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US 2008/0164079 A1Published application
Serpentine robotic crawler
AssigneeRaytheon Sarcos, LLC
InventorStephen C. Jacobsen
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Abstract
A serpentine robotic crawler capable of multiple movement moves is disclosed. The serpentine robotic crawler includes a plurality of frame units, coupled together by at least one actuated linkage. Each frame unit includes a continuous track, enabling forward movement of the serpentine robotic crawler. The at least one actuated linkage has at least 7 degrees of movement freedom, enabling the serpentine robotic crawler to adopt a variety of poses.
Claims25
A serpentine robotic crawler comprising:
- a first frame having a first continuous track rotatably supported by the first frame;
- a first wrist-like actuated linkage coupled to the first frame wherein the first wrist-like actuated linkage provides rotational movement about a longitudinal axis and bending movement about two different lateral axes;
- an elbow-like actuated joint coupled to the first wrist-like actuated linkage wherein the elbow-like actuated joint provides bending movement about a lateral axis;
- a second wrist-like actuated linkage coupled to the elbow-like actuated joint wherein the second wrist-like actuated linkage provides rotational movement about a longitudinal axis and bending movement about two different lateral axes;
- and
- a second frame coupled to the second wrist-like actuated linkage and having a second continuous track rotatably supported by the second frame.
3 more elements
A serpentine robotic crawler comprising:
- at least two frame units each having a continuous track rotatably supported therein;
- at least one multi-degree of freedom linkage arm coupled between the frame units to form a train of frame units, the at least one actuated multi-degree of freedom linkage arm comprising a series coupled combination of at least seven actuated joints.
A method of operating a serpentine robotic crawler comprising:
- providing a first frame and a second frame, each frame having a driveable continuous track;
- coupling the first frame to the second frame with an actuated multi-degree of freedom linkage arm, wherein the actuated multi-degree of freedom linkage arm comprises a series-coupled combination of at least seven actuated joints to form the serpentine robotic crawler;
- and
- articulating the actuated multi-degree of freedom linkage arm to establish a desired pose for the serpentine robotic crawler.
1 more element
Dependencies are inferred from the claim text.