WO2008097376A3 - Robot with flippers having a positionable sensor head and method for controlling this robot - Google Patents

Robot with flippers having a positionable sensor head and method for controlling this robot Download PDF

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Publication number
WO2008097376A3
WO2008097376A3 PCT/US2007/080541 US2007080541W WO2008097376A3 WO 2008097376 A3 WO2008097376 A3 WO 2008097376A3 US 2007080541 W US2007080541 W US 2007080541W WO 2008097376 A3 WO2008097376 A3 WO 2008097376A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot
flippers
chassis
neck
sensor head
Prior art date
Application number
PCT/US2007/080541
Other languages
French (fr)
Other versions
WO2008097376A2 (en
Inventor
Timothy R Ohm
Michael Bassett
Original Assignee
Irobot Corp
Timothy R Ohm
Michael Bassett
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US11/842,881 external-priority patent/US8644991B2/en
Application filed by Irobot Corp, Timothy R Ohm, Michael Bassett filed Critical Irobot Corp
Priority to EP07872787.2A priority Critical patent/EP2094451B1/en
Priority to AU2007346669A priority patent/AU2007346669B2/en
Publication of WO2008097376A2 publication Critical patent/WO2008097376A2/en
Publication of WO2008097376A3 publication Critical patent/WO2008097376A3/en
Priority to IL197992A priority patent/IL197992A/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
    • B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/02—Endless track vehicles with tracks and additional ground wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S180/00—Motor vehicles
    • Y10S180/907—Motorized wheelchairs
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Abstract

A robot (100,800,1100,1200,1400,1600,2200,2300,2400,2500,2600,3300) includes a chassis (140,301,310,501,801,1601,3202) supporting a skid steered drive (110,1610,2202,2204,3310) and a set of driven flippers (130,302,502,602,802,1602). Each flipper is pivotable about a first pivot axis (15,315) common with a drive axis (15) near the chassis's leading end (104A,302A). The robot includes a neck (305,805,1605,2210) pivotable about a second pivot axis (317) substantially at the chassis's leading end (140A,301A) and a sensor head (303,803,1603,2206) pivotally coupled to the neck (305,805,1605,2210). The chassis, flippers, neck and head: (i) have a combined center of gravity (combined-CG,364,CG1,CG50) disposed in a forward-rearward sense between distal and pivot ends (130A,130B,302A,302B) of the flippers (130,302,502,602,802,1602) when the flippers are in a stowed position with their distal ends (130A,302A) between leading and trailing ends (140A,140B,301A,301B) of the chassis, and (ii) are each independently movable between a first position and a second position to reposition the combined center of gravity for negotiating an obstacle.
PCT/US2007/080541 2006-10-06 2007-10-05 Robot with flippers having a positionable sensor head and method for controlling this robot WO2008097376A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP07872787.2A EP2094451B1 (en) 2006-10-06 2007-10-05 Robot with flippers having a positionable sensor head and method for controlling this robot
AU2007346669A AU2007346669B2 (en) 2006-10-06 2007-10-05 Robot with flippers having a positionable sensor head and method for controlling this robot
IL197992A IL197992A (en) 2006-10-06 2009-04-05 Maneuvering robotic vehicles having a positionable sensor head

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
US82861106P 2006-10-06 2006-10-06
US60/828,611 2006-10-06
US88373107P 2007-01-05 2007-01-05
US60/883,731 2007-01-05
US11/842,881 US8644991B2 (en) 2006-10-06 2007-08-21 Maneuvering robotic vehicles
US11/842,868 US7654348B2 (en) 2006-10-06 2007-08-21 Maneuvering robotic vehicles having a positionable sensor head
US11/842,881 2007-08-21
US11/842,868 2007-08-21

Publications (2)

Publication Number Publication Date
WO2008097376A2 WO2008097376A2 (en) 2008-08-14
WO2008097376A3 true WO2008097376A3 (en) 2008-12-24

Family

ID=39682278

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2007/080541 WO2008097376A2 (en) 2006-10-06 2007-10-05 Robot with flippers having a positionable sensor head and method for controlling this robot

Country Status (5)

Country Link
US (6) US7654348B2 (en)
EP (1) EP2094451B1 (en)
AU (1) AU2007346669B2 (en)
IL (1) IL197992A (en)
WO (1) WO2008097376A2 (en)

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