公开(公告)号：US20240317336A1

公开(公告)日：2024-09-26

申请号：US18606771

申请日：2024-03-15

申请人： Northeastern University

发明人： Alireza Ramezani ,  Matthew Schroeter ,  Ian McCarthy ,  Adarsh Salagame

IPC分类号： B62D57/02 ,  B64G1/00

CPC分类号： B62D57/02 ,  B64G1/00

摘要： A robot comprises a body comprising a scalable joint module having a housing including an actuator within the housing powered by a voltage regulator on the housing and defining a female connector cavity of the housing; a first plurality of axial thrust roller bearings on the housing and a second plurality of axial thrust roller bearings on an opposite side of the housing, wherein each of the first and second plurality of axial thrust roller bearings are sandwiched between two washers; a male connector opposite from the female connector cavity; a head module coupled to the body, containing an onboard computing system controlling the movement of the lunar exploration robot, and an actuated latching mechanism; and a tail module coupled to the body, wherein the tail module defines a cavity configured for the actuated latching mechanism of the head module to enter, to thereby couple the head and tail modules.

公开(公告)号：US20230341865A1

公开(公告)日：2023-10-26

申请号：US18341991

申请日：2023-06-27

申请人： Gecko Robotics, Inc.

发明人： Mark Loosararian ,  Joshua Moore ,  Yizhu Gu ,  Kevin Low ,  Edward Bryner ,  Logan MacKenzie ,  Ian Miller ,  Alvin Chou ,  Todd Joslin

IPC分类号： G05D1/02 ,  G01N29/00 ,  G01N29/22 ,  G01N29/265 ,  G01N29/28 ,  B62D57/02 ,  G05B19/00 ,  G01B17/02 ,  B25J5/00 ,  B60B19/00 ,  G01B7/06 ,  B25J9/00 ,  B25J9/10 ,  B25J9/16 ,  B25J13/08 ,  B25J19/00 ,  B25J19/02 ,  B60G17/015 ,  B60G17/02 ,  B60G21/00 ,  B62D37/04 ,  B62D57/024 ,  G01B11/06 ,  G01B11/24 ,  G01B11/30 ,  G01B17/06 ,  G01B17/08 ,  G01J3/50 ,  G01K13/00 ,  G05D1/00

CPC分类号： G05D1/0227 ,  G01N29/00 ,  G01N29/225 ,  G01N29/265 ,  G01N29/28 ,  B62D57/02 ,  G05B19/00 ,  G01B17/02 ,  G01B17/025 ,  B25J5/007 ,  B60B19/006 ,  G01B7/105 ,  B25J9/0009 ,  B25J9/0015 ,  B25J9/102 ,  B25J9/1602 ,  B25J9/1617 ,  B25J9/162 ,  B25J9/1633 ,  B25J9/1664 ,  B25J9/1666 ,  B25J9/1669 ,  B25J9/1679 ,  B25J13/088 ,  B25J19/0029 ,  B25J19/02 ,  B60G17/015 ,  B60G17/02 ,  B60G21/002 ,  B60G21/007 ,  B62D37/04 ,  B62D57/024 ,  G01B11/0616 ,  G01B11/24 ,  G01B11/303 ,  G01B17/06 ,  G01B17/08 ,  G01J3/50 ,  G01K13/00 ,  G05D1/0016 ,  G05D1/0094 ,  B25J9/1697 ,  G05D1/0088 ,  G05D1/0246 ,  G05D1/0272 ,  G05D1/0274 ,  G01N2291/02854 ,  G01N2291/106 ,  G01N2291/0258 ,  G01N2291/2636 ,  G01N2291/2634 ,  G01N2291/051 ,  G01N2291/0289 ,  G01N2291/011 ,  G01N29/07

摘要： Systems, methods, and apparatus for acoustic inspection of a surface are described. An example system may include an inspection robot structured to traverse an inspection surface in a direction of travel. The inspection robot may include a payload having a plurality of arms, connected to the inspection robot, to rotate around respective ones of a plurality of axes while the inspection robot traverses the inspection surface, where each of the plurality of axes is in the direction of travel. A plurality of sleds may be connected to the plurality of arms, and a plurality of inspection sensors connected to the plurality of sleds. The plurality of inspection sensors may be spaced apart from each other at adjustable positions to inspect the inspection surface at an adjustable resolution.

公开(公告)号：US11795900B2

公开(公告)日：2023-10-24

申请号：US17530190

申请日：2021-11-18

申请人： Pliant Energy Systems LLC

发明人： Benjamin Pietro Filardo ,  Daniel S. Zimmerman ,  Michael I. Weaker

IPC分类号： B62D57/02 ,  F03B13/00 ,  B60L50/60 ,  B60F3/00 ,  B63G8/08 ,  A63B35/00 ,  B64B1/00

CPC分类号： F03B13/00 ,  A63B35/00 ,  B60F3/0007 ,  B60L50/60 ,  B62D57/02 ,  B63G8/08 ,  B64B1/00

摘要： The VEHICLE WITH TRAVELING WAVE THRUST MODULE APPARATUSES, METHODS AND SYSTEMS include force or forces applied to an arc-like flexible sheet-like material to create a deformed crenated strip fin with strained-deformations. The strained-deformations take on a sinusoid-like form that express the internal energy state of the flexible sheet-like material after it has been configured into a crenated strip fin. After being incorporated into a mechanism with couplings that prevent the crenated strip fin from returning to its un-strained state, the strained-deformations persist. Actuators may be used to sequentially rotate vertebrae attached to the fins causing the travel of sinusoid-like deformations along the fins. The fin, fin actuator or actuators, power source and central controller may be incorporated into a thrust module. Two thrust modules coupled to a central body via roll actuators and flexible coupling members may form a vehicle with exceptional maneuverability.

公开(公告)号：US20230333566A1

公开(公告)日：2023-10-19

申请号：US18303419

申请日：2023-04-19

申请人： Gecko Robotics, Inc.

发明人： Mark Loosararian ,  Joshua Moore ,  Yizhu Gu ,  Kevin Low ,  Edward Bryner ,  Logan Mackenzie ,  Ian Miller ,  Alvin Chou ,  Todd Joslin

IPC分类号： G05D1/02 ,  G01N29/00 ,  G01N29/22 ,  G01N29/265 ,  G01N29/28 ,  B62D57/02 ,  G05B19/00 ,  G01B17/02 ,  B25J5/00 ,  B60B19/00 ,  G01B7/06 ,  B25J9/00 ,  B25J9/10 ,  B25J9/16 ,  B25J13/08 ,  B25J19/00 ,  B25J19/02 ,  B60G17/015 ,  B60G17/02 ,  B60G21/00 ,  B62D37/04 ,  B62D57/024 ,  G01B11/06 ,  G01B11/24 ,  G01B11/30 ,  G01B17/06 ,  G01B17/08 ,  G01J3/50 ,  G01K13/00 ,  G05D1/00

CPC分类号： G05D1/0227 ,  G01N29/00 ,  G01N29/225 ,  G01N29/265 ,  G01N29/28 ,  B62D57/02 ,  G05B19/00 ,  G01B17/02 ,  G01B17/025 ,  B25J5/007 ,  B60B19/006 ,  G01B7/105 ,  B25J9/0009 ,  B25J9/0015 ,  B25J9/102 ,  B25J9/1602 ,  B25J9/1617 ,  B25J9/162 ,  B25J9/1633 ,  B25J9/1664 ,  B25J9/1666 ,  B25J9/1669 ,  B25J9/1679 ,  B25J13/088 ,  B25J19/0029 ,  B25J19/02 ,  B60G17/015 ,  B60G17/02 ,  B60G21/002 ,  B60G21/007 ,  B62D37/04 ,  B62D57/024 ,  G01B11/0616 ,  G01B11/24 ,  G01B11/303 ,  G01B17/06 ,  G01B17/08 ,  G01J3/50 ,  G01K13/00 ,  G05D1/0016 ,  G05D1/0094 ,  B25J9/1697 ,  G05D1/0088 ,  G05D1/0246 ,  G05D1/0272 ,  G05D1/0274 ,  G01N2291/02854 ,  G01N2291/106 ,  G01N2291/0258 ,  G01N2291/2636 ,  G01N2291/2634 ,  G01N2291/051 ,  G01N2291/0289 ,  G01N2291/011 ,  G01N29/07

摘要： A system including an inspection robot having a plurality of sensors, a further sensor, and a controller. The controller having circuitry to receive inspection data with a first resolution from the plurality of sensors, determine a characteristic on the inspection surface based on the inspection data, and provide an inspection operation adjustment in response to the characteristic, wherein the inspection operation adjustment includes a change from the first resolution to a second resolution. The change from the first resolution to the second resolution includes enabling the further sensor where the further sensor is at least one of: horizontally distributed with or vertically displaced from the plurality of sensors relative to a travel path of the plurality of sensors, and at least one of: offset in alignment from the travel path of the plurality of sensors, or operated out of phase with the plurality of sensors.

公开(公告)号：US11740635B2

公开(公告)日：2023-08-29

申请号：US15990046

申请日：2018-05-25

申请人： Gecko Robotics, Inc.

发明人： Mark Loosararian ,  Joshua Moore ,  Yizhu Gu ,  Kevin Low ,  Edward Bryner ,  Logan MacKenzie ,  Ian Miller ,  Alvin Chou ,  Todd Joslin

IPC分类号： G01N29/00 ,  G01N29/22 ,  G01N29/265 ,  G01N29/28 ,  B25J9/00 ,  B25J9/16 ,  B25J19/02 ,  G01B17/06 ,  G01N29/04 ,  G05D1/02 ,  B62D57/02 ,  G05B19/00 ,  G01B17/02 ,  B25J5/00 ,  B60B19/00 ,  G01B7/06 ,  B25J9/10 ,  B25J13/08 ,  B25J19/00 ,  B60G17/015 ,  B60G17/02 ,  B60G21/00 ,  B62D37/04 ,  B62D57/024 ,  G01B11/06 ,  G01B11/24 ,  G01B11/30 ,  G01B17/08 ,  G01J3/50 ,  G01K13/00 ,  G05D1/00 ,  G01N29/07 ,  G01M3/04 ,  G01N21/88 ,  G01N27/82 ,  G05B15/02

CPC分类号： G05D1/0227 ,  B25J5/007 ,  B25J9/0009 ,  B25J9/0015 ,  B25J9/102 ,  B25J9/162 ,  B25J9/1602 ,  B25J9/1617 ,  B25J9/1633 ,  B25J9/1664 ,  B25J9/1666 ,  B25J9/1669 ,  B25J9/1679 ,  B25J9/1697 ,  B25J13/088 ,  B25J19/0029 ,  B25J19/02 ,  B60B19/006 ,  B60G17/015 ,  B60G17/02 ,  B60G21/002 ,  B60G21/007 ,  B62D37/04 ,  B62D57/02 ,  B62D57/024 ,  G01B7/105 ,  G01B11/0616 ,  G01B11/24 ,  G01B11/303 ,  G01B17/02 ,  G01B17/025 ,  G01B17/06 ,  G01B17/08 ,  G01J3/50 ,  G01K13/00 ,  G01N29/00 ,  G01N29/225 ,  G01N29/265 ,  G01N29/28 ,  G05B19/00 ,  G05D1/0016 ,  G05D1/0088 ,  G05D1/0094 ,  G05D1/0246 ,  G05D1/0272 ,  G05D1/0274 ,  G01M3/04 ,  G01N21/88 ,  G01N27/82 ,  G01N29/04 ,  G01N29/07 ,  G01N2291/011 ,  G01N2291/0231 ,  G01N2291/0258 ,  G01N2291/0289 ,  G01N2291/02854 ,  G01N2291/044 ,  G01N2291/051 ,  G01N2291/106 ,  G01N2291/2634 ,  G01N2291/2636 ,  G05B15/02 ,  G05B2219/45066 ,  G05D2201/0207

摘要： A system includes an inspection robot comprising a plurality of sensor sleds; a plurality of ultra-sonic (UT) sensors; a couplant chamber mounted to each of the plurality of sleds, each couplant chamber comprising: a cone, the cone comprising a cone tip portion at an inspection surface end of the cone; a sensor mounting end opposite the cone tip portion; a couplant entry fluidly coupled to the cone at a position between the cone tip portion and the sensor mounting end; and wherein each of the UT sensors is mounted to the sensor mounting end of one of the couplant chambers.

公开(公告)号：US20230264368A1

公开(公告)日：2023-08-24

申请号：US17992750

申请日：2022-11-22

申请人： ReconRobotics, Inc.

发明人： Alex J. Kossett

IPC分类号： B25J13/08 ,  B25J19/00 ,  B60K1/04 ,  B25J5/00 ,  B62D57/02 ,  F41H7/00 ,  B60K17/04 ,  B60K7/00 ,  B60K17/12

CPC分类号： B25J13/085 ,  B25J19/0016 ,  B60K1/04 ,  B25J5/007 ,  B62D57/02 ,  F41H7/005 ,  B60K17/043 ,  B60K7/0007 ,  B60K17/12 ,  B25J19/023

摘要： A two wheeled throwable robot comprises an elongate chassis with two ends, a motor at each end, drive wheels connected to the motors, and a tail extending from the elongate chassis. The throwable robot includes a pair of torque limiting mechanisms, each torque limiting mechanism being operatively coupled between a motor and a drive wheel. Each torque limiting mechanism comprises a drive flange portion, a driven flange portion and a plurality of rollers. A spring element provides a ring force that biases the rollers toward the driven flange portion.

公开(公告)号：US11673464B2

公开(公告)日：2023-06-13

申请号：US16902929

申请日：2020-06-16

申请人： ReconRobotics, Inc.

发明人： Matthew M. Sellner ,  Alex J. Kossett ,  Jade Moreau ,  Andrew Drenner ,  Steve Gigi

IPC分类号： B60K1/04 ,  B62D61/00 ,  B62D57/00 ,  B60K17/04 ,  B60K7/00 ,  B62D57/02 ,  B60K1/02

CPC分类号： B60K1/04 ,  B60K1/02 ,  B60K7/0007 ,  B60K17/043 ,  B62D57/00 ,  B62D57/02 ,  B62D57/022 ,  B62D61/00 ,  B60K2007/0046 ,  B60K2007/0061

摘要： A two wheeled throwable robot comprises an elongate chassis with two ends, a motor at each end, drive wheels connected to the motors, and a tail extending from the elongate chassis. A rear portion having a deep recess securing the pair of motors with brackets, and batteries with brackets. The forward part having a shallow recess with a printed circuit board secured therein having control circuitry. The wheels are less than six inches in diameter and the robot weighs less than five pounds.

公开(公告)号：US11669100B2

公开(公告)日：2023-06-06

申请号：US15997545

申请日：2018-06-04

申请人： Gecko Robotics, Inc.

发明人： Mark Loosararian ,  Joshua Moore ,  Yizhu Gu ,  Kevin Low ,  Edward Bryner ,  Logan MacKenzie ,  Ian Miller ,  Alvin Chou ,  Todd Joslin

IPC分类号： G05D1/02 ,  G01N29/00 ,  G01N29/22 ,  G01N29/265 ,  G01N29/28 ,  B62D57/02 ,  G05B19/00 ,  G01B17/02 ,  B25J5/00 ,  B60B19/00 ,  G01B7/06 ,  B25J9/00 ,  B25J9/10 ,  B25J9/16 ,  B25J13/08 ,  B25J19/00 ,  B25J19/02 ,  B60G17/015 ,  B60G17/02 ,  B60G21/00 ,  B62D37/04 ,  B62D57/024 ,  G01B11/06 ,  G01B11/24 ,  G01B11/30 ,  G01B17/06 ,  G01B17/08 ,  G01J3/50 ,  G01K13/00 ,  G05D1/00 ,  G01N29/07 ,  G01M3/04 ,  G01N21/88 ,  G01N27/82 ,  G01N29/04 ,  G05B15/02

CPC分类号： G05D1/0227 ,  B25J5/007 ,  B25J9/0009 ,  B25J9/0015 ,  B25J9/102 ,  B25J9/162 ,  B25J9/1602 ,  B25J9/1617 ,  B25J9/1633 ,  B25J9/1664 ,  B25J9/1666 ,  B25J9/1669 ,  B25J9/1679 ,  B25J9/1697 ,  B25J13/088 ,  B25J19/0029 ,  B25J19/02 ,  B60B19/006 ,  B60G17/015 ,  B60G17/02 ,  B60G21/002 ,  B60G21/007 ,  B62D37/04 ,  B62D57/02 ,  B62D57/024 ,  G01B7/105 ,  G01B11/0616 ,  G01B11/24 ,  G01B11/303 ,  G01B17/02 ,  G01B17/025 ,  G01B17/06 ,  G01B17/08 ,  G01J3/50 ,  G01K13/00 ,  G01N29/00 ,  G01N29/225 ,  G01N29/265 ,  G01N29/28 ,  G05B19/00 ,  G05D1/0016 ,  G05D1/0088 ,  G05D1/0094 ,  G05D1/0246 ,  G05D1/0272 ,  G05D1/0274 ,  G01M3/04 ,  G01N21/88 ,  G01N27/82 ,  G01N29/04 ,  G01N29/07 ,  G01N2291/011 ,  G01N2291/0231 ,  G01N2291/0258 ,  G01N2291/0289 ,  G01N2291/02854 ,  G01N2291/044 ,  G01N2291/051 ,  G01N2291/106 ,  G01N2291/2634 ,  G01N2291/2636 ,  G05B15/02 ,  G05B2219/45066 ,  G05D2201/0207

摘要： A system includes an inspection robot having an input sensor comprising a laser profiler and a plurality of wheels structured to engage a curved portion of an inspection surface, wherein the laser profiler is configured to provide laser profiler data of the inspection surface; a controller, comprising: a profiler data circuit structured to interpret the laser profiler data; determine a feature of interest is present at a location of the inspection surface in response to the laser profiler data; and wherein the feature of interest comprises a shape description of the inspection surface at the location of the feature of interest.

公开(公告)号：US11667343B2

公开(公告)日：2023-06-06

申请号：US16433779

申请日：2019-06-06

申请人： Boston Dynamics, Inc.

发明人： Kevin Blankespoor ,  Benjamin Stephens ,  Nicolas Hudson ,  Yeuhi Abe ,  Jennifer Barry

IPC分类号： B25J9/16 ,  B62D57/032 ,  B62D57/02 ,  B62D57/024

CPC分类号： B62D57/032 ,  B25J9/162 ,  B25J9/1633 ,  B25J9/1694 ,  B62D57/02 ,  B62D57/024 ,  G05B2219/40298 ,  G05D2201/0217 ,  Y10S901/01

摘要： A robot system includes: an upper body section including one or more end-effectors; a lower body section including one or more legs; and an intermediate body section coupling the upper and lower body sections. An upper body control system operates at least one of the end-effectors. The intermediate body section experiences a first intermediate body linear force and/or moment based on an end-effector force acting on the at least one end-effector. A lower body control system operates the one or more legs. The one or more legs experience respective surface reaction forces. The intermediate body section experiences a second intermediate body linear force and/or moment based on the surface reaction forces. The lower body control system operates the one or more legs so that the second intermediate body linear force balances the first intermediate linear force and the second intermediate body moment balances the first intermediate body moment.

公开(公告)号：US11644841B2

公开(公告)日：2023-05-09

申请号：US17113132

申请日：2020-12-07

申请人： UBTECH ROBOTICS CORP LTD

发明人： Shuping Hu ,  Jun Cheng ,  Jingtao Zhang ,  Miaochen Guo ,  Dong Wang ,  Jianxin Pang ,  Youjun Xiong

IPC分类号： G05D1/02 ,  G06T7/73 ,  G06T7/13 ,  B62D57/02 ,  G06T1/00

CPC分类号： G05D1/0212 ,  B62D57/02 ,  G05D1/0231 ,  G06T1/0014 ,  G06T7/13 ,  G06T7/73

摘要： A robot climbing control method is disclosed. A gravity direction vector in a gravity direction in a camera coordinate system of a robot is obtained. A stair edge of stairs in a scene image is obtained and an edge direction vector of the stair edge in the camera coordinate system is determined. A position parameter of the robot relative to the stairs is determined according to the gravity direction vector and the edge direction vector. Poses of the robot are adjusted according to the position parameter to control the robot to climb the stairs.