Non-backdrivable passive balancing systems for single-axle dynamically-balanced robotic devices

A dynamically balanced robotic device comprising:

• one or more wheels rotatably coupled to a single axle;
• a drive module coupled to the one or more wheels, the drive module directing movement of the one or more wheels;
• a controller module communicatively coupled to the drive module, the controller module comprising a balance control sensor;
• and
• a non-backdrivable passive balancing system comprising a body and an actuator, the actuator communicatively coupled to the controller module.

A single-axle dynamically balanced robotic device comprising:

• one or more wheels rotatably coupled to a single axle;
• a drive module coupled to the one or more wheels, the drive module directing movement of the one or more wheels;
• a controller module communicatively coupled to the drive module, the controller module comprising a balance control sensor;
• and
• a non-backdrivable passive balancing system comprising a body and an actuator, the actuator communicatively coupled to the controller module, wherein:
• when the single-axle dynamically balanced robotic device is in a stationary position, the controller module transmits an engagement signal to the actuator to:
• move the body to an engaged position to contact a ground surface, and subsequently to transmit a deenergize signal to a dynamic balancing system to deenergize the one or more motors, and
• when the single-axle dynamically balanced robotic device is in a drivable position, the controller module transmits a disengagement signal to:
• move the body to a disengaged position not in contact with the ground surface.