Robotic vehicle system
AssigneeRegents of the University of Minnesota
InventorsSammuel D. Herbert, Nikolaos P. Papanikolopoulos
Life of this patent
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Abstract
Robotic vehicle systems and methods regarding such systems, such as, e.g., methods of movement for such robotic vehicle systems (e.g., movement across varying terrain including steps).
Claims20
A robotic vehicle system comprising:
- a frame;
- and
- at least four wheels, wherein a first pair of the at least four wheels are rotatably coupled on opposite sides of the frame along a first axis and a second pair of the at least four wheels are rotatably coupled on opposite sides of the frame along a second axis, and further wherein each wheel of the at least four wheels comprises:
- a hub portion, and
- at least three surface-engaging lobe portions spaced equidistantly about the hub portion, wherein at least each lobe portion comprises a plurality of layers coupled together, and further wherein the hub portion is rotatably coupled to the frame to allow movement of the hub portion and the at least three lobe portions together about one of the first and second axes.
The robotic vehicle system of 1, wherein the at least three lobe portions lie in a plane orthogonal to one of the first and second axis when in a normal state, and further wherein at least a part of at least one of the at least three lobe portions is deflected from the plane when in a stressed state.
A method for controlling a robotic vehicle system to climb one or more steps, wherein each step of the one or more steps comprises a landing, the method comprising:
- providing a robotic vehicle system, the robotic vehicle system comprising:
- a frame, and
- at least four wheels, wherein a first pair of the at least four wheels are rotatably coupled on opposite sides of the frame along a first axis and a second pair of the at least four wheels are rotatably coupled on opposite sides of the frame along a second axis, and further wherein each wheel of the at least four wheels comprises:
- a hub portion, and
- at least three surface-engaging lobe portions spaced equidistantly about the hub portion, wherein the hub portion is rotatably coupled to the frame to allow movement of the hub portion and the at least three lobe portions together about one of the first and second axes;
- locating the robotic vehicle system proximate the one or more steps, wherein a first lobe portion of the at least three lobe portions of the first pair of wheels is in contact with a surface proximate a first step of the one or more steps;
- rotating the first pair of wheels to contact the landing of the first step with a second lobe portion of the at least three lobe portions of the first pair of wheels;
- further rotating the first pair of wheels to lift the first lobe portion of the at least three lobe portions of the first pair of wheels off of the surface;
- and
- rotating the second pair of wheels to assist in moving the robotic vehicle system up the first step.
A method for controlling a robotic vehicle system to traverse a surface, the method comprising:
- providing a robotic vehicle system, the robotic vehicle system comprising:
- a frame, and
- at least four wheels, wherein a first pair of the at least four wheels are rotatably coupled on opposite sides of the frame along a first axis and a second pair of the at least four wheels are rotatably coupled on opposite sides of the frame along a second axis, and further wherein each wheel of the at least four wheels comprises:
- a hub portion, and
- at least three surface-engaging lobe portions spaced equidistantly about the hub portion, wherein the hub portion is rotatably coupled to the frame to allow movement of the hub portion and the at least three lobe portions together about one of the first and second axes;
- locating the robotic vehicle system upon the surface;
- and
- rotating the at least four wheels to move across the surface.
Dependencies are inferred from the claim text.