Special Driving Device Patents (Class 180/7.1)
  • Patent number: 11510541
    Abstract: A robotic vacuum cleaner equipped with a holonomic drive that can drive in a given direction, e.g., north (assigned orientation), and move in a different direction, while maintaining its assigned orientation or that of any desired portion of the robot, such as an intake, or any other portion of the robot that is needed for a particular maneuver. The robotic vacuum cleaner includes a removable, chargeable battery system including a battery pack having batteries and a battery management system extending across all the batteries of the battery pack. A housing, including a top cover, surrounds the battery pack and the battery management system (BMS). The top cover extends over the BMS and includes a circuit board therein. A connector is at least partially connected to the BMS and extends through the housing. The connector is configured to transmit signals between the battery management system and the robotic vacuum cleaner.
    Type: Grant
    Filed: November 19, 2018
    Date of Patent: November 29, 2022
    Assignee: Tailos, Inc.
    Inventors: David Moroniti, Steve Supron, Steven Whitehead, Micah Green
  • Patent number: 11435100
    Abstract: A cooling and ventilation outlet is described, including a shell configured to connect to an HVAC duct and an inner body that may be securely attached within the shell such that air from the HVAC duct passes through the inner body. The inner body may include: a directable air output nozzle, a first actuator configured to control a direction of the nozzle, an adjustable damper, a second actuator configured to control airflow through the inner body by actuating the adjustable damper, an indicator that may include at least one controllable visual element, a pressure sensor configured for use in determining airflow through the inner body, and circuitry including a network interface. The circuitry is configured to accept commands over a network, to accept readings from the pressure sensor, and to control the first actuator, the second actuator, and the indicator.
    Type: Grant
    Filed: July 8, 2020
    Date of Patent: September 6, 2022
    Assignee: NUMA Products, LLC
    Inventors: Robert Senia, Gabriel Peschiera, Dean DiPietro
  • Patent number: 11358047
    Abstract: The disclosure relates to a skateboard and control method thereof. A skateboard deck is fixed on an axle of the skateboard, and a first sensor group and a second sensor group are sequentially arranged on the skateboard deck in a width direction. The method includes acquiring a first pressure value of the first sensor group and a second pressure value of the second sensor group; controlling the skateboard to turn to a first direction when the first pressure value is greater than the second pressure value and a difference value between the first pressure value and the second pressure value is greater than a first threshold, and controlling the skateboard to turn to a second direction when the second pressure value is greater than the first pressure value and a difference value between the second pressure value and the first pressure value is greater than a second threshold.
    Type: Grant
    Filed: May 22, 2019
    Date of Patent: June 14, 2022
    Assignee: Beijing Xiaomi Mobile Software Co., Ltd.
    Inventors: Liang Cheng, Yongfeng Xia
  • Patent number: 11253418
    Abstract: An omnidirectional wheel is provided. The omnidirectional wheel includes a support unit, a major wheel, a first minor wheel and a second minor wheel. The major wheel is annular and is rotatably disposed on the support unit. The first minor wheel is rotatably disposed on the support unit. The first minor wheel is disposed on one side of the major wheel. The second minor wheel is rotatably disposed on the support unit. The second minor wheel is disposed on the other side of the major wheel. The omnidirectional wheel can easily roll over an obstacle when the omnidirectional wheel rolls laterally or forward.
    Type: Grant
    Filed: April 15, 2020
    Date of Patent: February 22, 2022
    Assignee: WISTRON CORP.
    Inventors: Chen Yi Liang, Cheng Hsing Liu, Chien-Wei Chen
  • Patent number: 11173079
    Abstract: A modular power base for a wheelchair, the modular power base includes a leg module. The leg module includes an upper leg portion comprising a distal end and a proximal end. The proximal end is configured to be detachably and rotatably coupled to a seat portion of the wheelchair. The leg module also includes a lower leg portion having a first end and a second end, the first end of the lower leg portion being rotatably coupled to the distal end of the upper leg portion. The leg module also includes a first wheel rotatably coupled to the distal end of the upper leg portion and to the first end of the lower leg portion and a second wheel rotatably coupled to the second end of the lower leg portion.
    Type: Grant
    Filed: September 17, 2018
    Date of Patent: November 16, 2021
    Assignee: Toyota Motor North America, Inc.
    Inventor: Douglas A. Moore
  • Patent number: 11166783
    Abstract: The invention involves a system and method for controlling the movements of a multi-axis robot to perform a surgery at least on the spinal area of a human in vivo. The system includes controls and software coding to cause the robot to move in desired patterns to complete the surgery, which may include bone, disc and tissue removal, and may also include insertion of hardware for fusing adjacent bony structures.
    Type: Grant
    Filed: November 6, 2019
    Date of Patent: November 9, 2021
    Inventor: Peter L. Bono
  • Patent number: 11157020
    Abstract: An omnidirectional moving device is provided with a vehicle chassis, a vehicle body, a universal coupling, and an attitude stabilizing system. In the vehicle chassis, a plurality of wheels that are capable of moving omnidirectionally are provided. The vehicle body is mounted on the vehicle chassis. The universal coupling connects the vehicle chassis to the vehicle body, and the attitude of the vehicle body relative to the vehicle chassis can be changed via this universal coupling. The attitude stabilizing system causes the vehicle chassis to move in a direction that corresponds to a change in the attitude of the vehicle body, and maintains the attitude stability of the vehicle body.
    Type: Grant
    Filed: May 14, 2018
    Date of Patent: October 26, 2021
    Assignee: Public University Corporation Suwa University of Science Foundation
    Inventor: Tasuku Hoshino
  • Patent number: 11103322
    Abstract: Plurality of robot main bodies a remote control device including contactless action detecting part configured to detect contactless action including at least one given operation instructing action by operator, and control device communicably connected to remote control device and configured to control operations of plurality of robot main bodies, are provided.
    Type: Grant
    Filed: May 27, 2016
    Date of Patent: August 31, 2021
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko Hashimoto, Masayuki Kamon
  • Patent number: 11072247
    Abstract: A mobility device that can accommodate speed sensitive steering, adaptive speed control, a wide weight range of users, an abrupt change in weight, traction control, active stabilization that can affect the acceleration range of the mobility device and minimize back falls, and enhanced redundancy that can affect the reliability and safety of the mobility device.
    Type: Grant
    Filed: August 7, 2020
    Date of Patent: July 27, 2021
    Inventors: Stewart M. Coulter, Brian G. Gray, Dirk A. van der Merwe, Susan D. Dastous, Daniel F. Pawlowski
  • Patent number: 11046373
    Abstract: Providing a movement control means for detecting a collision between a driving wheel and a step and a catch of a driven wheel by the step and temporarily changing a gravity center control region of a mobile device and moving the mobile device to pass over the step, and a mobile device including the same in order to prevent immovability under an environment having a step or an irregularity.
    Type: Grant
    Filed: September 14, 2017
    Date of Patent: June 29, 2021
    Assignee: Hitachi, Ltd.
    Inventors: Akihiro Yamamoto, Ryosuke Nakamura, Ryoko Ichinose
  • Patent number: 10926160
    Abstract: Skating device (1) provided with a plurality of wheels (2a, 2b, 2c, 2d), comprising: an electric motor (3) operatively coupled with at least one wheel (2a) of said plurality of wheels; at least one acceleration sensor (4) operatively coupled with at least one wheel (2a) of said plurality of wheels (2a, 2b, 2c, 2d); at least one speed sensor operatively coupled with at least one wheel (2a) of said plurality of wheels (2a, 2b, 2c, 2d); and at least one control unity adapted to actuate the operations of said electric motor (3) at least when said acceleration sensor (4) detects positive acceleration of said at least one wheel (2a), wherein the amount of electric power supplied by said electric motor to said at least one wheel (2a) is calculated according to the speed measured by said at least one speed sensor (5), at least when said acceleration sensor (4) detects said positive acceleration.
    Type: Grant
    Filed: December 14, 2018
    Date of Patent: February 23, 2021
    Assignee: MOHAWKNEE S.R.L.
    Inventor: Nicola Micacchi
  • Patent number: 10889312
    Abstract: A method of operating a payload-carrying vehicle having two laterally disposed wheels positioned along a central axis is described. The method includes measuring a force applied by a user to the hand truck, where the measured force comprising a direction and a magnitude, and providing torque to each wheel to cause each wheel to rotate in a respective direction as a function of the measured magnitude and direction. The amount of torque provided to each wheel in response to the force from the user is such that the magnitude of measured force applied by the user is not greater than a predetermined threshold value.
    Type: Grant
    Filed: December 20, 2017
    Date of Patent: January 12, 2021
    Assignee: Segway, Inc.
    Inventors: Michael J. Casey, Kimberley A. St. Louis, Nicholas A. DeAngelis, Benjamin C. Minerd, Robert M. Bowman, Jason A. Swift
  • Patent number: 10870359
    Abstract: An auto-balancing transportation device having first and second wheels that are independently drivable. The device includes foot platforms, a control circuit and sensors. Device control is preferably achieved through the position or weight distribution of a rider's feet. The wheels may be arranged in parallel or non-parallel and the foot platforms may be located on the interior are exterior side of the wheels. The wheels may be coupled to one another in a manner that affords tilting, thereby increasing stability when executing a turn, among other benefits. Various embodiments and features are disclosed.
    Type: Grant
    Filed: February 22, 2018
    Date of Patent: December 22, 2020
    Inventor: Shane Chen
  • Patent number: 10829010
    Abstract: A vehicle seat includes a cushion, a seatback connected to the cushion and a track arrangement. The track arrangement includes a curved fixed track and a flexible track follower that is moveable along the curved fixed track between a full slouch and a full upright position. The curved fixed track is connected to a vehicle seat support base and the moveable track is connected to the cushion.
    Type: Grant
    Filed: November 20, 2018
    Date of Patent: November 10, 2020
    Assignee: Adient Engineering and IP GmbH
    Inventors: Michael Kapusky, Eric Michalak, Nathan Caruss, Jennifer Carlson, Brent Burton, Alexander Saveski
  • Patent number: 10800049
    Abstract: A method of maneuvering a robot includes driving the robot across a surface and turning the robot by shifting a center of mass of the robot toward a turn direction, thereby leaning the robot into the turning direction. The robot includes an inverted pendulum body, a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one leg prismatically coupled to the inverted pendulum body, and a drive wheel rotatably coupled to the at least one leg. The inverted pendulum body has first and second end portions and defines a forward drive direction. The method also includes turning the robot by at least one of moving the counter-balance body relative to the inverted pendulum body or altering a height of the at least one leg with respect to the surface.
    Type: Grant
    Filed: February 22, 2018
    Date of Patent: October 13, 2020
    Assignee: Boston Dynamics, Inc.
    Inventors: Neil Neville, Shervin Talebinejad
  • Patent number: 10802508
    Abstract: A robot includes an inverted pendulum body having first and second end portions, a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one leg having first and second ends, and a drive wheel rotatably coupled to the second end of the at least one leg. The first end of the at least one leg is prismatically coupled to the second end portion of the inverted pendulum body.
    Type: Grant
    Filed: February 22, 2018
    Date of Patent: October 13, 2020
    Assignee: Boston Dynamics, Inc.
    Inventors: John Aaron Saunders, Kevin Blankespoor, Steven D. Potter
  • Patent number: 10752243
    Abstract: A mobility device that can accommodate speed sensitive steering, adaptive speed control, a wide weight range of users, an abrupt change in weight, traction control, active stabilization that can affect the acceleration range of the mobility device and minimize back falls, and enhanced redundancy that can affect the reliability and safety of the mobility device.
    Type: Grant
    Filed: November 26, 2018
    Date of Patent: August 25, 2020
    Assignee: DEKA Products Limited Partnership
    Inventors: Stewart M. Coulter, Brian G. Gray, Dirk A. van der Merwe, Susan D. Dastous, Daniel F. Pawlowski
  • Patent number: 10723403
    Abstract: A scooter front end and a scooter device incorporating the front end. The front end may be releasably coupled to an auto-balancing drive wheel unit such as a Solowheel or Iota device. The scooter front end may serve as a training aid, or allow faster speeds or the carrying of goods, etc. The front end may include an ascending control structure that is used to steer the device. A support frame may extend rearwardly from a steerable wheel and provide a mechanism for releasable coupling to the auto-balancing drive wheel unit. Various embodiments for the scooter front end and drive wheel units are disclosed.
    Type: Grant
    Filed: March 5, 2018
    Date of Patent: July 28, 2020
    Inventor: Shane Chen
  • 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: 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: 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: 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