# US 2018/0024558 A1 · Two Wheel In-Line Robots

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- Number: US 2018/0024558 A1
- Document ID: US20180024558A1
- Status: Published application
- Kind: A1
- Application number: 15/214,258
- Filed: 2016-07-19
- Published: 2018-01-25
- Earliest claimed: 2016-07-19
- Inventors: Christopher Andrew Tacklind; Cameron Tacklind
- Web page: https://patentgrep.com/patent/US20180024558A1

## CPC

- B62K 11/007: {Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider}
- G05D 1/495: to ensure stability
- B62K: CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## 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.

## Claims

### Claim at position 1

1-19. (canceled)

### Claim 21

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.

### Claim 22 (depends on 1)

A robotic device as in claim 1 where the front wheel horizontal axis may also be driven.

### Claim 23 (depends on 1)

A robotic device as in claim 1 where the rear wheel is also steerable with a measurable angle that may be driven.

### Claim 24 (depends on 1)

A robotic device as in claim 1 which includes:
a means for squatting down to the ground.

### Claim 25 (depends on 2)

A robotic device as in claim 2 where the squatting means is a achieved by releasing the pressure in a hydraulic suspension system.

### Claim 26 (depends on 1)

(with an un-loading device) A robotic device as in claim 1 which includes a self-unloading means.

### Claim 27 (depends on 4)

A robotic device as in claim 4 where the loading or unloading device is a robotic arm.

### Claim 28 (depends on 4)

A robotic device as in claim 4 where the loading or unloading means is a conveyor belt.

### Claim 29 (depends on 4)

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.

### Claim 30 (depends on 7)

A robotic device as in claim 7 where the doors are locked and opened by remote command or entry of a combination.

### Claim 31

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.

### Claim 32 (depends on 10)

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.

### Claim 33 (depends on 11)

A robot as in claim 11 where stability is achieved by servoing the steering angle of one or both of the wheels.

### Claim 34 (depends on 11)

A robot as in claim 11 where stability is achieved by servoing the rotational position of one or both of the wheels.

### Claim 35 (depends on 11)

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.

### Claim 36 (depends on 14)

A robot as in claim 14 where stability is controlled by rotation of the steering axis of one or both of the wheels.

### Claim 37

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;