a right leg having first and second ends, the first end of the right leg coupled to the inverted pendulum body;
- a left leg having first and second ends, the first end of the left leg coupled to the inverted pendulum body;
- a right drive wheel rotatably coupled to the second end of the right leg;
- a left drive wheel rotatably coupled to the second end of the left leg;
- a non-drive wheel coupled to the counter-balance body;
- and
- a controller in communication with the counter-balance body, the right leg, the left leg, the right drive wheel, and the left drive wheel, the controller configured to perform operations comprising:
- receiving a drive command to drive the robot across a work surface, the drive command comprising a work mode command or a travel mode command;
- in response to receiving the work mode command, operating the robot in a work mode, wherein the robot dynamically balances on the right drive wheel and the left drive wheel on the work surface, while keeping the non-drive wheel off of the work surface;
- in response to receiving the travel mode command, operating the robot in a travel mode, wherein the robot statically balances on the right drive wheel, the left drive wheel, and the non-drive wheel in contact with the work surface;
- and
- while operating in the travel mode, adjusting, based on movement of the counter-balance body relative to the inverted pendulum body, a wheel base between the non-drive wheel and the right and left drive wheels in contact with the work surface.
Dependencies are inferred from the claim text.