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US 2014/0195094 A1Published application
Microcrawler and Conveyor Robots, Controllers, Systems, and Methods
AssigneeBoard of Regents, The University of Texas System
InventorsDan O. Popa, Rakesh Murthy, Aditya N. Das
Life of this patent
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Abstract
Robots, controllers, systems, and methods for microcrawler robots (e.g., with stick-slip gaited locomotion and/or with power multiplexing between actuators).
Claims24
A robot comprising:
- a body;
- a plurality of actuators coupled to the body, the plurality of actuators each actuatable in a single degree-of-freedom (DOF);
- a plurality of legs each coupled in fixed relation to at least a portion of a different actuator and extending from that actuator at a nonparallel angle relative to the DOF of that actuator;
- where the robot is configured such that if the robot is disposed with the legs extending upward from the body and a payload is supported by the legs above the body, the actuators can move the legs in a sequence to move the payload laterally.
1 more element
(canceled)
(canceled)
A system comprising:
- a computer having a trajectory planner configured to generate instructions for a robot to travel along a planned trajectory, the robot comprising:
- a body;
- a plurality of actuators coupled to the body, the plurality of actuators each actuatable in a single degree-of-freedom (DOF);
- and
- a plurality of legs each coupled to a different actuator and extending from that actuator at a nonparallel angle relative to the DOF of that actuator;
- where the robot is configured such that if the robot is disposed with the legs extending upward from the body and a payload is supported by the legs above the body, the actuators can move the legs in a sequence to move the payload laterally;
- and
- an image sensor coupled to the computer and configured to provide image data having a resolution to the computer;
- where the computer is configured to generate instructions for the robot to follow the planned trajectory based upon a position of the robot determined from the image data.
6 more elements
Dependencies are inferred from the claim text.