公开(公告)号：US20190118390A1

公开(公告)日：2019-04-25

申请号：US16144144

申请日：2018-09-27

Applicant: Massachusetts Institute of Technology

Inventor： Benjamin Jenett ,  Daniel Cellucci ,  Kenneth Cheung

IPC: B25J15/02 ,  B25J9/00 ,  B25J9/02 ,  B25J9/10 ,  B25J11/00 ,  B25J13/00 ,  B25J15/00 ,  B25J18/00

Abstract: A class of robots specifically adapted to climb periodic lattices. These “relative robots” are designed for a specific lattice structure and use the regularity of the structure to simplify path planning, align with minimal feedback, and reduce the number of degrees of freedom (DOF) required to locomote. These robots can perform vital inspection and repair tasks within the structure that larger truss construction robots cannot perform without modifying the structure. A particular embodiment is a robot designed to traverse a cubooctahedral (CubOct) cellular solids lattice using only two motions: climbing and turning.

公开(公告)号：US11001319B2

公开(公告)日：2021-05-11

申请号：US16144144

申请日：2018-09-27

Applicant: Massachusetts Institute of Technology

Inventor： Benjamin Jenett ,  Daniel Cellucci ,  Kenneth Cheung ,  Neil Gershenfeld

IPC: B62D57/024 ,  B25J9/00 ,  B25J9/02 ,  B25J18/00 ,  B25J11/00 ,  B25J13/00 ,  B25J15/00 ,  B25J9/10 ,  B25J15/02

Abstract: A class of robots specifically adapted to climb periodic lattices. These “relative robots” are designed for a specific lattice structure and use the regularity of the structure to simplify path planning, align with minimal feedback, and reduce the number of degrees of freedom (DOF) required to locomote. These robots can perform vital inspection and repair tasks within the structure that larger truss construction robots cannot perform without modifying the structure. A particular embodiment is a robot designed to traverse a cubooctahedral (CubOct) cellular solids lattice using only two motions: climbing and turning.