Mobile human interface robot

US8918213B2 · kind B2 · utility

Assignee

• iRobot Corporation · US

Inventors

• Michael Rosenstein · Sunnyvale, US
• Chikyung Won · Tewksbury, US
• Geoffrey B. Lansberry · Cambridge, US
• Steven V. Shamlian · Watertown, US
• Michael J. Halloran · Bedford, US
• Mark Chiappetta · Chelmsford, US
• Thomas P. Allen · Beaverton, US

Key dates

• Filing date: Feb 22, 2011
• Grant date: Dec 23, 2014
• Expiry date: Feb 8, 2033

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/01
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A mobile human interface robot that includes a base defining a vertical center axis and a forward drive direction and a holonomic drive system supported by the base. The drive system has first, second, and third driven drive wheels, each trilaterally spaced about the vertical center axis and having a drive direction perpendicular to a radial axis with respect to the vertical center axis. The robot further includes a controller in communication with the holonomic drive system, a torso supported above the base, and a touch sensor system in communication with the controller. The touch sensor system is responsive to human contact. The controller issues drive commands to the holonomic drive system based on a touch signal received from the touch sensor system.