# US 12,179,860 B2 · Modular robotic vehicle comprising wheeled leg array

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- Number: US 12,179,860 B2
- Document ID: US12179860B2
- Status: Granted
- Kind: B2
- Application number: 17/235,355
- Filed: 2021-04-20
- Published: 2021-09-09
- Granted: 2024-12-31
- Earliest claimed: 2019-12-18
- Assignees: Carla R. Gillett
- Applicants: Carla R. Gillett
- Inventors: Carla R. Gillett
- Web page: https://patentgrep.com/patent/US12179860B2

## CPC

- B25J 5/007: {mounted on wheels}
- B62D 57/028: having wheels and mechanical legs (B62D57/024 takes precedence; ground-engaging vehicle fittings for supporting, lifting or manoeuvring the vehicle, wholly or in part B60S9/00)
- B60K 7/0007: {the motor being electric}
- B60K 17/30: the ultimate propulsive elements, e.g. ground wheels, being steerable
- B62D 57/024: specially adapted for moving on inclined or vertical surfaces (endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02)
- G05D 1/0011: {associated with a remote control arrangement}
- G05D 1/0022: {characterised by the communication link (data switching networks in general H04L12/00)}
- G05D 1/0246: {using a video camera in combination with image processing means}
- G05D 1/0251: {extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision (stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593)}
- G05D 1/027: {comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165)}
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- G05D 1/0278: {using satellite positioning signals, e.g. GPS}
- G05D 1/0891: {specially adapted for land vehicles}
- G05D 1/222: operated by humans
- G05D 1/246: using environment maps, e.g. simultaneous localisation and mapping [SLAM]
- G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle
- B60K 2007/0038: {the motor moving together with the wheel axle}
- B60K 2007/0092: {the motor axle being coaxial to the wheel axle}
- B60L 2200/14: Vehicles with one wheel only
- B60L 2260/34: Stabilising upright position of vehicles, e.g. of single axle vehicles
- G01S 13/862: {Combination of radar systems with sonar systems}
- G01S 13/865: {Combination of radar systems with lidar systems}
- G01S 13/867: {Combination of radar systems with cameras}
- G01S 13/931: of land vehicles
- Y02T 90/16: Information or communication technologies improving the operation of electric vehicles
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

The application discloses a modular robotic vehicle or (MRV) including a chassis and body having any shape and dimension to include an enclosed cab in which passengers are seated therein or a passenger to ride on a seat without an enclosed cab. The vehicle's modular chassis further comprising leg array rotatably connected therein, the leg array including actuators causing flexing and bobbing motion for keeping the MRV stabilized when traversing over various ground surfaces in indoor or outdoor environments. The leg array providing walking and steering capability allowing the MRV to transverse during a navigation mode, the wheel providing differential steering propulsion or braking capability, such that the wheel operates like a foot when powered off during a walking mode and rotates when powered on during a drive mode, the MRV to transport passengers and/or cargo.

## Claims

### Claim 1

A modular robotic vehicle (MRV) comprising:
a chassis or a body;
battery;
a memory;
one or more actuators linking to a plurality of leg arrays;
the plurality of leg arrays positioned on corners and/or sides of the chassis to provide all wheel drive and steering states;
one or more actuator controllers linking to the plurality of leg arrays; drive motors;
drive motor controllers linking to the plurality of leg arrays;
a perception system comprising and utilizing an array of sensors and cameras, wherein the array of sensors and cameras are disposed on portions of the chassis or the body;
a positioning system comprising GPS;
cargo compartments providing storage, accommodating passenger(s) and/or cargo;
one or more master controllers configured for controlling, based on user input commands, each leg of the plurality of leg arrays to provide actuated motion states for the MRV;
a control system comprising processors with software programming for implementing motion control algorithms,
wherein based on user input commands the plurality of leg arrays steer the (MRV) at various steering angles such that the MRV can achieve crab-like drive motion states to transport passengers and/or cargo;
wherein each leg array of the plurality of leg arrays comprises an upper leg unit, a lower leg unit, an ankle, and a wheel including a drive motor connected therein,
wherein based on the user input commands each leg of the plurality of leg arrays provide actuated motion states such that the MRV steps, or walks, or drives on or over roads, terrain or obstacles,
wherein each leg array of the plurality of leg arrays, based on the sensors and cameras, is controlled using a differential steering propulsion or a braking capability such that the wheel operates like a foot for stepping during a walking mode;
wherein the actuators are configured to:
provide a retracted a pitch position for lowering the MRV, or
provide a protracted pitch position to raise the MRV, or
actuate the wheel into opposed respective directions to stabilize the MRV,
wherein when the one or more actuator controllers are powered off the wheel works like a foot for stepping/walking/driving over various ramps, steps, or obstacles;
one or more master controllers and control system components comprising:
receivers, motor sensors, actuator sensors, gyroscope, IMU, associated sensors and cab components configured for monitoring motion states of the MRV,
wherein the one or more actuators and the one or more actuator controllers are configured for:
providing retracted pitch positioning motion to lower the MRV, or
providing protracted pitch positioning motion to raise the MRV, or
providing actuated motion into opposed stepping directions to stabilize the MRV;
wherein the perception system's sensors and cameras are configured for detecting objects and for capturing images surrounding the MRV,
wherein the positioning system utilizes the GPS for establishing and generating a current location, generating routes, mapping destinations,
wherein upon receiving a user input, the control system engages a drive-by-wire control system for selecting an operation mode,
wherein the MRV comprises navigation modes associated with a walking mode, a driving mode, autonomous mode, a sleep mode such that the MRV navigates according to a driving command of a user,
wherein the control system comprising processors with software programming is further configured for controlling each leg array of the plurality of leg arrays,
wherein the control system comprising processors with software programming is linked to the sensors and cameras for providing data to the control system comprising processors with software programming,
wherein control system comprising processors with software programming is further configured for controlling a motion and a position of each leg array of the plurality of leg arrays during the walking mode of the MRV,
wherein the control system comprising processors with software programming is further configured for:
controlling motion and position of each leg array of the plurality of leg arrays during the driving mode, such that the drive motors rotate when powered-on during a drive mode,
controlling motion and placement of the leg array and controlling motion of the wheel based on a GPS planned travel route,
wherein the one or more actuator controllers are configured to perform one of:
retracted a pitch position for lowering the MRV,
protracted pitch position to raise the MRV, or
actuate into opposed respective directions to stabilize the MRV,
a wireless communication system linking the control system comprising processors with software programming to cab components and system components of the MRV such that the user can interface with the MRV;
wherein the user input commands are transmitted from one or various user input devices by-wire and received by the one or more master controllers,
wherein when the MRV is manually controlled by a user present within the MRV, the user input devices including one or more of the following: a brake pedal, an accelerator pedal, a human machine interface (HMI) screen, and a steering wheel or a joystick for selecting the driving mode,
wherein the user input commands are configured for controlling motion of the actuators and the drive motors for each leg array of the plurality of leg array's to flexibly transpose and hoist the MRV over uneven terrain or over obstacles, and for controlling a speed of the drive motor.

### Claim 2 (depends on 1)

The modular robotic vehicle of claim 1, further comprising:
battery compartments;
cargo compartments providing storage;
compartments accommodating passenger(s) and/or compartments accommodating cargo;
compartments accommodating one or more master controllers; and
a control system comprising processors with software programming stored in the memory for implementing motion control algorithms, the control system linking to:
a perception system comprising an array of sensors and cameras, wherein the array of sensors and cameras are disposed on portions of the chassis or the body;
a positioning system comprising GPS;
wherein, the one or more master controllers and the control system comprise the processors with software programming for implementing motion control algorithms and provide data to the memory,
wherein each leg array of the plurality of leg arrays are positioned on corners and/or sides of the chassis to provide all wheel drive and steering states.

### Claim 3 (depends on 1)

The modular robotic vehicle of claim 1,
wherein the drive motor actuates each wheel of the leg array of the plurality of leg arrays into opposed respective directions to stabilize the MRV,
wherein, when the drive motor of the wheel of each leg array of the plurality of leg arrays is powered off the wheel works like a foot for stepping/walking/driving over various ramps, steps, or obstacles during various string states.

### Claim 4 (depends on 1)

The modular robotic vehicle of claim 1, further comprising:
a positioning system comprising GPS;
cargo compartments providing storage, accommodating passenger(s) and/or cargo;
one or more master controllers;
a control system comprising processors with software programming for implementing motion control algorithms,
Wherein the perception system comprises and utilizes an array of sensors and cameras,
wherein the array of sensors and cameras are disposed on portions of the chassis or the Body,
wherein based on user input commands each leg array of the plurality of leg arrays to steer the MRV at various steering angles such that the MRV can achieve crab-like drive motion states to transport passengers and/or cargo,
wherein each leg array of the plurality of leg arrays comprises an upper leg unit, a lower leg unit, an ankle, and a wheel including a drive motor connected therein,
wherein based on the user input commands each leg of the plurality of leg arrays provide actuated motion states,
wherein the actuators of each leg array of the plurality of leg arrays are configured to:
provide a retracted a pitch position for lowering the MRV, or
provide a protracted pitch position to raise the MRV, or
actuate the wheel into opposed respective directions to stabilize the MRV, such that the MRV steps, or walks, or drives on or over roads, terrain or obstacles.

### Claim 5 (depends on 1)

The modular robotic vehicle of claim 1,
wherein each leg array of the plurality of leg arrays, based on the sensors and cameras, is controlled using a differential steering propulsion or a braking capability such that the wheel operates like a foot for stepping during a walking mode.

### Claim 6 (depends on 1)

The modular robotic vehicle of claim 1,
wherein when the one or more actuator controllers are powered off the wheel works like a foot for stepping/walking/driving over various ramps, steps, or obstacles.

### Claim 7 (depends on 1)

The modular robotic vehicle of claim 1,
wherein the one or more master controllers include control system components comprising:
receivers, motor sensors, actuator sensors, gyroscope, IMU, associated sensors and cab components configured for monitoring motion states of the MRV,
wherein the one or more actuators and the one or more actuator controllers are configured for:
providing retracted pitch positioning motion to lower the MRV, or
providing protracted pitch positioning motion to raise the MRV, or
providing actuated motion into opposed stepping directions to stabilize the MRV,
wherein the perception system sensors and cameras are configured for detecting objects and for capturing images surrounding the MRV,
wherein the positioning system utilizes the GPS for establishing and generating a current location, generating routes, mapping destinations,
wherein upon receiving a user input, the control system engages a drive-by-wire control system for selecting an operation mode,
wherein the MRV comprises navigation modes associated with a walking mode, a driving mode, autonomous mode, a sleep mode such that the MRV navigates according to a driving command of a user.

### Claim 8 (depends on 1)

The modular robotic vehicle of claim 1,
wherein the control system comprising the processors with software programming is further configured for controlling each leg array of the plurality of leg arrays;
wherein one or more master controllers and control system components comprising:
receivers, motor sensors, actuator sensors, gyroscope, IMU, associated sensors and cab components configured for monitoring motion states of the MRV.

### Claim 9 (depends on 1)

The modular robotic vehicle of claim 1,
wherein the control system comprising processors with software programming is linked to the sensors and cameras for providing data to the control system comprising processors with software programming,
wherein the control system comprising processors with software programming is further configured for controlling a motion and a position each leg array of the plurality of leg arrays during the walking mode, such that the MRV steps, walks or achieves combinations of stepping/walking-walking/stepping.

### Claim 10 (depends on 1)

The modular robotic vehicle of claim 1,
wherein the control system comprising processors with software programming is further configured for:
controlling motion and position of each leg array of the plurality of leg arrays during the driving mode, such that the drive motors rotate when powered-on during a drive mode such that the MRV drives or achieves combinations of steering in all wheel drive or drive modes steering states.

### Claim 11 (depends on 1)

The modular robotic vehicle of claim 1,
wherein the one or more actuator controllers are configured to perform one of:
controlling motion and placement of the leg array and controlling motion of the wheel based on a GPS planned travel route, and system components of the MRV such that the user can interface with the MRV to plan GPS route.

### Claim 12 (depends on 1)

The modular robotic vehicle of claim 1, further comprising:
a wireless communication system linking the control system comprising processors with software programming to cab components and system components of the MRV such that the user can interface with the MRV,
wherein the one or more actuator controllers are configured to perform one of:
retracted a pitch position for lowering the MRV,
protracted pitch position to raise the MRV; or
actuate each leg array of the plurality of leg arrays into opposed respective directions to stabilize the MRV.

### Claim 13 (depends on 1)

The modular robotic vehicle of claim 1,
wherein the user input commands are transmitted from one or various user input devices by wire and received by the one or more master controllers,
wherein the user input commands are configured for controlling motion of the actuators and the drive motors for each leg array of the plurality of leg array's to flexibly transpose and hoist the MRV over uneven terrain or over obstacles, and controlling a speed of the drive motor.

### Claim 14 (depends on 1)

The modular robotic vehicle of claim 1,
wherein when the MRV is manually controlled by a user present within the MRV the user input devices include one or more of the following: a brake pedal, an accelerator pedal, a human machine interface (HMI) screen, and a steering wheel or a joystick for selecting the driving mode.

### Claim 15 (depends on 1)

The modular robotic vehicle of claim 1,
wherein the user input commands are configured for controlling motion of the actuators and the drive motors for each leg array of the plurality of leg array's to flexibly transpose and hoist the MRV over uneven terrain or over obstacles, and for controlling a speed of the drive motor.

### Claim 16 (depends on 1)

The modular robotic vehicle of claim 1,
wherein the one or more actuator controllers are configured with a wireless communication system linking the control system comprising processors with software programming to cab components and system components of the MRV such that the user can interface with the MRV.