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US 9,540,060 B2Granted
Omni-directional treads
AssigneeQUALCOMM Incorporated
InventorDonald Bolden Hutson
Life of this patent
Estimating the term…
Abstract
A robotic device includes multiple sprockets coupled to a tread module. The robotic device also includes multiple first drive gears coupled to a drive shaft gear of the tread module. The robotic device further includes a second drive gear coupled to a carousel gear of the tread module.
Claims13
A robotic device, the robotic device comprising:
- a tread;
- a plurality of sprockets coupled to a tread module encompassed by the tread, the tread module comprising:
- a housing coupled to the robotic device;
- a plurality of first drive gears coupled to a drive shaft gear of the tread module, the plurality of first drive gears configured to move the tread in a forward direction and/or a reverse direction by driving the plurality of sprockets via an axle;
- a second drive gear coupled to a carousel gear of the tread module;
- and
- a carousel coupled to the carousel gear, the second drive gear configured to rotate the tread in at least one orthogonal direction relative to the forward direction and the reverse direction by driving the carousel via the carousel gear.
4 more elements
A method of controlling a robotic device, the method comprising:
- controlling a first plurality of drive gears to drive a plurality of drive shafts that move a tread of the robotic device in a forward direction or a reverse direction;
- and
- controlling a second plurality of drive gears to drive a plurality of carousel gears that rotate the tread in at least one orthogonal direction relative to the forward direction and the reverse direction.
An apparatus, comprising:
- means for providing locomotion to the apparatus;
- means for engaging the means for providing locomotion, the means for engaging coupled to a tread module encompassed by the means for providing locomotion, the tread module comprising:
- first means for housing coupled to the apparatus;
- first means for driving coupled to a drive shaft gear of the tread module, the first means for driving configured to move the means for providing locomotion in a forward direction and/or a reverse direction by driving the means for engaging via an axle;
- second means for driving coupled to a carousel gear of the tread module;
- and
- second means for housing coupled to the carousel gear, the second means for driving configured to rotate the means for engaging in at least one orthogonal direction relative to the forward direction and the reverse direction by driving the second means for housing via the carousel gear.
4 more elements
Dependencies are inferred from the claim text.