Special Driving Device Patents (Class 180/7.1)
  • Patent number: 10689044
    Abstract: A pneumatically powered, fully untethered mobile soft robot is described. Composites consisting of silicone elastomer, polyaramid fabric, and hollow glass microspheres were used to fabricate a sufficiently large soft robot to carry the miniature air compressors, battery, valves, and controller needed for autonomous operation. Fabrication techniques were developed to mold a 0.65 meter long soft body with modified Pneumatic network actuators capable of operating at the elevated pressures (up to 138 kPa) required to actuate the legs of the robot and hold payloads of up to 8 kg. The soft robot is safe to handle, and its silicone body is innately resilient to a variety of adverse environmental conditions including snow, puddles of water, direct (albeit limited) exposure to flames, and the crushing force of being run over by an automobile.
    Type: Grant
    Filed: June 30, 2015
    Date of Patent: June 23, 2020
    Assignee: President and Fellows of Harvard College
    Inventors: Michael T. Tolley, Robert F. Shepherd, Bobak Mosadegh, Robert J. Wood, George M. Whitesides
  • Patent number: 10625593
    Abstract: A self-balancing robot system providing AI humanoid robots or robot vehicles comprising a drive wheel propulsion system configured to achieve mobility and balance by means of sensoring system components, accelerometers, and trajectory algorithms. The self-balancing robot system components include; a computer control system with processors and memory, a motion control system, an autonomous drive system, a wireless communication system comprising I/O system processes including WIFI, Bluetooth, and a smartphone, a network system, and a user interface control.
    Type: Grant
    Filed: October 22, 2016
    Date of Patent: April 21, 2020
    Inventor: Carla R. Gillett
  • Patent number: 10583886
    Abstract: The present invention relates to the technical field of electric vehicles, and provides an posture vehicle, which comprises a vehicle body, two wheelers pivoted to the vehicle body, pedals installed on the vehicle body, and two driving components installed in the vehicle body and driving the two wheelers to rotate driven by the pedals. The driving components and the wheelers are in the same operating plane. Namely, in a using process, the user treads on the wheelers, thereby eliminating interference of a balance state of the vehicle body to an output signal of the driving components, and enhancing the sensitivity of the driving components for judging the balance signal.
    Type: Grant
    Filed: November 16, 2017
    Date of Patent: March 10, 2020
    Assignee: SHENZHEN DYNAMIC BALANCE TECHNOLOGY CO., LTD.
    Inventor: Lifang Li
  • Patent number: 10534371
    Abstract: A system and method for providing power to and monitoring the energy usage includes at least one electrical control unit having an unmanned vehicle, at least one electrical control unit, a sensor enabled to monitor a given condition; a power source; a processor configured to be in communication with the at least one sensor and said power source, said processor further configured to manage communications with said management system; an unmanned vehicle releasably coupled to said electrical control unit, said processor being adapted to release said unmanned vehicle to enable the unmanned vehicle to separate from said electrical control unit, wherein said sensor is enabled to monitor at least one of the following: voltage, current, real power, apparent power, reactive power, frequency, total harmonic distortion, arc fault, plug loads, power factor, GFI, AFI, light, temperature, humidity, methane, carbon monoxide, motion, thermal, occupancy, radio frequency, audio, video, infrared, and combinations thereof and wh
    Type: Grant
    Filed: April 22, 2015
    Date of Patent: January 14, 2020
    Assignee: 286 Two LLC
    Inventors: Paul Amelio, David Katz, Alfonso Amelio
  • Patent number: 10513145
    Abstract: The present invention relates to an omnidirectionally moving wheel and a robot using the same, and the omnidirectionally moving wheel comprises: a cylindrical body of which both ends are opened; inner wheels, each of which have at least a part accommodated in the body, and which are respectively fixed at the both open ends of the body so as to rotate around a first rotating axis; an outer wheel provided on the outside of the body and rotating around a second rotating axis, which intersects the first rotating axis, wherein the outermost points of the inner wheels and the outer wheel are formed at the same distance from the center of the body.
    Type: Grant
    Filed: July 8, 2015
    Date of Patent: December 24, 2019
    Assignee: LG ELECTRONICS INC.
    Inventors: Jiho Min, Keunyoung Park, Namjin Kim, Eulpyo Hong, Taebum Kwon
  • Patent number: 10482790
    Abstract: An educational tool for teaching principles of parametric resonance, linear force and angular momentum is presented herein. The tool includes a frame having a spindle assembly with a shaft. The upper end of the shaft is connected to an upper coupling and the lower end of the shaft is connected to a lower coupling. A turntable is positioned below the shaft and includes an offset mounting pin extending from a top surface thereof. Furthermore, a weight assembly is positioned through a hole in the shaft via an axle, wherein the axle is rotatable about a longitudinal axis of rotation within the axle hole of the shaft. The upper motor will rotate the shaft in one direction, while the lower motor rotates the turntable in a second, opposite direction causing the weight assembly to rotate and oscillate about the longitudinal axis with a varying moment of inertia.
    Type: Grant
    Filed: March 30, 2018
    Date of Patent: November 19, 2019
    Inventor: Theodore N. Pittman
  • Patent number: 10391899
    Abstract: An occupant support adapted for use in a vehicle includes a seat mount, a seat, and a motion-sickness mitigation system. The seat mount is adapted to couple to the vehicle for movement with the vehicle. The seat is adapted to provide a comfortable support surface for an occupant of the occupant support.
    Type: Grant
    Filed: December 22, 2017
    Date of Patent: August 27, 2019
    Assignee: Faurecia Automotive Seating, LLC
    Inventors: Cedric Ketels, Rod Goodrich, Matthew K. Benson, Alfred H. Bransdorfer
  • Patent number: 10265633
    Abstract: An apparatus includes a housing, a rotational motor situated within the housing, an eccentric load adapted to be rotated by the rotational motor, and a plurality of legs each having a leg base and a leg tip at a distal end relative to the leg base. The legs are coupled to the housing at the leg base and include at least one driving leg constructed from a flexible material and configured to cause the apparatus to move in a direction generally defined by an offset between the leg base and the leg tip as the rotational motor rotates the eccentric load.
    Type: Grant
    Filed: January 29, 2018
    Date of Patent: April 23, 2019
    Assignee: Innovation First, Inc.
    Inventors: David Anthony Norman, Robert H. Mimlitch, III, Douglas Michael Galletti
  • Patent number: 10252638
    Abstract: A wheelchair having two drive wheels, each provided with a rotary drive motor wherein the value of the drive torque applied by each motor is controlled such as to stabilize the wheelchair, while in motion on the two drive wheels and occupied by a user, in an inclined balance position.
    Type: Grant
    Filed: May 19, 2015
    Date of Patent: April 9, 2019
    Assignees: CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE (CNRS), Université de Valenciennes et du Hainaut Cambresis
    Inventors: Sami Mohammad, Thierry-Marie Guerra
  • Patent number: 10022643
    Abstract: A system comprising a self-propelled device and an accessory device. The self-propelled device includes a spherical housing, and a drive system provided within the spherical housing to cause the self-propelled device to roll. When the self-propelled device rolls, the self-propelled device and the accessory device magnetically interact to maintain the accessory device in contact with a top position of the spherical housing relative to an underlying surface on which the spherical housing is rolling on.
    Type: Grant
    Filed: September 30, 2016
    Date of Patent: July 17, 2018
    Assignee: Sphero, Inc.
    Inventors: Ian H. Bernstein, Adam Wilson, Chun Kong
  • Patent number: 9908058
    Abstract: An apparatus includes a housing, a rotational motor situated within the housing, an eccentric load adapted to be rotated by the rotational motor, and a plurality of legs each having a leg base and a leg tip at a distal end relative to the leg base. The legs are coupled to the housing at the leg base and include at least one driving leg constructed from a flexible material and configured to cause the apparatus to move in a direction generally defined by an offset between the leg base and the leg tip as the rotational motor rotates the eccentric load.
    Type: Grant
    Filed: May 27, 2016
    Date of Patent: March 6, 2018
    Assignee: Innovation First, Inc.
    Inventors: David Anthony Norman, Robert H. Mimlitch, III, Douglas Michael Galletti
  • Patent number: 9855656
    Abstract: A robot control device includes a first sensor which is used in a first range including the entirety of the operating range of the robot, a second sensor which is used in a second range including at least a part of the operating range of the robot, and a range storing unit for storing a third range included in both the operating range and the second range. The robot control device also includes a ratio setting unit for setting a ratio between a first control input obtained using the first sensor and a second control input obtained using the second sensor with respect to control inputs to the motor based on the comparison of the third range and the position and posture of the robot, and an addition unit for adding the first control input and the second control input together in accordance with the set ratio.
    Type: Grant
    Filed: August 19, 2016
    Date of Patent: January 2, 2018
    Assignee: FANUC CORPORATION
    Inventors: Kenichiro Oguri, Soichi Arita
  • Patent number: 9694846
    Abstract: An online load detection device for a self-balancing two-wheel vehicle, comprising a support platform load detection device: the support platform load detection device comprises at least a group of magnetic detection devices; each group of magnetic detection devices comprise a permanent magnet and a magnetic sensor; the permanent magnet is supported on a support platform via an elastic member; the magnetic sensor is disposed in the easing of the support platform, and is used to detect the magnetic field change caused by the relative displacement between the permanent magnet and the magnetic sensor and output a detection signal. The detection device further comprises a seat pressure sensor disposed on a seat. The detection device detects the load pressure of the support platform in a non-contact manner, and can avoid wear, judge and warn the driving attitude of a driver.
    Type: Grant
    Filed: June 26, 2013
    Date of Patent: July 4, 2017
    Assignee: Shanghai New Century Robot Co., Ltd.
    Inventors: Tian Lan, Yangbin Chen
  • Patent number: 9636949
    Abstract: A coaxial multi-member mechanism for using as the front axle and the rear axle in an electric vehicle is presented to allow the wheels of the vehicle changing the track widths from a wide track to a narrow track or vice versa in vehicle moving condition. The wide track mode is for safer high speed driving and more collision protection from the four wheels. The narrow track is used on the other hand for narrow street and slow speed driving and for easy parking in a narrow space.
    Type: Grant
    Filed: October 21, 2015
    Date of Patent: May 2, 2017
    Inventor: Chiou-muh Jong
  • Patent number: 9592875
    Abstract: An inverted vehicle according to the present invention includes: wheel; a base that holds the wheel; a step cover on which a rider rides, the step cover being connected to an upper portion of the base; an elastic element that is connected to the upper portion of the base and elastically supports the step cover; a detection portion that is provided between the base and the step cover and detects a pressing force applied from the step cover when the rider is riding on the inverted vehicle and the elastic element is elastically deformed to thereby depress the step cover; and a control portion that drives the wheel based on the detection of the pressing force by the detection portion. The step cover is connected to the base with a hinge.
    Type: Grant
    Filed: September 30, 2013
    Date of Patent: March 14, 2017
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Takahiro Takeda, Kouta Oishi, Kazutomo Misao
  • Patent number: 9545963
    Abstract: A transporter for transporting a load over a surface. The transporter includes a support platform for supporting the load. The support platform is characterized by a fore-aft axis, a lateral axis, and an orientation with respect to the surface, the orientation referred to as an attitude. At least one ground-contacting element is flexibly coupled to the support platform in such a manner that the attitude of the support platform is capable of variation. One or more ground-contacting elements are driven by a motorized drive arrangement. A sensor module generates a signal characterizing the attitude of the support platform. Based on the attitude, a controller commands the motorized drive arrangement.
    Type: Grant
    Filed: January 5, 2015
    Date of Patent: January 17, 2017
    Assignee: DEKA Products Limited Partnership LLP
    Inventors: Dean Kamen, Richard Kurt Heinzmann, Robert R Ambrogi
  • Patent number: 9540067
    Abstract: An apparatus for automatically controlling a shock absorber system for a bicycle comprises a position sensor system configured to detect information indicative of a position of a rider of the bicycle and a controller in communication with the position sensor system. The controller adjusts the shock absorber system based on the detected information. The adjusting of the shock absorber system can include adjusting a damping force of the shock absorber system and/or adjusting sag of the shock absorber system.
    Type: Grant
    Filed: April 13, 2015
    Date of Patent: January 10, 2017
    Assignee: GIANT MANUFACTURING CO. LTD
    Inventors: Min-Chang Chen, Chung-Wei Lin
  • Patent number: 9527213
    Abstract: An automatic stair-climbing robot platform is provided. The automatic stair-climbing robot platform of the present invention includes a personal computer module; a USB-CAN interface module; a motor module, including a plurality of motors and controlled by the USB-CAN interface module; a KINECT sensor module, obtaining point cloud data and image data by sensing a terrain ahead and transmitting the point cloud data and image data to the personal computer module; a first inertial measurement unit, measuring a body tilt of the KINECT sensor module, and transmitting data of the body tilt of the KINECT sensor module to the personal computer module; and a second inertial measurement unit, measuring a body tilt of the automatic stair-climbing robot platform, and transmitting data of the body tilt of the automatic stair-climbing robot platform to the personal computer module.
    Type: Grant
    Filed: September 24, 2014
    Date of Patent: December 27, 2016
    Assignee: NATIONAL TAIWAN UNIVERSITY
    Inventors: Ren C. Luo, Ming Hsiao
  • Patent number: 9504927
    Abstract: A system of transportation is provided. The system embodies sail-equipped vehicles and vertically mounted, directional air fans, wherein a sail is attached along a framework of the vehicle so as to define an arcuate capture profile adapted to convert the downwardly directed air from the air fans into horizontal thrust, propelling the vehicles along a track.
    Type: Grant
    Filed: April 14, 2016
    Date of Patent: November 29, 2016
    Inventor: Jay Robert Wilfong
  • Patent number: 9457861
    Abstract: An inverted pendulum type vehicle includes a control device for controlling a plurality of electric motors, and a portable device, such as a portable telephone, for displaying a center-of-gravity display point indicating the position of a center of gravity and outputting a command for moving the vehicle. The control device controls a first actuator device and a second actuator device so as to move the vehicle according to the command output from the portable device and the tilting of an occupant boarding member. Such inverted pendulum type vehicle makes it possible to learn how to steer the inverted pendulum type vehicle.
    Type: Grant
    Filed: May 9, 2013
    Date of Patent: October 4, 2016
    Assignee: Honda Motor Co., Ltd.
    Inventors: Makoto Araki, Shinya Shirokura, Toru Takenaka
  • Patent number: 9459627
    Abstract: An apparatus controller for prompting a rider to be positioned on a vehicle in such a manner as to reduce lateral instability due to lateral acceleration of the vehicle. The apparatus has an input for receiving specification from the rider of a desired direction of travel, and indicating means for reflecting to the rider a propitious instantaneous body orientation to enhance stability in the face of lateral acceleration. The indicating may include a handlebar that is pivotable with respect to the vehicle and that is driven in response to vehicle turning.
    Type: Grant
    Filed: February 13, 2015
    Date of Patent: October 4, 2016
    Assignee: DEKA Products Limited Partership
    Inventors: Dean Kamen, Robert R. Ambrogi, James J. Dattolo, Robert J. Duggan, J. Douglas Field, Richard Kurt Heinzmann, Matthew M. McCambridge, John B. Morrell, Michael D. Piedmonte, Richard J. Rosasco
  • Patent number: 9442492
    Abstract: An apparatus controller for prompting a rider to be positioned on a vehicle in such a manner as to reduce lateral instability due to lateral acceleration of the vehicle. The apparatus has an input for receiving specification from the rider of a desired direction of travel, and indicating means for reflecting to the rider a propitious instantaneous body orientation to enhance stability in the face of lateral acceleration. The indicating may include a handlebar that is pivotable with respect to the vehicle and that is driven in response to vehicle turning.
    Type: Grant
    Filed: February 19, 2015
    Date of Patent: September 13, 2016
    Assignee: DEKA Products Limited Partnership
    Inventors: Dean Kamen, Robert R. Ambrogi, James J. Dattolo, Robert J. Duggan, J. Douglas Field, Richard Kurt Heinzmann, Matthew M. McCambridge, John B. Morrell, Michael D. Piedmonte, Richard J. Rosasco
  • Patent number: 9429955
    Abstract: An apparatus controller for prompting a rider to be positioned on a vehicle in such a manner as to reduce lateral instability due to lateral acceleration of the vehicle. The apparatus has an input for receiving specification from the rider of a desired direction of travel, and indicating means for reflecting to the rider a propitious instantaneous body orientation to enhance stability in the face of lateral acceleration. The indicating may include a handlebar that is pivotable with respect to the vehicle and that is driven in response to vehicle turning.
    Type: Grant
    Filed: February 13, 2015
    Date of Patent: August 30, 2016
    Assignee: DEKA Products Limited Partnership
    Inventors: Dean Kamen, Robert R. Ambrogi, James J. Dattolo, Robert J. Duggan, J. Douglas Field, Richard Kurt Heinzmann, Matthew M. McCambridge, John B. Morrell, Michael D. Piedmonte, Richard J. Rosasco
  • Patent number: 9381443
    Abstract: The present invention relates to a toy including a carriage (12), a pair of wheels (14), a sliding part (16) mobile along the carriage between extended and retracted positions, a spring stressed between the carriage and the sliding part, and means adapted to i) to progressively store a mechanical energy in the spring by displacement of the sliding part towards the retracted position, and ii) to release the thus-stored energy. The sliding part includes an end (32) supporting a jaw (34) and a pad (36). The carriage includes a protruding part (24) supporting another jaw (28) and another pad (30). The carriage may be oriented relative to the ground between several functionally distinct stable positions, with a default position where the toy rests in stable equilibrium on the two wheels and the pad (36), and a pulling/grasping position where the toy rests in stable equilibrium on the two wheels and the other pad (30) and where the second jaws is movable parallel to the ground, further or closer to the first jaw.
    Type: Grant
    Filed: October 14, 2014
    Date of Patent: July 5, 2016
    Assignee: PARROT
    Inventor: Thomas Barse
  • Patent number: 9381956
    Abstract: In a vehicle to which a vehicle body front structure is applied, an opening portion is formed behind a rear end portion of an arch portion. The opening portion is held in communication with an air flow passage, and is opened backward with respect to the vehicle. Then, the air caused to flow into the air flow passage during traveling of the vehicle flows from a front side toward a rear side with respect to the vehicle, and is discharged from the opening portion backward with respect to the vehicle. Thus, the air current blown out from the air flow passage to an outside of the wheel house in a vehicle width direction via the wheel house is restrained from being produced. Therefore, the traveling wind flowing outside the wheel house in the vehicle width direction is restrained from hitting the air current.
    Type: Grant
    Filed: August 26, 2013
    Date of Patent: July 5, 2016
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Fumihiko Kishima, Kazuhiro Maeda, Kazuya Koizumi, Taro Yamashita
  • Patent number: 9359005
    Abstract: A drive mechanism for an AGV that includes a drive unit for propelling the AGV and a steering unit for steering the AGV. The drive unit has a drive motor, drive transmission, and a drive wheel. The steering unit has a steering motor. Both motors are fixedly mounted on the AGV and remain stationary relative to each other while the drive motor rotates the drive wheel and the steering motor steers the drive wheel. The drive transmission couples the drive motor to the drive wheel and can be at least partially mounted within a gear housing that is rotatably mounted via a bearing so that the drive motor can be operated to move the AGV via power transferred to the drive wheel via the drive transmission, and the steering motor can be operated to steer the drive wheel by rotation of the gear housing and drive wheel via the bearing.
    Type: Grant
    Filed: December 29, 2010
    Date of Patent: June 7, 2016
    Assignee: Fori Automation, Inc.
    Inventors: Paul George Doan, Dean Colwell, LiKe Xu
  • Patent number: 9321306
    Abstract: A robotic vehicle chassis is provided. The robotic vehicle chassis includes a first chassis section, a second chassis section, and a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction. The vehicle includes a drive wheel mounted to one of the first and second chassis sections and an omni-wheel mounted to the other of the first and second chassis sections. The omni-wheel is mounted at an angle orthogonal with respect to the drive wheel. The hinge joint rotates in response to the curvature of a surface the vehicle is traversing.
    Type: Grant
    Filed: November 25, 2014
    Date of Patent: April 26, 2016
    Assignee: SAUDI ARABIAN OIL COMPANY
    Inventors: Ali Outa, Pablo Eduardo Carrasco Zanini Gonzalez, Fadl Abdel Latif, Brian Parrott
  • Patent number: 9321498
    Abstract: Bias values of pitch axis and roll axis angular velocity sensors in a stationary state where a reference yaw axis of a two-wheeled inverted pendulum vehicle body is stationary in parallel with a vertical direction are acquired. Bias values of the pitch axis and roll axis angular velocity sensors in a turning state where a two-wheeled inverted pendulum vehicle is turned at a predetermined turning angular velocity in a state where the reference yaw axis of the two-wheeled inverted pendulum vehicle body remains parallel to the vertical direction are acquired. Mounting angle errors of the pitch axis and roll axis angular velocity sensors with respect to the two-wheeled inverted pendulum vehicle body are estimated on the basis of the bias values of the sensors in the stationary state, the bias values of the sensors in the turning state and the predetermined turning angular velocity.
    Type: Grant
    Filed: November 29, 2012
    Date of Patent: April 26, 2016
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Susumu Oikawa
  • Patent number: 9302727
    Abstract: An inverted pendulum control type moving body is provided with: a first driving portion that moves a host moving body at least in a forward/backward direction; a supporting portion that supports the inverted pendulum control type moving body so that it stands independently in a state of being in contact with the ground; an operation portion that switches between the ground contact state and a ground separation state of the supporting portion; and a control portion that, when the operation portion switches the state of the supporting portion from the ground contact state to the ground separation state, controls operation of the first driving portion so that a forward/backward direction tilt angle of the inverted pendulum control type moving body approximates a target tilt angle in the ground contact state.
    Type: Grant
    Filed: November 6, 2014
    Date of Patent: April 5, 2016
    Assignee: Honda Motor Co., Ltd.
    Inventors: Kazumasa Ozaki, Hiroshi Iwakami, Shinji Kawatani, Hideo Murakami, Shinya Shirokura, Atsushi Matsunaga, Tomokazu Sakamoto, Makoto Hasegawa, Shinichiro Kobashi
  • Patent number: 9233752
    Abstract: A drive system with harmonic drive designed to meet the high power and torque requirements required to drive an aircraft independently on the ground is provided. The drive system includes an electric motor driven by a harmonic drive assembly that may be configured to be integral with the motor. This drive system with harmonic drive can be effectively installed in an existing aircraft nose wheel or main wheel without changes to other components.
    Type: Grant
    Filed: July 29, 2012
    Date of Patent: January 12, 2016
    Assignee: Borealis Technical Limited
    Inventors: Hans Walitzki, Jonathan Edelson, Rodney T. Cox, Isaiah W. Cox
  • Patent number: 9168966
    Abstract: An apparatus and method for transporting a payload over a surface is provided. A vehicle supports a payload with a support partially enclosed by an enclosure. Two laterally disposed ground-contacting elements are coupled to at least one of the enclosure or support. A motorized drive is coupled to the ground-contacting elements. A controller coupled to the drive governs the operation of the drive at least in response to the position of the center of gravity of the vehicle to dynamically control balancing of the vehicle.
    Type: Grant
    Filed: June 14, 2013
    Date of Patent: October 27, 2015
    Assignee: Segway, Inc.
    Inventors: J. Douglas Field, Michael T. Gansler, John D. Heinzmann, Jon M. Stevens
  • Patent number: 9073399
    Abstract: A wheelchair including a base assembly that has a first side and a second side. At least one caster and a drive wheel are mounted to each of the first and second sides. The wheelchair includes a seat assembly having a seat and a backrest and an actuator assembly having a plurality of actuators. Each actuator can expand and retract and includes a first end pivotably connected to the base assembly and a second end pivotably connected to the seat assembly. The actuator assembly allows for at least four degrees of movement of the seat assembly with respect to the base assembly. The wheelchair includes a computer that is connected to the actuators and that controls the movement of the actuators. The computer moves the actuators to vary the position of the seat assembly with respect to the base assembly.
    Type: Grant
    Filed: October 10, 2014
    Date of Patent: July 7, 2015
    Assignee: Max Mobility, LLC
    Inventor: Mark Richter
  • Patent number: 9032831
    Abstract: A modified delta linkage robot uses a reverse orientation arm linkage that includes an inwardly direct lower arm. This reverse arm orientation provides a number of advantages with respect to access over an extending surface such as may occur in a home, office or other environments shared with people. The delta linkage may also have application in certain factory environments, particularly when combined with an omni wheeled base. The linkage and the preferred linkage and omni wheeled base provide a stable movable platform. In addition this combination can advantageously include a number of sensors to take active steps to discourage and/or reduce the effect of sudden forces applied thereto.
    Type: Grant
    Filed: March 15, 2012
    Date of Patent: May 19, 2015
    Assignee: CrossWing Inc.
    Inventor: Stephen Sutherland
  • Patent number: 9022154
    Abstract: A one-man riding mobile apparatus includes a plurality of wheels, a board-shaped boarding base to which the wheels are attached, a motor that drives at least a part of the wheels and provided on the boarding base, a plurality of load sensors provided on the boarding base, a plurality of vibrators provided on the boarding base, and a control circuit that performs driving control of the motor and driving control of the vibrators. The control circuit is provided on the boarding base and includes a center-of-gravity position detecting section that detects presence of weighting and a center-of-gravity position based on signals output from the load sensors, a motor driving control section that controls a driving operation of the motor depending on the presence of the weighting and the center-of-gravity position detected by the center-of-gravity position detecting section, and a vibrator driving control section.
    Type: Grant
    Filed: January 23, 2013
    Date of Patent: May 5, 2015
    Inventors: Kuniaki Sato, Yasunori Beppu, Sahoko Gohira, Kento Iino, Sho Iwata
  • Patent number: 9010465
    Abstract: Devices, systems, and methods for inspecting and objectively analyzing the condition of a roof are presented. A vehicle adapted for traversing and inspecting an irregular terrain includes a chassis having a bottom surface that defines a higher ground clearance at an intermediate location, thereby keeping the center of mass low when crossing roof peaks. In another embodiment, the drive tracks include a partially collapsible treads made of resilient foam. A system for inspecting a roof includes a lift system and a remote computer for analyzing data. Vehicles and systems may gather and analyze data, and generate revenue by providing data, analysis, and reports for a fee to interested parties.
    Type: Grant
    Filed: June 13, 2014
    Date of Patent: April 21, 2015
    Assignee: Tobor Technology, LLC
    Inventors: Michael D. Slawinski, Dennis L. Guthrie
  • Patent number: 9004200
    Abstract: A robot has a track assembly having tracks configured to move the robot in a first direction and a wheel assembly having wheels configured to move the robot in a second direction orthogonal to the first direction. A toggling assembly switches between the track assembly and the wheel assembly. The robot modules can mate with each other. The robot module has an elongated shaft with a head and a narrow neck. The shaft extends outward from the side of the robot module. A mating robot module has a clamping mechanism with opposing clamps which in an opened position receive the shaft. In a closed position, the clamps define an opening which matches and engages the cross-section of the neck of the elongated shaft. The clamping mechanism has a drive mode to drive the module, a clamping mode for docking, and neutral mode for alignment prior to clamping.
    Type: Grant
    Filed: September 8, 2012
    Date of Patent: April 14, 2015
    Inventors: Pinhas Ben-Tzvi, Paul Marie Moubarak
  • Patent number: 9004202
    Abstract: Spherical wheel that can be driven by a motor comprising a first body (1.1) and a second body (1.2) which are substantially hemispherical and are mounted coaxially to one another so as to pivot about a support axle (2), the bodies being separated by an interstice (3) into which there extends a shaft (6), said shaft having an end that is rigidly connected to the support axle and an opposite end that is connected to a drive motor, characterized in that at least one element (7, 17) extending at least one portion of the outer surface of the bodies extends into the interstice. Vehicle comprising a chassis that is supported by such wheels.
    Type: Grant
    Filed: October 5, 2012
    Date of Patent: April 14, 2015
    Assignee: Commissariat a l'Energie Atomique et aux Energies Alternatives
    Inventors: Alain Riwan, Alexandre Verney
  • Patent number: 9004201
    Abstract: A jumping robot is provided. In another aspect, a jumping robot weighs less than 50 grams, jumps at least 20 cm high and has a maximum linear dimension of 10 cm. A further aspect provides a robot that employs an electromagnetic actuator that actuates at least two of: jumping, steering, self-righting, and/or mid-air orientation control.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: April 14, 2015
    Assignee: Board of Trustees of Michigan State University
    Inventors: Ning Xi, Jianguo Zhao, Bingtuan Gao, Jing Xu, Matt Mutka, Li Xiao
  • Publication number: 20150090504
    Abstract: The invention relates to a climbing robot for masts/towers (1), in particular for wind turbines, comprising at least one first load-bearing device (5) and at least one second load-bearing device (6), wherein the distance between the load-bearing devices (5, 6) can be changed in the vertical direction by means of at least one linear drive (7, 8), and each load-bearing device (5, 6) comprises at least one clamping device (9, 10, 11) by means of which the respective load-bearing device (5, 6) can be clamped firmly on the mast/tower (1) and released from the mast/tower (1), in which at least some of the clamping devices (9, 10, 11), preferably each of the clamping devices (9, 10, 11), comprises at least one band element (9), which extends between two contact or fixing points (10, 11) arranged on the load-bearing device (5, 6) and can be placed in a flexible manner around a mast/tower (1) in the circumferential direction and against the circumferential surface of the latter and comprises at least one clamping driv
    Type: Application
    Filed: January 30, 2013
    Publication date: April 2, 2015
    Inventors: Mohsen Bagheri, Peter Dahmann
  • Patent number: 8994776
    Abstract: A telepresence robot uses a series of connectible modules and preferably includes a head module adapted to receive and cooperate with a third party telecommunication device that includes a display screen. The module design provides cost advantages with respect to shipping and storage while also allowing flexibility in robot configuration and specialized applications.
    Type: Grant
    Filed: November 14, 2011
    Date of Patent: March 31, 2015
    Assignee: CrossWing Inc.
    Inventors: Stephen Sutherland, Sam Coulombe, Dale Wick
  • Patent number: 8991527
    Abstract: A moving device to move across a surface including a motor rolling motion apparatus is disclosed. The moving device is coupled to the motor and has a body with an outer surface. A dense population of fibrils protrudes from the outer surface, with each fibril having a free-end termination configured to establish adhesion to the surface by inter-molecular Van der Waals forces.
    Type: Grant
    Filed: September 23, 2011
    Date of Patent: March 31, 2015
    Assignee: STMicroelectronics S.R.L.
    Inventors: Davide Giuseppe Patti, Daria Puccia
  • Patent number: 8985249
    Abstract: An inverted pendulum type vehicle having a tiltable rider mounting section includes a first travel operation unit and a second travel operation unit, which are disposed with an interval provided therebetween in the longitudinal direction and which are capable of traveling in all directions, and an operation device which outputs a turn command. In the case where the turn command is output from the operation device in a situation wherein at least the first travel operation unit is traveling in the longitudinal direction or at rest, the moving velocity of the ground contact point of the first travel operation unit and the moving velocity of the ground contact point of the second travel operation unit in the lateral direction of a rider are controlled to have velocities that are different from each other.
    Type: Grant
    Filed: November 15, 2012
    Date of Patent: March 24, 2015
    Assignee: Honda Motor Co., Ltd.
    Inventors: Shinya Shirokura, Hideo Murakami, Toru Takenaka
  • Patent number: 8978791
    Abstract: A vehicle forming a self-balancing human transporter, or “gyropode”, including a photovoltaic module to charge a battery electrically or to partially power an electric motor electrically from solar energy. The photovoltaic module includes a first portion which is fixed and extends along a standing and driving handle, and a second portion which is retractable between an extreme retracted position in which it allows the gyropode to be moved, and an extreme deployed position in which it acts as a stand for holding the gyropode when stopped with a determined inclination enabling optimum efficiency of the photovoltaic module to be obtained relative to a position of the sun.
    Type: Grant
    Filed: October 28, 2010
    Date of Patent: March 17, 2015
    Assignee: Commissariat à l'énergie atomique et aux énergies alternatives
    Inventors: Duy Long Ha, Olivier Wiss
  • Patent number: 8960339
    Abstract: A Mecanum wheel having a circular plate with a plurality of peripheral flanges formed thereon, the flanges having tab portions bent at an angle of less than 90° from said plate; a roller being mounted to and cantilevering off of each of said tab portions such that the axis of rotation of each roller is at corresponding angle of less than 90° from said plate. In some cases, the angles are approximately the same, being approximately 45°. By cantilevering the rollers, more space is available for use by machines using this Mecanum wheel design.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: February 24, 2015
    Assignee: Helical Robotics, LLC
    Inventors: Keith L. Schlee, Bruce A. Schlee
  • Patent number: 8944192
    Abstract: This invention relates generally to robotic systems and is specifically designed for a robotic system that can navigate vertical pipes within a waste tank or similar environment. The robotic system allows a process for sampling, cleaning, inspecting and removing waste around vertical pipes by supplying a robotic platform that uses the vertical pipes to support and navigate the platform above waste material contained in the tank.
    Type: Grant
    Filed: April 20, 2011
    Date of Patent: February 3, 2015
    Assignee: Savannah River Nuclear Solutions, LLC
    Inventors: Thomas A. Nance, Nick J. Vrettos, Daniel Krementz, Athneal D. Marzolf
  • Publication number: 20150021107
    Abstract: A spherical modular autonomous robotic traveler (SMART) is provided for autonomous robotic traveler (SMART) for delivering a payload along a surface from a first position to a second position. The SMART includes an outer spherical shell for rolling along the surface, an inner spherical chamber within the outer shell to carry the payload, a plurality of weight-shifters arranged in the inner chamber, and a controller to activate a select weight-shifter among the plurality. The weight-shifters can be arranged symmetrically or asymmetrically. The outer shell rolls in a direction that corresponds to the activated weight-shifter by torque induced thereby. The inner chamber maintains its orientation relative to the surface, even while the outer shell rolls along the surface. Each weight-shifter includes a channel containing an armature and an electromagnet activated by the controller. For the symmetrical arrangement, the channel is oriented from bottom periphery to lateral radial periphery of the inner chamber.
    Type: Application
    Filed: October 8, 2014
    Publication date: January 22, 2015
    Applicant: United States of America, as represented by the Secretary of the Navy
    Inventor: Gerhard W. Thielman
  • Patent number: 8925657
    Abstract: A transporter for transporting a load over a surface. The transporter includes a support platform for supporting the load. The support platform is characterized by a fore-aft axis, a lateral axis, and an orientation with respect to the surface, the orientation referred to as an attitude. At least one ground-contacting element is flexibly coupled to the support platform in such a manner that the attitude of the support platform is capable of variation. One or more ground-contacting elements are driven by a motorized drive arrangement. A sensor module generates a signal characterizing the attitude of the support platform. Based on the attitude, a controller commands the motorized drive arrangement.
    Type: Grant
    Filed: June 3, 2013
    Date of Patent: January 6, 2015
    Assignee: DEKA Products Limited Partnership
    Inventors: Dean Kamen, Richard Kurt Heinzmann, Robert R. Ambrogi
  • Patent number: 8915316
    Abstract: Vehicle traction module (1) comprising—a pair of runners ((11,12), (21,22), (42, 43)), side by side according to a first direction (X)—first moving means ((14, 17, 19), (24, 31, 28), (45,48,49)) suitable to generate an alternate and reciprocal approaching and departing of the runners along the first direction (X),—the pair of runners ((11,12), (21,22), (42, 43)), having a cylindrical symmetry shape wherein the respective axis of symmetry lie along the first direction (X),—second moving means ((15, 16, 18, 17), (30,26 31, 27), (40, 41) suitable to generate a rotation of the runners along the first direction (X).
    Type: Grant
    Filed: January 13, 2011
    Date of Patent: December 23, 2014
    Inventor: Osvaldo Falesiedi
  • Patent number: 8910731
    Abstract: In a material handling and stair climbing vehicle, when the vehicle is shifted from a state where the wheels with two axles are grounded on a travelling surface to a standing state achieved by the wheels with one axle, a main body portion is turned around support shafts with respect to supporting portions in the two-axle wheel grounded state. Then, an inertial force around the support shafts is generated by reducing the speed of turning of the main body portion with respect to the supporting portions. Then, the vehicle is shifted to the standing state achieved by the wheels with one axle by turning the supporting portions around the axles of the wheels with one axle, which are grounded on the travelling surface, by the inertial force.
    Type: Grant
    Filed: October 18, 2013
    Date of Patent: December 16, 2014
    Assignee: JTEKT Corporation
    Inventors: Takeshi Ueda, Genki Murata
  • Patent number: 8914139
    Abstract: A Robot includes a main body, a Portable device and a supporting structure. The supporting structure is disposed at the main body for detachably connecting the Portable device. The Portable device reads digital media data from the main body or the Portable device itself, and plays the digital media data as video. After the Portable device is detached from the supporting structure, the main body and the Portable device operate independently.
    Type: Grant
    Filed: May 7, 2012
    Date of Patent: December 16, 2014
    Assignee: Asustek Computer Inc.
    Inventors: Nilay C Badavne, Ming-Lu Lai, Tai-Ming Parng