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公开(公告)号：US20190031259A1
公开(公告)日：2019-01-31
申请号：US15659169
申请日：2017-07-25
申请人： Sphero, Inc.
IPC分类号： B62D57/032 , B62D57/028 , B62D57/02
CPC分类号： B62D57/032 , A63H11/10 , A63H2200/00 , B62D57/022 , B62D57/028
摘要： A robotic apparatus moveable between a bipod mode and a tripod mode includes a housing, a first leg and a second leg extending from the housing, and a retractable third leg positioned between the first leg and the second leg. The third leg is configured to extend from the housing in the tripod mode and retract at least partially into the housing in the bipod mode. The robotic apparatus also includes a motor disposed within the housing and a transmission system coupled between the motor and at least one of the first leg, the second leg, and the third leg. The transmission system is configured to move the robotic apparatus between the bipod mode where the first leg and the second leg support the housing and the tripod mode where the first leg, the second leg, and the third leg support the housing.
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公开(公告)号：US09498881B2
公开(公告)日：2016-11-22
申请号：US14960787
申请日：2015-12-07
发明人： Gary James Hayden
IPC分类号： F16L3/08 , B25J5/00 , B62D7/02 , A01G23/095 , B62D57/028 , B62D61/00 , B26D7/02 , B66F11/04
CPC分类号： B25J5/005 , A01G23/0955 , B25J5/00 , B26D7/02 , B62D7/02 , B62D57/028 , B62D61/00 , B66F11/04 , Y10T83/667
摘要： A device for allowing work to be carried out on or about an object includes at least one gripping arrangement. The at least one gripping arrangement is configured to grip and traverse the object so as to reach a desired location on the object and to anchor the device thereto for allowing the work to be carried out.
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公开(公告)号：US20160082588A1
公开(公告)日：2016-03-24
申请号：US14960787
申请日：2015-12-07
发明人： Gary James HAYDEN
CPC分类号： B25J5/005 , A01G23/0955 , B25J5/00 , B26D7/02 , B62D7/02 , B62D57/028 , B62D61/00 , B66F11/04 , Y10T83/667
摘要： A device for allowing work to be carried out on or about an object includes at least one gripping arrangement. The at least one gripping arrangement is configured to grip and traverse the object so as to reach a desired location on the object and to anchor the device thereto for allowing the work to be carried out.
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公开(公告)号：US20110054681A1
公开(公告)日：2011-03-03
申请号：US12852554
申请日：2010-08-09
申请人： Azusa AMINO , Saku EGAWA , Ryosuke NAKAMURA
发明人： Azusa AMINO , Saku EGAWA , Ryosuke NAKAMURA
IPC分类号： B25J5/00
CPC分类号： B62D57/028
摘要： A robot, having left and right leg portions on a lower portion of a body, each of the legs has a wheel attached at a tip of the leg portion, to be drivable, a suspension having a spring and a dumper attached in parallel, between the wheel and the body, and an actuator attached between the suspension and the body. The suspension and the actuator are connected in series, and an inclination detecting means mounted on the body detects an inclination angle and an angular velocity of the robot with respect to a direction of gravity. A control instruction value outputting means controls the actuator upon basis of information thereof, so that the robot travels along a target angle and a target angular velocity thereof. The, spring is connected with an actuator expanding and constructing up and down, in series.
摘要翻译： 一种在身体的下部具有左腿和右腿部的机器人，每个腿具有附接在腿部的末端的可驱动的轮，具有弹簧和自卸车并联的悬架， 车轮和车身以及安装在悬架和车体之间的致动器。 悬架和致动器串联连接，并且安装在主体上的倾斜检测装置检测机器人相对于重力方向的倾斜角度和角速度。 控制指令值输出装置根据其信息控制致动器，使得机器人沿目标角度和目标角速度行进。 弹簧与一个致动器连接，上下升降，串联。
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公开(公告)号：US07673718B2
公开(公告)日：2010-03-09
申请号：US12281682
申请日：2008-02-20
申请人： Katsuhiko Asai , Atsushi Ono
发明人： Katsuhiko Asai , Atsushi Ono
IPC分类号： A61H3/04
CPC分类号： B62D57/028 , A61H1/0266 , A61H3/00 , A61H3/008 , A61H3/04 , A61H2003/043 , A61H2003/046 , A61H2201/0157 , A61H2201/0161 , A61H2201/1215 , A61H2201/1633 , A61H2201/164 , A61H2201/1676 , A61H2201/5061 , A61H2201/5064 , A61H2201/5069
摘要： A leg-wheeled traveling mechanism is provided with a seat portion, two follow-up legs, each having an end portion that is freely rotatably connected to the seat portion, with a distance between the end portion and a tip portion having a foot-rest portion being retractable, two or more support legs, each having an end portion that is freely rotatably connected to the seat portion, with a distance between the end portion and a tip portion having a wheel portion being retractable, a foot-position measuring unit that measures relative positional changes of the foot-rest portions and foot portions of a rider, and a control device that controls operations of the follow-up legs and the support legs, based upon the relative positional changes measured by the foot-position measuring unit so as to allow the foot-rest portions to move virtually in the same directions as those of the foot portions.
摘要翻译： 腿部行进机构设置有座部，两个后跟腿，每个后腿具有可自由旋转地连接到座部的端部，端部与具有脚踏板的末端部分之间的距离 可伸缩的部分，两个或更多个支撑腿，每个支撑腿具有可自由旋转地连接到座椅部分的端部，其端部与具有可缩回的轮部分的末端部分之间的距离;脚位测量单元， 测量骑脚踏板的脚踏部分和脚部的相对位置变化，以及基于由脚位测量单元测量的相对位置变化来控制跟随腿和支撑腿的操作的控制装置 以允许脚部部分在与脚部相同的方向上虚拟地移动。
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公开(公告)号：US20090289433A1
公开(公告)日：2009-11-26
申请号：US12281682
申请日：2008-02-20
申请人： Katsuhiko Asai , Atsushi Ono
发明人： Katsuhiko Asai , Atsushi Ono
IPC分类号： B62D57/032
CPC分类号： B62D57/028 , A61H1/0266 , A61H3/00 , A61H3/008 , A61H3/04 , A61H2003/043 , A61H2003/046 , A61H2201/0157 , A61H2201/0161 , A61H2201/1215 , A61H2201/1633 , A61H2201/164 , A61H2201/1676 , A61H2201/5061 , A61H2201/5064 , A61H2201/5069
摘要： A leg-wheeled traveling mechanism is provided with a seat portion, two follow-up legs, each having an end portion that is freely rotatably connected to the seat portion, with a distance between the end portion and a tip portion having a foot-rest portion being retractable, two or more support legs, each having an end portion that is freely rotatably connected to the seat portion, with a distance between the end portion and a tip portion having a wheel portion being retractable, a foot-position measuring unit that measures relative positional changes of the foot-rest portions and foot portions of a rider, and a control device that controls operations of the follow-up legs and the support legs, based upon the relative positional changes measured by the foot-position measuring unit so as to allow the foot-rest portions to move virtually in the same directions as those of the foot portions.
摘要翻译： 腿部行进机构设置有座部，两个后跟腿，每个后腿具有可自由旋转地连接到座部的端部，端部与具有脚踏板的末端部分之间的距离 可伸缩的部分，两个或更多个支撑腿，每个支撑腿具有可自由旋转地连接到座椅部分的端部，其端部与具有可缩回的轮部分的末端部分之间的距离;脚位测量单元， 测量骑脚踏板的脚踏部分和脚部的相对位置变化，以及基于由脚位测量单元测量的相对位置变化来控制跟随腿和支撑腿的操作的控制装置 以允许脚部部分在与脚部相同的方向上虚拟地移动。
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公开(公告)号：US20090114460A1
公开(公告)日：2009-05-07
申请号：US12264969
申请日：2008-11-05
申请人： Azusa AMINO , Junichi TAMAMOTO , Ryosuke NAKAMURA
发明人： Azusa AMINO , Junichi TAMAMOTO , Ryosuke NAKAMURA
IPC分类号： B62D57/028
CPC分类号： B62D57/028
摘要： A robot having a leg mechanism having high rigidity, so as to enable moving on wheels, on the leveled ground, and also moving on the bipedalism, on the unleveled ground, and also enabling to execute exchanging between the wheel running and the bipedalism in a short time, comprising: a body; and left and right leg portions in lower portion of the body, wherein each leg portion has a wheel, which can be drive, at a tip thereof, and a supporting portion, which is movable in roll and pitch directions, the each leg portion has three (3) degrees of freedom, roll, pitch and pitch from the body side, and the supporting portion has at least two (2) of contact points to be in contact with a ground, and makes up a stable region by a contact point of the wheel and the contact point of the supporting body, and thereby oscillating the left and right leg portions, alternately, so as to make bipedalism, and further operating the supporting body, so as to run on the wheels.
摘要翻译： 一种具有高刚度的腿部机构的机器人，以便能够在平坦的地面上在车轮上移动，并且在未平坦的地面上也可以在双足动物上移动，并且还能够执行车轮行驶与双足障碍物之间的交换 时间短，包括：身体; 所述主体的下部具有左右腿部，其中，所述腿部具有可在其前端驱动的轮和能够以卷侧和俯仰方向移动的支撑部，所述腿部具有 三（3）度的自由度，辊体，节距和节距，并且支撑部分具有至少两（2）个与地面接触的接触点，并通过接触点构成稳定区域 并且由此使左腿和右腿部交替地摆动，以便进行双足动作，并进一步操作支撑体，以便在车轮上行驶。
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公开(公告)号：US20070093940A1
公开(公告)日：2007-04-26
申请号：US11529052
申请日：2006-09-27
IPC分类号： G06F19/00
CPC分类号： B62D57/028 , G06N3/008
摘要： An extensible task engine framework for humanoid robots. Robot instructions are stored as tasks and skills. Tasks are designed so that they can be executed by a variety of robots with differing configurations. A task can refer to zero or more skills. A skill can be designed for a particular configuration of robot. A task can be transferred from robot to robot. When executed on a particular robot, the task makes calls to one or more skills that can take advantage of the capabilities of that robot.
摘要翻译： 类人机器人的可扩展任务引擎框架。 机器人指令存储为任务和技能。 任务设计使得它们可以由具有不同配置的各种机器人执行。 任务可以指零或以上的技能。 可以为机器人的特定配置设计技能。 任务可以从机器人转移到机器人。 当在特定的机器人上执行时，该任务调用一个或多个能够利用该机器人的能力的技能。
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公开(公告)号：US20060243499A1
公开(公告)日：2006-11-02
申请号：US11349920
申请日：2006-04-17
申请人： Yuji Hosoda
发明人： Yuji Hosoda
IPC分类号： B62D51/06
CPC分类号： B62D57/028 , B62D57/024
摘要： Within a moving robot of narrow footprint, having quick traveling performance on a plane-surface, as well as, anti-tumbling function, and further being suitable for operations under coexistence with a human being, being able to travel coping with traveling situations on a level difference, etc.: in front and rear of main driving wheels 2 and 3, each being controlled through the inverted pendulum control, are disposed supporting legs 4 and 5, tips of which can be lifted up and down, wherein the tips of the supporting legs 4 and 5 are positioned to keep a predetermined distance between a traveling surface, when running on the inverted two-wheels travel, and the supporting legs 4 and 5 are fixed or either one in the fall-down direction is thrust out into the fall-down direction, so as to protect it from falling down. Further, upon the basis of detection information of floor-surface distance sensors 4e and 5e and side-surface distance sensor 4f, 4g, 5f and 5g, which are provided at the tips of the supporting legs 4 and 5, the robot senses an existence of a level difference and/or an inclined surface, so as to let the supporting legs to escape from the level difference and/or the inclined surface, and holds the position of gravity center thereof, stably, through other one of the supporting legs, being landed on the ground, and the main driving wheels 2 and 3; thereby enabling to travel over the level difference and the inclines surface.
摘要翻译： 在狭窄占地面积的移动机器人中，在飞机表面上具有快速的行驶性能，以及抗倒塌功能，并且还适合于与人共存的操作，能够在行驶状态下行驶 水平差等：在主驱动轮2和3的前后分别通过倒立摆控制进行控制，支撑腿4和5，其顶端可上下升起，其中， 支撑腿4和5被定位成在行进表面之间保持预定距离，当在倒置的两轮行进上行驶时，支撑腿4和5被固定或者在下降方向上的任一个被推出到 跌倒方向，以防止跌倒。 此外，根据设置在支撑脚4和5的前端的地面距离传感器4e和5e以及侧面距离传感器4f，4g，5f和5g的检测信息， 机器人感测到水平差和/或倾斜面的存在，从而使支撑腿从水平差和/或倾斜面脱出，并且通过其他的方式稳定地保持其重心的位置 支撑腿之一，落在地面上，主驱动轮2和3; 从而能够超过水平差和倾斜表面。
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公开(公告)号：US06484829B1
公开(公告)日：2002-11-26
申请号：US09609732
申请日：2000-07-03
申请人： Kenneth Ray Cox
发明人： Kenneth Ray Cox
IPC分类号： B62D57028
CPC分类号： A61G5/061 , A61G5/042 , A61G5/065 , A61G2203/14 , B62D57/028 , B62D63/02
摘要： A self-propelled battery-powered wheelchair replaces an ordinary wheelchair and provides improved access to homes. The wheelchair includes stair climbing, slope climbing, and reclining while requiring only minimal driver skill and strength. Operation on level ground is similar to the operation of a conventional wheelchair. Support for normal operation is provided by a rear caster and wheels on the front corners. Its compact width and length enable negotiating narrow doorways and turning in small spaces. To ensure stability on stairs, moveable skids are mounted to the four corners of the wheelchair. Parallelogram linkages move the front skids down and forward during climbing. Another parallelogram linkage moves the caster and rear skids up and at an angle during climbing. The wheelchair is steerable on stairs as needed to align with the stair path and accommodate slightly spiraling stairs. The wheelchair accommodates stair steps of different riser heights and tread lengths. A pair of spoked or spider wheels with small wheels at the ends of the spokes are rotably mounted to the sides of the wheelchair. The spider wheels engage the stairs to propel and stabilize the wheelchair during climbing of stairs. Methods are provided to monitor and control the pitch attitude of the wheelchair and nearness of wheelchair supporting components to the stairs. Motion and control are provided by electric motors, sensors, a computer, and driver inputs. Propulsion power for conventional level operation, slope climbing, and stair climbing operation is transmitted through the same motors and wheels.
摘要翻译： 自行推进的电池供电的轮椅取代了普通的轮椅，并改善了家庭的通行能力。 轮椅包括楼梯攀登，斜坡攀登和斜倚，同时只需要极少的驾驶技术和实力。 水平地面的操作与常规轮椅的操作相似。 正面操作的支持由前脚轮和前角的车轮提供。 其紧凑的宽度和长度使得能够协商狭窄的门口并在小空间中转动。 为了确保楼梯的稳定性，轮椅的四个角落安装有可移动的滑板。 平行四边形连杆在攀登期间向前和向前移动前滑板。 另一个平行四边形连杆在爬坡期间将脚轮和后挡板向上移动并以一定角度移动。 轮椅在楼梯上是可操纵的，以便与楼梯路线对齐并容纳稍微螺旋的楼梯。 轮椅容纳不同提升高度和胎面长度的楼梯台阶。 在轮辐端部的一对具有小轮子的圆形或蜘蛛轮可旋转地安装在轮椅的侧面。 在攀登楼梯时，蜘蛛车轮与楼梯接合以推动和稳定轮椅。 提供了方法来监测和控制轮椅的俯仰姿态以及轮椅支撑部件对楼梯的接近程度。 运动和控制由电动机，传感器，计算机和驱动器输入提供。 常规水平作业，斜坡攀爬和爬楼梯操作的推进力通过相同的电机和轮子传递。
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