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US 11,454,963 B2Granted
Self-propelled device with center of mass drive system
AssigneeSphero, Inc.
InventorsRoss MacGregor, Ian H. Bernstein, Adam Wilson
Life of this patent
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Abstract
A self-propelled device is disclosed that includes a center of mass drive system. The self-propelled device includes a substantially cylindrical body and wheels, with each wheel having a diameter substantially equivalent to the body. The self-propelled device may further include an internal drive system with a center of mass below a rotational axis of the wheels. Operation and maneuvering of the self-propelled device may be performed via active displacement of the center of mass.
Claims20
A self-propelled device comprising:
- a substantially cylindrical body;
- a drive system comprising a left motor configured to operate a left wheel, a right motor configured to operate a right wheel, and one or more power units configured to power the left and right motors, the drive system having a center of mass below a common rotational axis of both the left and right wheels, wherein the left and right motors are configured to operate either independently or in conjunction;
- a receiver configured to receive control inputs from a controller device;
- a processor configured to process the control inputs for maneuvering the self-propelled device, the processor to independently control operation of the left motor and the right motor;
- wherein actuation of the left motor and the right motor causes the drive system to pitch rotationally causing a displacement in the center of mass of the drive system in order to cause the self-propelled device to move.
2 more elements
Dependencies are inferred from the claim text.