Reconfigurable balancing robot and method for dynamically transitioning between statically stable mode and dynamically balanced mode
US7798264B2 · kind B2 · utility
Inventors
Key dates
| Filing date | Nov 2, 2006 |
| Grant date | Sep 21, 2010 |
| Priority date | — |
| Expiry date | Jan 23, 2029 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T74/20329
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An apparatus and a method for robotic control that allows an unbalanced pendulum robot to raise its Center of Mass and balance on two motorized wheels. The robot includes a pair of arms that are connected to the upper body of the robot through motorized joints. The method consists of a series of movements employing the arms of the robot to raise the robot to the upright position. The method comprises a control loop in which the motorized drives are included for dynamic balance of the robot and the control of the arm apparatus. The robot is first configured as a low Center of Mass four-wheeled vehicle, then its Center of Mass is raised using a combination of its wheels and the joint located at the attachment point of the arm apparatus and the robot body, between the rear and front wheels; the method then applies accelerations to the rear wheels to dynamically pivot and further raise the Center of Mass up and over the main drive wheels bringing the robot into a balancing pendulum configuration.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.