Abstract: A method and system for a mobile configurable robot for use in a large workspace including a set of base fixtures located around a perimeter of the large workspace and a moving platform. Each base fixture and the moving platform is connected via a two-arm boom system whereby the two-arm boom system is controlled by a set of actuators.

Abstract: In a riding work vehicle, power of an engine is transmitted to a traveling wheel via a horizontally oriented transmission shaft and a vertically oriented transmission shaft. The traveling wheel is supported to be changeable in direction about a rotational axis of the vertically oriented transmission shaft. Each of the vertically oriented transmission shaft and a vertically oriented transmission case is provided as an inner/outer double structure expandable/contractible in association with sliding movement thereof. The vertically oriented transmission case is supported to be pivotable together with the traveling wheel. There is provided a vehicle height adjustment mechanism capable of switching, in a plurality of steps, a relative height of the traveling wheel relative to a vehicle body frame.

Abstract: New mobility components are provided that can enable a vehicle to traverse difficult terrain. In a particular aspect, vehicle leg components are provided that utilize unique degrees of freedom that can facilitate mobility. In a further aspect, vehicles are provided that contain such components.

Abstract: To provide a control device and a control method enabled to more simply execute initialization of a force sensor included in a legged walking robot. Provided is a control device including: a leg control unit that controls at least one or more legs of a legged walking robot including a plurality of legs, and stores a force sensor provided in each of the legs in a predetermined space in which the force sensor provided in each of the legs is in a non-contact state; and an initialization execution unit that performs initialization of the force sensor provided in each of the legs.

Abstract: The present invention relates to a support structure for a vehicle provided with a cargo crane having a crane base, said support structure comprising a support beam connectable to said crane base and a support leg, wherein a proximal end of said support leg is connected to said support beam at a pivoting point, such that, said support leg is pivotable around said pivoting point relative to said support beam.

Abstract: An automatically moving floor processing device has a housing and an adjusting lever that can be displaced relative to the housing for overcoming an obstacle, wherein the adjusting lever has a base body and a contact area for contacting the obstacle to be overcome, and wherein the adjusting lever is mounted so that it can eccentrically swivel on a wheel of the floor processing device on the one hand and on the housing on the other. In order to further optimize the process of overcoming obstacles, the contact area can be displaceable relative to the base body of the adjusting lever, specifically pivotably mounted on an axis of the base body.

Abstract: A method of operating a robot includes assuming a resting pose of the robot on a surface. 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 arm connected to 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 method also includes moving from the resting pose to a sitting pose by moving the counter-balance body relative to the inverted pendulum body away from the ground surface to position a center of mass of the robot substantially over the drive wheel. The method also includes moving from the sitting pose to a standing pose by altering a length of the at least one leg.

Abstract: A joint driving unit driving a joint of a robot arm includes a motor, a speed reducer transmitting rotation of the motor in a variable speed, an input side encoder detecting a rotation angle of a rotation shaft of the motor, and an output side encoder detecting a rotation angle of an output shaft of the speed reducer. When positioning the end effector at a working start position at which predetermined work is started, operation of the robot is set to an output based control mode in which an angle of a joint is feedback controlled based on an angle detection value from the output side encoder. When the robot performs the predetermined work, the operation of the robot is changed to an input based control mode in which the angle of the joint is feedback controlled based on an angle detection value from the input side encoder.

Abstract: A relocatable Managed Pressure Drilling system adapted to be operatively connected to an oil rig and comprising: a base; a tank secured to the base and adapted to contain gases used in Managed Pressure Drilling operations; optionally, a manifold secured to the base and operatively connected to the tank and adapted for use in Managed Pressure Drilling operations when connected to an oil rig; wherein said base is adapted to move from a first location to a second location on an oilfield without the use of a crane or picker.

Abstract: A joint of a robot comprises a servo motor, a speed reducer driven by the servo motor, and an output-side encoder for measuring a rotation angle of the output-side rotation shaft of the speed reducer, and the position/orientation of the robot is controlled by the joint. The present invention, which aims to be able to detect certainly and at a high speed the state of the speed reducer, is characterized by driving the joint via the speed reducer by rotating the servo motor, obtaining a resonance amplitude of the joint from the rotation angle obtained from the output-side encoder, and thus diagnosing the lifetime of the speed reducer according to the obtained resonance amplitude of the joint.

Abstract: A lifting jack assembly for use on a walking machine to raise it off the ground and preselect a steering direction before the walking machine is lowered onto the ground for travel therealong includes a hydraulic power-driven lift cylinder for actuating an extendable/retractable rod, wherein the lift cylinder is rotatable about its vertical axis. A roller assembly is provided with rollers mounted to the rod. A foot plate mounted below the roller assembly engages the rollers, and a power-driven shifter mechanism mounted on the foot plate and connected to the roller assembly shifts the roller assembly along the foot plate. A linkage assembly interconnects the lift cylinder to the foot plate. A steering mechanism rotates the lift cylinder about its vertical axis to impart rotation to the foot plate and the roller assembly to orient and fix the direction of travel of the walking machine in a preselected direction.

Abstract: The present invention is to provide an industrial robot, which is placed in vacuum for use, capable of efficiently cooling down hand- or arm-driving motors which are arranged inside the arm in air. The industrial robot is provided with a motor for rotating a second arm unit with respect to a first arm unit, a motor for rotating a hand with respect to the second arm unit, a reduction gear for reducing the rotation of the motor and transmitting it to the second arm unit, and a reduction gear for reducing the rotation of the motor and transmitting it to the hand; the hand and the arm are placed in vacuum. The reduction gears and are coaxially arranged so that the center of rotation of the second arm unit with respect to the first arm unit coincides with the axial centers of the reduction gears. The interior space of the hollow first arm unit is kept at atmospheric pressure in which the motors and the reduction gears are arranged.

Abstract: The invention relates to a vehicle which includes at least four wheels and a base. Said wheels are attached in pairs at the base via connections and form a bogie consisting of a pair of wheels. Said bogies are rotatably hinged onto the base such that the pivot point of the path of the wheels is not physically present and said pivot point is located under the rotational axis of the wheels when the bogie is horizontal. The rotation of a bogie is transmitted by a transmission means to the other bogie such that the slant of each bogie in relation to the base forms an angle of identical but opposite value.

Abstract: A joint driving unit driving a joint of a robot arm includes a motor, a speed reducer transmitting rotation of the motor in a variable speed, an input side encoder detecting a rotation angle of a rotation shaft of the motor, and an output side encoder detecting a rotation angle of an output shaft of the speed reducer. When positioning the end effector at a working start position at which predetermined work is started, operation of the robot is set to an output based control mode in which an angle of a joint is feedback controlled based on an angle detection value from the output side encoder. When the robot performs the predetermined work, the operation of the robot is changed to an input based control mode in which the angle of the joint is feedback controlled based on an angle detection value from the input side encoder.

Abstract: A vehicle drive unit and land vehicle comprising the drive unit are disclosed. Each drive unit comprises a pair of longitudinally aligned and longitudinally spaced apart ground wheels. The land vehicle comprises a pair of drive units on opposite sides thereof. The drive units comprise an electric motor for powering the pair of wheels and a gear drive assembly comprising structure for disengaging the electric motor from the ground wheels. The drive units may be remotely controllable, may be water-tight and may be floatable. The vehicle comprising the drive unit may be amphibious.

Abstract: A joint driving unit driving a joint of a robot arm includes a motor, a speed reducer transmitting rotation of the motor in a variable speed, an input side encoder detecting a rotation angle of a rotation shaft of the motor, and an output side encoder detecting a rotation angle of an output shaft of the speed reducer. When positioning the end effector at a working start position at which predetermined work is started, operation of the robot is set to an output based control mode in which an angle of a joint is feedback controlled based on an angle detection value from the output side encoder. When the robot performs the predetermined work, the operation of the robot is changed to an input based control mode in which the angle of the joint is feedback controlled based on an angle detection value from the input side encoder.

Abstract: Representative implementations of devices and techniques provide leveling for a vehicle, such as an overland vehicle. A leveling signal is received by a leveling arrangement coupled to the vehicle at a wheel position. The leveling arrangement rotates a rocker plate with respect to the body of the vehicle, changing a location of a wheel coupled to the rocker plate with respect to the body of the vehicle. In an aspect, the leveling signal is based on a first vehicle sensor signal representing a lateral tilt of the vehicle and/or a second vehicle sensor signal representing a pitch angle of the vehicle.

Abstract: Vehicles, systems, and methods for inspecting and analyzing the condition of a remote location such as a roof are presented. A vehicle adapted for traversing an irregular terrain may be supported by wheels, or tracks, having partially collapsible treads to help the vehicle maintain a lower center of mass. The bottom surface of the chassis may have a higher ground clearance at an intermediate location, relative to the front and rear ends, to help the vehicle maintain a lower center of mass when crossing ridges such as roof peaks. A vehicle for roof inspections may include a shingle lifter. A system for collecting and storing inspection data may include an onboard imaging system with multiple cameras and a control system with a wireless router, together with a remote tablet computer having a wireless transceiver, a user interface, and a display. Vehicles and systems may gather and analyze data, and generate revenue by providing data, analysis, and reports for a fee to interested parties.

Abstract: This mobile unit suppresses lateral vibration produced when the mobile unit passes over a step. A stabilizer according to the present invention predicts contact timing at which the mobile unit makes contact with a step, which may be a bump or pit, using sensor information or map information, shifts the center of gravity of the mobile unit laterally by controlling actuators, and shifts the center of gravity laterally for the next step after detecting that the mobile unit has passed over the previous step.

Abstract: A step climbing attachment suitable for attachment to a wheeled chair is described. The step climbing attachment includes a chassis for mounting one or more ground engaging units, a first and a second ground engaging unit mounted to the chassis, at least one of the first and second ground engaging units adapted to move relative to the other of the first or second ground engaging units and the chassis, the relative movement being between a ground engaging position and a step-engaging support position so that in use at least one of the first and/or second ground engaging units engages a step.

Abstract: Provided is an arm-wheel type vehicle including: a main body; an arm that is rotatably installed to the main body; a wheel connected to the arm; a first buffer device that is installed on the main body; and a second buffer device that is installed on the arm.

Abstract: The present invention relates to a transport device 1, comprising a load carrying body 10, at least one central walking element 80, 90, 100, a first side walking element 20 and a second side walking element 50, wherein the at least one central walking element 80, 90, 100 is arranged in-between the two side walking elements 20, 50 and the walking elements 20, 50, 80, 90, 100 are arranged at the load carrying body 10 in a manner to be capable of moving up and down with respect to the load carrying body 10, wherein the side walking elements 20, 50 can move up and down independently from the central walking element(s) 80, 90, 100 by means of vertical actuators 26, 56 and the walking elements 20, 50, 80, 90, 100 are arranged at the load carrying body 10 in a manner to be capable of moving back and forth in horizontal direction with respect to the load carrying body 10, wherein the walking elements 20, 50 can move back and forth independently from the central walking element(s) 80, 90, 100 by means of horizontal ac

Abstract: The stair-climbing apparatus has a series of articulating wheel sets extending below the platform. All of the wheel sets are vertically adjustable to negotiate stairways and similar changes of elevation. The lead wheel set is fixed longitudinally relative to the platform, while following wheel sets are longitudinally adjustable to adjust for the pitch or slope of different stairways. The apparatus uses sensors (e.g., mechanical, infrared, ultrasonic, etc.) to detect the presence of the stair risers and their height, control of the assembly being accomplished by a control circuit on board the machine. The wheel sets are raised and lowered independently of one another by pantograph mechanisms extending between the platform and the wheel sets. The horizontally adjustable wheel sets are positioned by a longitudinally disposed rack on the platform.

Abstract: A stair climbing wheel and vehicles are described. The stair climbing wheel has a rolling wheel and a plurality of deployable protrusions that allow the wheel to climb stairs. The deployable protrusions can be deployed from or retracted into the rolling wheel. In the retracted position, the stair climbing wheel functions as a traditional circular wheel. These stair climbing wheels can be incorporated on a wide variety of vehicles, such as hand trucks, wheelchairs, and personal transports to allow these vehicles to climb stairs.

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.

Abstract: A collaborative robotized system comprises: a mobile platform furnished with running device, with an electric motor propulsion assembly, and with a longitudinal mechanical linkage assembly comprising an articulation; an electrical power source; manual control device of the system; remote control device of the system; a computer assembly of at least one computer; hardware-incorporating device suitable for integrating sensors and effectors, and software-incorporating device suitable for integrating software elements; and management device for managing integrated sensorimotor behaviors, suitable for arbitrating implementations of several sensorimotor behaviors in parallel.

Abstract: A vehicle includes a chassis and a plurality of wheel assemblies articulated with the chassis, each of the plurality of wheel assemblies comprising a rotatable wheel spaced away from the chassis. A vehicle includes a chassis and an articulated suspension system mounted to the chassis. A method includes comprising articulating at least one of a plurality of wheel assemblies with a chassis, each of the wheel assemblies including a rotatable wheel spaced apart from the chassis. A vehicle includes a chassis and articulatable means for rolling the chassis along a path.

Abstract: 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.

Abstract: The stair-climbing apparatus has a series of articulating wheel sets extending below the platform. All of the wheel sets are vertically adjustable to negotiate stairways and similar changes of elevation. The lead wheel set is fixed longitudinally relative to the platform, while following wheel sets are longitudinally adjustable to adjust for the pitch or slope of different stairways. The apparatus uses sensors (e.g., mechanical, infrared, ultrasonic, etc.) to detect the presence of the stair risers and their height, control of the assembly being accomplished by a control circuit on board the machine. The wheel sets are raised and lowered independently of one another by pantograph mechanisms extending between the platform and the wheel sets. The horizontally adjustable wheel sets are positioned by a longitudinally disposed rack on the platform.

Abstract: A ground vehicle and a method for articulating a payload module for mobility assist are disclosed. The ground vehicle comprises a chassis; and a payload module capable of articulating relative to the chassis to assist the mobility of the ground vehicle. The method comprises articulating a payload module relative to a chassis.

Abstract: A car having a rotatable wheel, the car being able to run by rotating the wheel, the car having a leg used by the car for walking, and an attitude stabilization section for stabilizing an attitude of the car.

Abstract: The stair-climbing apparatus has a series of articulating wheel sets extending below the platform. All of the wheel sets are vertically adjustable to negotiate stairways and similar changes of elevation. The lead wheel set is fixed longitudinally relative to the platform, while following wheel sets are longitudinally adjustable to adjust for the pitch or slope of different stairways. The apparatus uses sensors (e.g., mechanical, infrared, ultrasonic, etc.) to detect the presence of the stair risers and their height, control of the assembly being accomplished by a control circuit on board the machine. The wheel sets are raised and lowered independently of one another by pantograph mechanisms extending between the platform and the wheel sets. The horizontally adjustable wheel sets are positioned by a longitudinally disposed rack on the platform.

Abstract: The present invention is an improved structure for robotic cleaner primarily comprising of a chassis with plurality of spherical casters fixed to the periphery of bottom deck, a dust collector mounted on the chassis, a lifting actuation mechanism mounted on the chassis that includes a lifting power supply at least to drive two parallel and extendable first swing arms and two parallel and extending second swing arms through a relevant linking device, a first gear train and a second gear train that can pivotally rotate in reverse direction, a drive wheel mounted at the moveable end of the two parallel and extending first swing arms each, a driven wheel mounted at the moveable end of the two parallel and extending second swing arms each, plural advancing power supplies mounted at the middle section of the first swing arms.

Abstract: A surface vehicle capable of overcoming obstacles is disclosed in which the vehicle accelerates vertically while having a horizontal velocity. The vehicle has a frame and at least three wheels attached to the frame to which a horizontal propulsion system is coupled. Further, a vertical propulsion system is coupled to the frame and the wheels. The vertical propulsion system is capable of providing a force to such wheels normal to the surface so that the vehicle separates from the surface. The vehicle has an electronic control unit coupled to the vertical propulsion system to automatically control its operation. Further, sensors are used to evaluate the characteristics of the surface that pertain to supporting a vertical acceleration/deceleration.

Abstract: 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.

Abstract: A mobile platform including a body, hybrid leg-wheels and driving mechanisms is provided. The hybrid leg-wheels are disposed around the body for carrying the body moving on a working surface. The driving mechanisms are disposed between the corresponding hybrid leg-wheels and the body. Each driving mechanism includes a driving axle connecting the corresponding hybrid leg-wheels and the body. Each driving mechanism provides the corresponding hybrid leg-wheel a rotational degree of freedom and a translational degree of freedom, wherein the rotational degree of freedom and the translational degree of freedom are driven independently. The rotational degree of freedom allows the hybrid leg-wheels rotating along an axis of the driving axle, and the translational degree of freedom allows the hybrid leg-wheels translating relative to the driving axle, wherein the rotational direction is substantially perpendicular to the translational direction.

Abstract: The present invention relates to a mobile robot having jump function. An exemplary mobile robot according to an embodiment of the present invention includes a robot body, a pair of wheels, a driving motor, a leaf spring, and a leaf spring control unit. The pair of wheels are rotatably connected to the robot body. The driving motor drives the pair of wheels so as to move the robot body. The leaf spring has a fixed end fixedly connected to the robot body and a free end disposed to face the fixed end in a state of being apart from the robot body. The leaf spring control unit applies force for bending the leaf spring such that the free end of the leaf spring is pulled toward the robot body and then removes the force applied to the leaf spring such that the leaf spring returns to an original state.

Abstract: Provided is a small mobile robot which moves back and forth and left and right while keeping its posture by two main wheels. The small mobile robot includes built-in auxiliary wheels to overcome topographical elevation differences. The auxiliary wheels of the small mobile robot are attached to a servomotor. The servomotor is driven by remote control, and the auxiliary wheel can be moved to the position required for operation. When the robot is in a normal state, the auxiliary wheels are retracted in the robot. When the robot meets a stepped topography, the auxiliary wheels are lowered out to contact a ground to support the main wheels going over the stepped topography. The small mobile robot includes a sensor for sensing obstacles and a control module to make a detour around obstacles while moving to a target point.

Abstract: Preliminary guidance data is determined for the vehicle during an evaluation time window. A vision module collects vision data from a vision module during the evaluation time window. Vision guidance data is determined from the collected vision data. A vision quality estimator estimates vision quality data for at least one of the vision data and the vision guidance data during the evaluation time window. The vision quality data is based on a regression path and density grid points. An adjuster adjusts the preliminary guidance data to a revised guidance data based on the vision guidance data such that the revised guidance data is registered with or generally coextensive with the vision guidance data, if the vision quality data exceeds a minimum threshold.

Abstract: The present invention relates to a wheel suspension for mounting on a frame (3) of a vehicle, which, in its direction of propulsion, is arranged to be able to scale an obstacle (7), the wheel suspension (1) comprises a link element (9) arranged rotatably about a rotation point (R), to which rotation point (R), via the frame (3), can be applied a force (Gx) for propulsion, the link element (9) comprises a first and a second wheel axle (11, 13), the second wheel axle (13) serves as a moment axis (X) about which the link element (9) tends to rotate when a force (F) is applied to the first wheel axle (11) in the direction opposite to the direction of travel. The link element (9) acts as a lever arm by virtue of the rotation point (R) being situated at a distance from an imaginary straight line (L) intersecting the first and the second wheel axle (11, 13) and in a plane transversely to the extent of the moment axis (X).

Abstract: Examples and implementations of various robotic mechanisms, devices, components, systems and techniques are provided, including multimodal robotic devices and systems. For example, a multimodal robot can be configured to autonomously reconfigure between two or more primary modes of operation. Such robots may be used in a wide range of applications, including reconnaissance, exploration, search and rescue, military, sports, personal assistance, education, and entertainment and toys. Described examples of multimodal robots can be wheeled robots that use two or more drive wheels to perform various motions and operations.

Abstract: 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.

Abstract: A vehicle for positioning a transportable and relocatable equipment having at least four walking assemblies attached to a frame, each walking assembly having a walking pad, a roller tread, a lift assembly connected to a central collar, a rotatable motion gear assembly disposed around the lift assembly, a motor for actuating the rotatable motion gear assembly, a pivoting collar disposed around the rod operated by a controlling means with a processor, a push pull traveling system for receiving fluid and extending a specified distance causing movement of the vehicle in a first direction, and enabling the walking assemblies to raise, reorient, lower, and travel in a second direction.

Abstract: A legged robot that can ensure a large step length while keeping the height of a body trunk at a low position without increasing a moment that is generated due to the gravitational force acting on the trunk and acting on roll joints of legs when standing on one leg is realized. In the legged robot, a pair of legs is connected so as to be able to rotate around a pitch axis (Y-axis) at lateral surfaces of a trunk. Thereby, it is possible to make the height H1 high while keeping the height of the trunk low. It is possible to ensure a large step length while keeping the height of the trunk at a low position. Legs have a structure in which roll joints are positioned below a bottom surface. Thereby, the length L1 in the pitch axis direction between the rotation axis C1 of these joints and the center of mass G of the trunk is limited. The moment acting on the roll joints of the grounding leg when standing on one leg is not increased.

Abstract: An automotive device for the inspection of internal spaces having ferromagnetic surfaces includes at least two magnetic wheels (3) or caterpillars, or at least two magnetic legs for the advancement of the device along the surfaces to be inspected. According to the invention, the device includes actively powered rotating arms (1) attached to a wheel (3), caterpillar, or leg of the device. Each rotating arm (1) has a length longer than the shortest distance between the point of attachment of the rotating arm to the device and the surface. When the device is in a position, where there is magnetic contact to the surface in two or more points and the device is no longer able to advance due to the strength of the magnetic forces, the rotating arms are brought into non-magnetic contact with the surface in order to create an air gap between the surface and the magnetic wheel and thus reduce the magnetic forces. The device is thereby enabled to overcome the magnetic forces and advance the device along the surface.

Abstract: Provided is a small mobile robot which moves back and forth and left and right while keeping its posture by two main wheels. The small mobile robot includes built-in auxiliary wheels to overcome topographical elevation differences. The auxiliary wheels of the small mobile robot are attached to a servomotor. The servomotor is driven by remote control, and the auxiliary wheel can be moved to the position required for operation. When the robot is in a normal state, the auxiliary wheels are retracted in the robot. When the robot meets a stepped topography, the auxiliary wheels are lowered out to contact a ground to support the main wheels going over the stepped topography. The small mobile robot includes a sensor for sensing obstacles and a control module to make a detour around obstacles while moving to a target point.

Abstract: A legged robot is provided whose trunk link is not prone to wobble in the front-back direction during walking. The legged robot is equipped with a trunk link and a pair of legs. Each leg has a pitch joint capable of rotating the connected links in a plane that intersects with a line extending in a lateral direction of the robot. Rotation centers of the pitch joints are located above a center of gravity of the trunk link. The legged robot walks mainly by swinging the legs backward and forward around such rotation centers. Hence, the trunk link wobbles mainly in the front-back direction around the rotation centers as the robot walks. Because the center of gravity of the trunk link is located below the rotation centers, the gravitational force acting on the trunk link acts in a direction to suppress swinging of the trunk link during walking. Due to this, the trunk link of the legged robot is not prone to wobble in the front-back direction during walking.

Abstract: A mobile platform including a body, hybrid leg-wheels and driving mechanisms is provided. The hybrid leg-wheels are disposed around the body for carrying the body moving on a working surface. The driving mechanisms are disposed between the corresponding hybrid leg-wheels and the body. Each driving mechanism includes a driving axle connecting the corresponding hybrid leg-wheels and the body. Each driving mechanism provides the corresponding hybrid leg-wheel a rotational degree of freedom and a translational degree of freedom, wherein the rotational degree of freedom and the translational degree of freedom are driven independently. The rotational degree of freedom allows the hybrid leg-wheels rotating along an axis of the driving axle, and the translational degree of freedom allows the hybrid leg-wheels translating relative to the driving axle, wherein the rotational direction is substantially perpendicular to the translational direction.

Abstract: Provided is a bridge inspection robot which is capable of climbing over an obstacle, the bridge inspection robot including: a climbing-over portion (110) which is extended to correspond to a gap distance between a flange (1 Ia) of a first girder (11) and a flange (12a) of a first girder (12) which are provided at the upper side of a pier (L) of a bridge (10) in which a robot main body (101) climbs up/down or avoids and climbs over an obstacle, when the robot main body (101) moves on the flange, for example, along a bridge inspection path; an obstacle detection portion (120) which detects the obstacle which exists on the flanges; a photographing altitude control portion (150) which detects an altitude change of an image photographing portion (130) according to height of the obstacle when the robot main body (101) climbs up/down or avoids and climbs over the obstacle, and adjusts a photographing height of the image photographing portion (130) so as to correspond to the altitude change, to thus have a z-axis coo

Abstract: A method for the locomotion of devices on opposite sides of a surface, one or more of which are mobile robots. Devices on opposing sides of the surface are coupled by an attractive force, which helps generate enough friction between said devices and the surface to allow devices to move across the surface.