Terrain compliant robot locomotion mechanism
AssigneeDubai Future Foundation
InventorsLayth Mahdi, Tanzim Ahmed
Life of this patent
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Abstract
A mobile robot with a locomotion mechanism is described which is adapted to traverse vertical obstacles. The mobile robot includes a frame structure and a wheel assembly including at least two back wheels, at least two middle wheels, and at least two front wheels. The mobile robot further includes a first and a second front rocker arms arranged on opposing sides of the frame structure each coupled to the frame structure. Each of the first and second front rocker arms is pivotable around a lever bearing located between respective axial centers of rotation of wheel pairs.
Claims14
A mobile robot adapted to traverse at least one vertical obstacle comprising:
- a frame structure having a front section, a middle section, and a rear section;
- at least two back wheels positioned in the rear section of the frame structure,
- at least two middle wheels positioned in the middle section of the frame structure,
- at least two front wheels positioned in the front section of the frame structure;
- and
- a first and a second front rocking arms arranged on opposing sides of the frame structure each pivotably coupled to the frame structure, wherein the first and second front rocking arms each interconnects one middle wheel and one front wheel, forming a first wheel pair and a second wheel pair,
- wherein each of the first and second front rocking arms is pivotable around respective axial centers of rotation of the first and second wheel pairs.
A method comprising:
- providing a mobile robot comprising a frame structure and a wheel assembly including at least two back wheels, at least two middle wheels, and at least two front wheels;
- connecting a first middle wheel and a first front wheel by a first front rocking arm, forming a first wheel pair;
- connecting a second middle wheel and a second front wheel by a second front rocking arm, forming a second wheel pair;
- arranging the first and the second front rocking arms on opposing sides of the frame structure and pivotably coupling each of the first and the second front rocking arms to the frame structure, and
- when traversing a vertical obstacle pivoting the first and second front rocking arms around respective axial centers of rotation of the first and second wheel pairs.
Dependencies are inferred from the claim text.