Two Wheel In-Line Robots
OwnerChristopher Andrew Tacklind, Cameron Tacklindinventors
Life of this patent
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Abstract
A novel robotic platform is presented with the characteristics of only two wheels establishing a stable and unstable axis. Stability of the unstable axis is provided by controlling the steering while driving in the direction of the stable axis. Stability while stopped is provided by setting one or both of the wheels oblique to the stable axis and controlling the traction angle of the wheels. High control authority is thus provided while standing and while underway without sensitivity to the driving surface.
Claims18
1-19. (canceled)
A robotic device comprising:
- a body to which is mounted;
- a front wheel with a substantially horizontal axis of rotation and a substantially vertical steering axis who's angle may be sensed and which may be driven;
- a rear wheel with a substantially horizontal axis of rotation which may be driven;
- an energy source and;
- a control module which stabilizes the roll angle while in forward motion and while stopped.
A robotic device as in claim 1 where the front wheel horizontal axis may also be driven.
A robotic device as in claim 1 where the rear wheel is also steerable with a measurable angle that may be driven.
A robotic device as in claim 1 which includes:
- a means for squatting down to the ground.
A robotic device as in claim 2 where the squatting means is a achieved by releasing the pressure in a hydraulic suspension system.
(with an un-loading device) A robotic device as in claim 1 which includes a self-unloading means.
A robotic device as in claim 4 where the loading or unloading device is a robotic arm.
A robotic device as in claim 4 where the loading or unloading means is a conveyor belt.
A robotic device as in claim 4 where the loading or unloading means is a door or set of doors where the doors are individually or collectively opened for package retrieval.
A robotic device as in claim 7 where the doors are locked and opened by remote command or entry of a combination.
A terrestrial robot with one stable axis and a substantially orthogonal axis that is unstable with:
- a means for stabilizing the unstable axis while in forward or reverse motion along the stable axis,
- a means for stabilizing the unstable axis while stopped.
A robot as in claim 10 where the axis of stability is defined by two wheels and the unstable axis is substantially perpendicular to the axis of the two wheels.
A robot as in claim 11 where stability is achieved by servoing the steering angle of one or both of the wheels.
A robot as in claim 11 where stability is achieved by servoing the rotational position of one or both of the wheels.
A robot as in claim 11 where the axis of the steering rotation of the wheels is non coincident with the contact point of the wheel or wheels.
A robot as in claim 14 where stability is controlled by rotation of the steering axis of one or both of the wheels.
A method for controlling a two in-line wheeled robot with:
- a servo loop controlling the steering angle of one or both of the wheels;
- and a servo loop controlling the traction angle of one or both of the wheels;
Dependencies are inferred from the claim text.