公开(公告)号：US11780580B2

公开(公告)日：2023-10-10

申请号：US17067397

申请日：2020-10-09

Applicant: California Institute of Technology

Inventor： Jacob S. Izraelevitz ,  Brett A. Kennedy ,  Amanda R. Bouman ,  Daniel Pastor Moreno ,  Matthew James Lindsay Anderson ,  Paul M. Nadan ,  Joel W. Burdick

IPC: B64C1/30 ,  B64U10/13 ,  B64U30/12 ,  B64U30/20 ,  B64U70/00 ,  B64C39/02 ,  B64U50/19

CPC classification number: B64C39/024 ,  B64C1/30 ,  B64U10/13 ,  B64U30/12 ,  B64U30/20 ,  B64U50/19 ,  B64U70/00

Abstract: A ballistically launched foldable multirotor vehicle has a central body frame. A battery is located in an upper vertical location of the vehicle and positions a center of mass of the vehicle to provide aerodynamic stability during a launch. Fins are attached to the central body frame such that aerodynamic forces on the fins shift an aerodynamic center (AC) of the vehicle downward below the center of mass of the vehicle. Three or more foldable arms are attached to the central body frame via a hinge and exist in two states—a closed state where the foldable arms are parallel to a central body axis, and an open state (after launch) where the foldable arms extend radially outward perpendicular to the central body axis. Rotors mounted to each foldable arm are controlled by a motor to enable flight.

公开(公告)号：US09981389B2

公开(公告)日：2018-05-29

申请号：US14637278

申请日：2015-03-03

Applicant: California Institute of Technology

Inventor： Brett A. Kennedy ,  Matthew A. Frost ,  John M. Leichty ,  Michael J. Hagman ,  James W. Borders ,  Jamie S. Piacentine ,  Charles F. Bergh ,  Allen R. Sirota ,  Kalind C. Carpenter

IPC: B25J9/06 ,  B25J15/08 ,  B62D57/032

CPC classification number: B25J15/08 ,  B25J9/06 ,  B62D57/032 ,  Y10S901/28 ,  Y10S901/31

Abstract: Manipulators in accordance with various embodiments of the invention can be utilized to implement statically stable robots capable of both dexterous manipulation and versatile mobility. Manipulators in accordance with one embodiment of the invention include: an azimuth actuator; three elbow joints that each include two actuators that are offset to allow greater than 360 degree rotation of each joint; a first connecting structure that connects the azimuth actuator and a first of the three elbow joints; a second connecting structure that connects the first elbow joint and a second of the three elbow joints; a third connecting structure that connects the second elbow joint to a third of the three elbow joints; and an end-effector interface connected to the third of the three elbow joints.

公开(公告)号：US20160023352A1

公开(公告)日：2016-01-28

申请号：US14810349

申请日：2015-07-27

Applicant: California Institute of Technology

Inventor： Brett A. Kennedy ,  Paul Hebert ,  Jeremy C. Ma ,  James W. Borders ,  Charles F. Bergh ,  Nicolas H. Hudson

IPC: B25J9/06

CPC classification number: B25J9/06 ,  B25J5/005 ,  B25J9/0087 ,  B25J9/1666 ,  B25J9/1682 ,  B25J15/0009 ,  B25J19/021 ,  G05B2219/40254 ,  Y10S901/09 ,  Y10S901/28 ,  Y10S901/30 ,  Y10S901/47

Abstract: Robotics platforms in accordance with various embodiments of the invention can be utilized to implement highly dexterous robots capable of whole body motion. Robotics platforms in accordance with one embodiment of the invention include: a memory containing a whole body motion application; a spine, where the spine has seven degrees of freedom and comprises a spine actuator and three spine elbow joints that each include two spine joint actuators; at least one limb, where the at least one limb comprises a limb actuator and three limb elbow joints that each include two limb joint actuators; a tracked base; a connecting structure that connects the at least one limb to the spine; a second connecting structure that connects the spine to the tracked base; wherein the processor is configured by the whole body motion application to move the at least one limb and the spine to perform whole body motion.

Abstract translation: 根据本发明的各种实施例的机器人平台可以用于实现能够进行全身运动的高度灵巧的机器人。 根据本发明的一个实施例的机器人平台包括：包含全身运动应用的存储器; 脊柱，其脊柱具有七个自由度并且包括脊柱致动器和三个脊柱肘关节，每个包括两个脊柱关节致动器; 至少一个肢体，其中所述至少一个肢体包括肢体致动器和三个肢体肘关节，每个肢体肘关节包括两个肢体关节致动器; 被追踪的基地; 将所述至少一个肢体连接到所述脊柱的连接结构; 将脊柱连接到被跟踪基座的第二连接结构; 其中所述处理器由所述全身运动应用构成以移动所述至少一个肢体和所述脊柱以执行全身运动。

公开(公告)号：US20210107645A1

公开(公告)日：2021-04-15

申请号：US17067397

申请日：2020-10-09

Applicant: California Institute of Technology

Inventor： Jacob S. Izraelevitz ,  Brett A. Kennedy ,  Amanda R. Bouman ,  Daniel Pastor Moreno ,  Matthew James Lindsay Anderson ,  Paul M. Nadan ,  Joel W. Burdick

IPC: B64C39/02 ,  B64D27/24 ,  B64C5/06 ,  B64C1/30 ,  B64C27/32 ,  B64C1/06 ,  B64C25/32 ,  B64F1/04 ,  B64D47/08

Abstract: A ballistically launched foldable multirotor vehicle has a central body frame. A battery is located in an upper vertical location of the vehicle and positions a center of mass of the vehicle to provide aerodynamic stability during a launch. Fins are attached to the central body frame such that aerodynamic forces on the fins shift an aerodynamic center (AC) of the vehicle downward below the center of mass of the vehicle. Three or more foldable arms are attached to the central body frame via a hinge and exist in two states—a closed state where the foldable arms are parallel to a central body axis, and an open state (after launch) where the foldable arms extend radially outward perpendicular to the central body axis. Rotors mounted to each foldable arm are controlled by a motor to enable flight.

公开(公告)号：US09862090B2

公开(公告)日：2018-01-09

申请号：US14810349

申请日：2015-07-27

Applicant: California Institute of Technology

Inventor： Brett A. Kennedy ,  Paul Hebert ,  Jeremy C. Ma ,  James W. Borders ,  Charles F. Bergh ,  Nicolas H. Hudson

IPC: G05B15/00 ,  G05B19/00 ,  B25J9/06 ,  B25J5/00 ,  B25J9/00 ,  B25J15/00 ,  B25J19/02

CPC classification number: B25J9/06 ,  B25J5/005 ,  B25J9/0087 ,  B25J9/1666 ,  B25J9/1682 ,  B25J15/0009 ,  B25J19/021 ,  G05B2219/40254 ,  Y10S901/09 ,  Y10S901/28 ,  Y10S901/30 ,  Y10S901/47

Abstract: Robotics platforms in accordance with various embodiments of the invention can be utilized to implement highly dexterous robots capable of whole body motion. Robotics platforms in accordance with one embodiment of the invention include: a memory containing a whole body motion application; a spine, where the spine has seven degrees of freedom and comprises a spine actuator and three spine elbow joints that each include two spine joint actuators; at least one limb, where the at least one limb comprises a limb actuator and three limb elbow joints that each include two limb joint actuators; a tracked base; a connecting structure that connects the at least one limb to the spine; a second connecting structure that connects the spine to the tracked base; wherein the processor is configured by the whole body motion application to move the at least one limb and the spine to perform whole body motion.

公开(公告)号：US09517610B2

公开(公告)日：2016-12-13

申请号：US14177973

申请日：2014-02-11

Applicant: CALIFORNIA INSTITUTE OF TECHNOLOGY ,  THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY

Inventor： Aaron Parness ,  Brett A. Kennedy ,  Matthew C Heverly ,  Mark R. Cutkosky ,  Elliot Wright Hawkes

IPC: B32B7/12 ,  B25J15/00

CPC classification number: B32B7/12 ,  B25J15/0052 ,  B25J15/008 ,  Y10T428/21 ,  Y10T428/24025

Abstract: Novel gripping structures based on van der Waals adhesive forces are disclosed. Pads covered with fibers can be activated in pairs by opposite forces, thereby enabling control of the adhesive force in an ON or OFF state. Pads can be used in groups, each comprising a group of opposite pads. The adhesive structures enable anchoring forces that can resist adverse forces from different directions. The adhesive structures can be used to enable the operation of robots on surfaces of space vehicles.

Abstract translation: 公开了基于范德华力粘合力的新型夹持结构。 用纤维覆盖的垫可以通过相反的力成对地激活，从而能够在接通或断开状态下控制粘合力。 垫可以分组使用，每个包括一组相对的垫。 粘合剂结构使得能够抵抗来自不同方向的不利力的锚定力。 粘合剂结构可用于使机器人在空间车辆表面上的操作。

公开(公告)号：US20160008988A1

公开(公告)日：2016-01-14

申请号：US14637278

申请日：2015-03-03

Applicant: California Institute of Technology

Inventor： Brett A. Kennedy ,  Matthew A. Frost ,  John M. Leichty ,  Michael J. Hagman ,  James W. Borders ,  Jamie S. Piacentine ,  Charles F. Bergh ,  Allen R. Sirota ,  Kalind C. Carpenter

IPC: B25J17/00 ,  B25J15/08 ,  B25J18/00

CPC classification number: B25J15/08 ,  B25J9/06 ,  B62D57/032 ,  Y10S901/28 ,  Y10S901/31

Abstract: Manipulators in accordance with various embodiments of the invention can be utilized to implement statically stable robots capable of both dexterous manipulation and versatile mobility. Manipulators in accordance with one embodiment of the invention include: an azimuth actuator; three elbow joints that each include two actuators that are offset to allow greater than 360 degree rotation of each joint; a first connecting structure that connects the azimuth actuator and a first of the three elbow joints; a second connecting structure that connects the first elbow joint and a second of the three elbow joints; a third connecting structure that connects the second elbow joint to a third of the three elbow joints; and an end-effector interface connected to the third of the three elbow joints.

Abstract translation: 可以利用根据本发明的各种实施例的操纵器来实现能够进行灵巧操纵和通用移动性的静态稳定的机器人。 根据本发明的一个实施例的操纵器包括：方位致动器; 三个肘关节各自包括两个致动器，其被偏移以允许每个关节的大于360度的旋转; 连接方位致动器和三个肘关节中的第一个的第一连接结构; 连接第一肘关节和三个肘关节中的第二肘关节的第二连接结构; 将第二肘关节连接到三个肘关节中的三分之一的第三连接结构; 以及连接到三个肘关节中的第三个的末端效应器接口。