Modular observation crawler and sensing instrument and method for operating same

A robotic apparatus adapted for locomotion in an enclosed space comprising:

• (a) a plurality of leveraging segments, wherein each leveraging segment includes a leveraging segment work-energy transfer device mounted thereto in operative communication with a power supply source, a plurality of radial displacement members extending radially outwardly with respect to each leveraging segment, and a mechanical linkage interconnecting the leveraging segment work-energy transfer device and each radial displacement member to translate axial motion of the leveraging segment work-energy transfer device into radial motion of each radial displacement member;
• (b) a plurality of locomotive segments, wherein each locomotive segment includes first and second locomotive segment work-energy transfer devices mounted thereto in operative communication with the power supply source, the first locomotive segment work-energy transfer device including a first displacement member and the second locomotive segment work-energy transfer device including a second displacement member disposed in opposing axial relation to the first displacement member to enable expansion and contraction of an overall length of the medial segment;
• and
• (c) a plurality of flexible couplings interconnecting the leveraging segments and the first and second displacement members of the locomotive segments.

A robotic apparatus adapted for locomotion in an enclosed space comprising:

• (a) a front segment including a front frame, a front work-energy transfer device mounted to the front frame in operative communication with a power supply source and including a front displacement member, a plurality of front leg members extending radially outwardly with respect to a central longitudinal axis of the front segment, and a front mechanical linkage interconnecting the front displacement member and each front leg member to translate axial motion of the front displacement member into radial motion of each front leg member;
• (b) a medial segment including a medial frame, a first medial work-energy transfer device mounted to the medial frame in operative communication with the power supply source and including a first medial displacement member, and a second medial work-energy transfer device mounted to the medial frame in operative communication with the power supply source and including a second medial displacement member;
• (c) a first flexible coupling interconnecting the front segment and the medial segment;
• (d) a rear segment including a rear frame, a rear work-energy transfer device mounted to the rear frame in operative communication with the power supply source and including a rear displacement member, a plurality of rear leg members extending radially outwardly with respect to a central longitudinal axis of the rear segment, and a rear mechanical linkage interconnecting the rear displacement member and each rear leg member to translate axial motion of the rear displacement member into radial motion of each rear leg member;
• and
• (e) a second flexible coupling interconnecting the medial segment and the rear segment.

A robotic apparatus adapted for locomotion in an enclosed space comprising:

• (a) a plurality of leveraging segments, wherein each leveraging segment includes a frame, a leveraging segment work-energy transfer device mounted to the frame in operative communication with a power supply source and including a leveraging segment displacement member, a plurality of leg members extending radially outwardly with respect to a central longitudinal axis of each leveraging segment, and a mechanical linkage interconnecting the leveraging segment displacement member and each leg member to translate axial motion of the leveraging segment displacement member into radial motion of each leg member;
• (b) a plurality of locomotive segments, wherein each locomotive segment includes a frame, a first locomotive segment work-energy transfer device mounted to the frame in operative communication with the power supply source and including a first locomotive segment displacement member, and a second locomotive segment work-energy transfer device mounted to the frame in operative communication with the power supply source and including a medial locomotive segment displacement member;
• and
• (c) a plurality of flexible couplings interconnecting the leveraging and locomotive segments.

A modular device adapted to enable forcible contact and stabilization of a robotic apparatus with respect to an enclosure through which the robotic apparatus crawls, the modular device comprising:

• (a) a structural frame;
• (b) a linearly actuating device mounted to the structural frame in operative communication with a power supply source and with a axially reciprocative displacement member;
• (c) a plurality of leg members extending radially outwardly with respect to a central longitudinal axis of the structural frame;
• (d) a plurality of foot members, each foot member including a frictional surface and attached to a corresponding one of the plurality of leg members;
• and
• (e) a mechanical linkage assembly interconnecting the displacement member and each leg member to translate axial motion of the displacement member into radial motion of each leg member.

A robotic apparatus adapted for locomotion in an enclosed space comprising:

• (a) a front segment including a front work-energy transfer device mounted thereto in operative communication with a power supply source, a plurality of front radial displacement members extending radially outwardly with respect to the front segment, a plurality of front gripping members, each front gripping member attached to a corresponding one of the plurality of front radial displacement members, and a front mechanical linkage interconnecting the front work-energy transfer device and each front radial displacement member to translate axial motion of the front work-energy transfer device into radial motion of each front radial displacement member;
• (b) a medial segment including first and second medial work-energy transfer devices mounted thereto in operative communication with the power supply source, the first medial work-energy transfer device including a first axial translation member and the second medial work-energy transfer device including a second axial translation member disposed in opposing axial relation to the first axial translation member to enable expansion and contraction of an overall length of the medial segment;
• (c) a first flexible coupling interconnecting the front segment and the first axial translation member;
• (d) a rear segment including a rear work-energy transfer device mounted thereto in operative communication with the power supply source, a plurality of rear radial displacement members extending radially outwardly with respect to the rear segment, a plurality of rear gripping members, each rear gripping member attached to a corresponding one of the plurality of rear radial displacement members, and a rear mechanical linkage interconnecting the rear work-energy transfer device and each rear radial displacement member to translate axial motion of the rear work-energy transfer device into radial motion of each rear radial displacement member;
• and
• (e) a second flexible coupling interconnecting the second axial translation member and the rear segment.

A robotic apparatus adapted for locomotion in an enclosed space comprising:

• (a) a plurality of leveraging segments, wherein each leveraging segment includes a leveraging segment work-energy transfer device mounted thereto in operative communication with a power supply source, a plurality of radial displacement members extending radially outwardly with respect to each leveraging segment, a plurality of gripping members, each gripping member attached to a corresponding one of the radial displacement members, and a mechanical linkage interconnecting the leveraging segment work-energy transfer device and each radial displacement member to translate axial motion of the leveraging segment work-energy transfer device into radial motion of each radial displacement member;
• (b) a plurality of locomotive segments, wherein each locomotive segment includes first and second locomotive segment work-energy transfer devices mounted thereto in operative communication with the power supply source, the first locomotive segment work-energy transfer device including a first displacement member and the second locomotive segment work-energy transfer device including a second displacement member disposed in opposing axial relation to the first displacement member to enable expansion and contraction of an overall length of the medial segment;
• and
• (c) a plurality of flexible couplings interconnecting the leveraging segments and the first and second displacement members of the locomotive segments.

A robotic apparatus adapted for locomotion in an enclosed space comprising:

• (a) a front segment including a front frame, a front work-energy transfer device mounted to the front frame in operative communication with a power supply source and including a front displacement member, a plurality of front leg members extending radially outwardly with respect to a central longitudinal axis of the front segment, a plurality of front foot members, each front foot member including a frictional surface and attached to a corresponding one of the plurality of front leg members, and a front mechanical linkage interconnecting the front displacement member and each front leg member to translate axial motion of the front displacement member into radial motion of each front leg member;
• (b) a medial segment including a medial frame, a first medial work-energy transfer device mounted to the medial frame in operative communication with the power supply source and including a first medial displacement member, and a second medial work-energy transfer device mounted to the medial frame in operative communication with the power supply source and including a second medial displacement member;
• (c) a first flexible coupling interconnecting the front segment and the medial segment;
• (d) a rear segment including a rear frame, a rear work-energy transfer device mounted to the rear frame in operative communication with the power supply source and including a rear displacement member, a plurality of rear leg members extending radially outwardly with respect to a central longitudinal axis of the rear segment, a plurality of rear foot members, each rear foot member including a frictional surface and attached to a corresponding one of the plurality of rear leg members, and a rear mechanical linkage interconnecting the rear displacement member and each rear leg member to translate axial motion of the rear displacement member into radial motion of each rear leg member;
• and
• (e) a second flexible coupling interconnecting the medial segment and the rear segment.

A robotic apparatus adapted for locomotion in an enclosed space comprising:

• (a) a plurality of leveraging segments, wherein each leveraging segment includes a frame, a leveraging segment work-energy transfer device mounted to the frame in operative communication with a power supply source and including a leveraging segment displacement member, a plurality of leg members extending radially outwardly with respect to a central longitudinal axis of each leveraging segment, a plurality of foot members, each foot member including a frictional surface and attached to a corresponding one of the plurality of leg members, and a mechanical linkage interconnecting the leveraging segment displacement member and each leg member to translate axial motion of the leveraging segment displacement member into radial motion of each leg member;
• (b) a plurality of locomotive segments, wherein each locomotive segment includes a frame, a first locomotive segment work-energy transfer device mounted to the frame in operative communication with the power supply source and including a first locomotive segment displacement member, and a second locomotive segment work-energy transfer device mounted to the frame in operative communication with the power supply source and including a medial locomotive segment displacement member;
• and
• (c) a plurality of flexible couplings interconnecting the leveraging and locomotive segments.