Patents by Inventor Timothy R. Ohm
Timothy R. Ohm has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20170129110Abstract: A robotic end effector includes a finger and at least one actuator. The finger extends from a proximal end to a distal end along a finger axis. The finger includes a first phalanx proximate the proximal end, a second phalanx proximate the distal end, and a knuckle joint including at least one vertebra interposed between and separating the first and second phalanxes. The knuckle joint is configured to permit the second phalanx to pivot relative to the first phalanx about a pivot axis transverse to the finger axis. Each vertebra has an axial thickness extending along the finger axis and a lateral width extending perpendicular to its axial thickness, and its lateral width is greater than its axial thickness. The at least one actuator is operable to move the second phalanx relative to the first phalanx about the pivot axis.Type: ApplicationFiled: November 5, 2015Publication date: May 11, 2017Inventors: Timothy R. Ohm, Mark R. Claffee, Erik Amaral, Steven V. Shamlian, Annan M. Mozeika
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Patent number: 9545727Abstract: A robotic end effector includes a finger and at least one actuator. The finger extends from a proximal end to a distal end along a finger axis. The finger includes a first phalanx proximate the proximal end, a second phalanx proximate the distal end, and a knuckle joint including at least one vertebra interposed between and separating the first and second phalanxes. The knuckle joint is configured to permit the second phalanx to pivot relative to the first phalanx about a pivot axis transverse to the finger axis. Each vertebra has an axial thickness extending along the finger axis and a lateral width extending perpendicular to its axial thickness, and its lateral width is greater than its axial thickness. The at least one actuator is operable to move the second phalanx relative to the first phalanx about the pivot axis.Type: GrantFiled: November 5, 2015Date of Patent: January 17, 2017Assignee: iRobot CorporationInventors: Steven V. Shamlian, Mark R. Claffee, Erik Amaral, Timothy R. Ohm, Annan M. Mozeika
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Patent number: 9522595Abstract: The present teachings relate generally to a small remote vehicle having rotatable flippers and a weight of less than about 10 pounds and that can climb a conventional-sized stairs. The present teachings also relate to a small remote vehicle can be thrown or dropped fifteen feet onto a hard/inelastic surface without incurring structural damage that may impede its mission. The present teachings further relate to a small remote vehicle having a weight of less than about 10 pounds and a power source supporting missions of at least 6 hours.Type: GrantFiled: December 31, 2011Date of Patent: December 20, 2016Assignee: iRobot Defense Holdings, Inc.Inventors: Pavlo E. Rudakevych, Garran M. Gossage, Christopher Lyunne Morey, Todd M. Meaney, Timothy R. Ohm, Adam Wozniak
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Publication number: 20160311479Abstract: A wheel assembly for a remote vehicle comprises a wheel structure comprising a plurality of spokes interconnecting a rim and a hub. The spokes comprise at least one slit extending therethrough radially inward from the rim to the hub. The assembly also comprises a flipper structure comprising an arm, a plurality of legs, and an attachment base. The plurality of legs and the attachment base comprise a four-bar linkage. The assembly further comprises an insert comprising a bore with a flat surface that tapers outward from a top portion to a bottom portion of the insert. The insert being configured to couple the flipper structure to the wheel structure via an axle on the remote vehicle and prevent backlash between the axle and the flipper structure. The flipper structure being configured to transmit axial forces to the wheel structure. The wheel structure being configured to absorb radial and axial forces.Type: ApplicationFiled: April 22, 2016Publication date: October 27, 2016Inventors: Pavlo E. Rudakevych, Garran M. Gossage, Christopher L. Morey, Todd M. Meaney, Timothy R. Ohm
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Publication number: 20160221197Abstract: A robot includes a support, a movable member coupled to the support to permit gimbal rotation about a pitch axis and a yaw axis, and first and second linear actuators connected to each of the support and the movable member and operable to rotate the movable member about the pitch axis and the yaw axis. The first linear actuator is pivotally attached to the movable member at a first pivot point. The second linear actuator is pivotally attached to the movable member at a second pivot point. The first and second pivot points are each angularly offset from the pitch axis and the yaw axis by about 45 degrees and are located on the same side of the pitch axis.Type: ApplicationFiled: January 30, 2015Publication date: August 4, 2016Inventors: Mark R. Claffee, Timothy R. Ohm, Erik Amaral, Annan M. Mozeika
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Patent number: 9346499Abstract: A wheel assembly for a remote vehicle comprises a wheel structure comprising a plurality of spokes interconnecting a rim and a hub. The spokes comprise at least one slit extending therethrough radially inward from the rim to the hub. The assembly also comprises a flipper structure comprising an arm, a plurality of legs, and an attachment base. The plurality of legs and the attachment base comprise a four-bar linkage. The assembly further comprises an insert comprising a bore with a flat surface that tapers outward from a top portion to a bottom portion of the insert. The insert being configured to couple the flipper structure to the wheel structure via an axle on the remote vehicle and prevent backlash between the axle and the flipper structure. The flipper structure being configured to transmit axial forces to the wheel structure. The wheel structure being configured to absorb radial and axial forces.Type: GrantFiled: December 30, 2011Date of Patent: May 24, 2016Assignee: IROBOT CORPORATIONInventors: Pavlo E. Rudakevych, Garran M. Gossage, Christopher L. Morey, Todd M. Meaney, Timothy R. Ohm
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Publication number: 20160114839Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.Type: ApplicationFiled: October 1, 2015Publication date: April 28, 2016Inventors: Timothy R. Ohm, Michael Bassett
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Patent number: 9228640Abstract: A transmission assembly comprises: a motor; a shift actuator mechanism coupled to the motor; a sun gear coupled to an output shaft of the motor; a first magnet assembly coupled to the sun gear; a ring gear assembly coupled to a shift coupler, the shift coupler being configured to engage via the shift actuator mechanism; a second magnet assembly coupled to a housing face plate, the housing face plate being coupled to an output gear box; and a planet carrier coupled to an output pinion in communication with the output gearbox. The planet carrier comprises at least one planet gear. In a first mode, the ring gear is locked to the first magnet assembly and configured to rotate with the sun gear, the ring gear being configured to prevent the rotation of the at least one planet gear about its own axis causing the planet carrier to rotate at the same speed as the sun gear.Type: GrantFiled: June 10, 2011Date of Patent: January 5, 2016Assignee: iRobot CorporationInventors: Timothy R. Ohm, Mark Robert Claffee, Martin Buehler, David Brancazio
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Patent number: 9216781Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. A robot chassis with pivotable driven flippers has a pivotable neck and sensor head mounted toward the front of the chassis. The neck is pivoted forward to shift the vehicle combined center of gravity (combined CG) forward for various climbing and navigation tasks. The flippers may also be selectively moved to reposition the center of gravity. Various weight distributions allow different CG shifting capabilities.Type: GrantFiled: January 17, 2014Date of Patent: December 22, 2015Assignee: iRobot CorporationInventors: Timothy R. Ohm, Michael Bassett
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Patent number: 9193066Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.Type: GrantFiled: February 14, 2014Date of Patent: November 24, 2015Assignee: iRobot CorporationInventors: Timothy R. Ohm, Michael Bassett
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Publication number: 20140305718Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.Type: ApplicationFiled: February 14, 2014Publication date: October 16, 2014Applicant: iRobot CorporationInventors: Timothy R. Ohm, Michael Bassett
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Publication number: 20140142753Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. A robot chassis with pivotable driven flippers has a pivotable neck and sensor head mounted toward the front of the chassis. The neck is pivoted forward to shift the vehicle combined center of gravity (combined CG) forward for various climbing and navigation tasks. The flippers may also be selectively moved to reposition the center of gravity. Various weight distributions allow different CG shifting capabilities.Type: ApplicationFiled: January 17, 2014Publication date: May 22, 2014Applicant: IROBOT CORPORATIONInventors: Timothy R. Ohm, Michael Bassett
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Publication number: 20140110183Abstract: The present teachings relate generally to a small remote vehicle having rotatable flippers and a weight of less than about 10 pounds and that can climb a conventional-sized stairs. The present teachings also relate to a small remote vehicle can be thrown or dropped fifteen feet onto a hard/inelastic surface without incurring structural damage that may impede its mission. The present teachings further relate to a small remote vehicle having a weight of less than about 10 pounds and a power source supporting missions of at least 6 hours.Type: ApplicationFiled: December 31, 2011Publication date: April 24, 2014Inventors: Pavlo E. Rudakevych, Garron M. Gossage, Christopher Lyunne Morey, Todd M. Meaney, Timothy R. Ohm, Adam Wozniak
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Patent number: 8662215Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.Type: GrantFiled: December 3, 2012Date of Patent: March 4, 2014Assignee: iRobot CorporationInventors: Timothy R. Ohm, Michael Bassett
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Patent number: 8644991Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. A robot chassis with pivotable driven flippers has a pivotable neck and sensor head mounted toward the front of the chassis. The neck is pivoted forward to shift the vehicle combined center of gravity (combined CG) forward for various climbing and navigation tasks. The flippers may also be selectively moved to reposition the center of gravity. Various weight distributions allow different CG shifting capabilities.Type: GrantFiled: August 21, 2007Date of Patent: February 4, 2014Assignee: iRobot CorporationInventors: Timothy R. Ohm, Michael Bassett
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Patent number: 8322470Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.Type: GrantFiled: December 15, 2011Date of Patent: December 4, 2012Assignee: iRobot CorporationInventors: Timothy R. Ohm, Michael Bassett
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Publication number: 20120261200Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.Type: ApplicationFiled: December 15, 2011Publication date: October 18, 2012Inventors: Timothy R. Ohm, Michael Bassett
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Publication number: 20120200149Abstract: A wheel assembly for a remote vehicle comprises a wheel structure comprising a plurality of spokes interconnecting a rim and a hub. The spokes comprise at least one slit extending therethrough radially inward from the rim to the hub. The wheel assembly also comprises a flipper structure comprising an arm, a plurality of legs, and an attachment base. The plurality of legs and the attachment base comprise a four-bar linkage. The wheel assembly further comprises an insert comprising a bore with a flat surface that tapers outward from a top portion of the insert to a bottom portion of the insert. The insert may be configured to couple the flipper structure to the wheel structure via an axle on the remote vehicle and prevent backlash between the axle and the flipper structure. The flipper structure may be configured to transmit axial forces to the wheel structure. The wheel structure may be configured to absorb radial and axial forces.Type: ApplicationFiled: December 30, 2011Publication date: August 9, 2012Applicant: IROBOT CORPORATIONInventors: Pavlo E. Rudakevych, Garran M. Gossage, Christopher L. Morey, Todd M. Meaney, Timothy R. Ohm
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Publication number: 20120053000Abstract: A transmission assembly comprises: a motor; a shift actuator mechanism coupled to the motor; a sun gear coupled to an output shaft of the motor; a first magnet assembly coupled to the sun gear; a ring gear assembly coupled to a shift coupler, the shift coupler being configured to engage via the shift actuator mechanism; a second magnet assembly coupled to a housing face plate, the housing face plate being coupled to an output gear box; and a planet carrier coupled to an output pinion in communication with the output gearbox. The planet carrier comprises at least one planet gear. In a first mode, the ring gear is locked to the first magnet assembly and configured to rotate with the sun gear, the ring gear being configured to prevent the rotation of the at least one planet gear about its own axis causing the planet carrier to rotate at the same speed as the sun gear.Type: ApplicationFiled: June 10, 2011Publication date: March 1, 2012Inventors: Timothy R. Ohm, Mark Robert Claffee, Martin Buehler, David Brancazio
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Patent number: 8079432Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.Type: GrantFiled: January 5, 2010Date of Patent: December 20, 2011Assignee: iRobot CorporationInventors: Timothy R. Ohm, Michael Bassett