Two-wheel in-line robots
US12429871B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 13, 2022 |
| Grant date | Sep 30, 2025 |
| Priority date | — |
| Expiry date | Dec 20, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/495
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Techniques are disclosed for exploiting modern controls, sensors and actuators to realize a novel family of in-line two-wheeled vehicles (Twills) as robots. Each robot has a front-wheel with a substantially horizontal axis of rotation and a substantially vertical steering axis. The front-wheel with its substantially vertical steering axis has a steering-angle that can be sensed by one or more sensors. There is a rear-wheel with a substantially horizontal axis of rotation. A control module stabilizes the roll angle when the robot is in a forward motion as well as when it is substantially or fully stopped. One or both the wheels of the robot may be endowed by a steering motor for steering and a traction motor for providing traction/torque to the wheel.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.