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: A legged robot subjected to a force is controlled by determining an instantaneous capture point where the robot will step with a swing leg to reach a balanced home position, the balanced home position being a state in which the Center of Mass remains substantially over the Center of Pressure and the robot is able to maintain its balance indefinitely. The capture point can be determined using a Linear Inverted Pendulum Plus Flywheel (LIPPF) model of the robot. The LIPPF model includes a flywheel with a mass and a rotational inertia, and a variable length leg link. A torque profile is applied to the flywheel and a set of capture points is determined based on this torque profile An experimentally determined error value can be added to a capture point that is determined based on the model to account for differences between an actual robot and the model.

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.

Abstract: Disclosed is a legged locomotion robot which is structurally simple and is provided with a tiptoe portion in a foot at a low cost. The legged locomotion robot includes an upper body; two locomotive legs connected to the upper body through a joint; and a locomotive foot connected to a tip end of the leg through a joint; wherein the foot is provided with a foot sole serving as a ground contacting portion of the foot, a curved portion is formed at a predefined distance from a tip end of the foot sole, crossing the foot sole laterally, and the curved portion is configured to be thinner than a tiptoe portion of the foot sole.

Abstract: A supplementary support structure, which supports the body of a robot (1), comprises a contact component (7) which is disposed in a part near a joint (2c) on the distal end, having a hand (3) disposed thereon, of an arm (2) of the robot (1) so as to come into contact with a surface on which the robot (1) is supported, such as a floor surface, and a member which lies between the part having the contact component (7) disposed therein and the proximal end of the arm (2). Thus, the supplementary support structure can avoid an increase in the weight of the hand resulting from the support structure, thus eliminate an extra load on a driving system for the hand or the arm, and thus achieve the simplification and size reduction of the driving system. Moreover, the support structure can increase the degree of freedom of the shape or functional design of the hand and thus improve the functioning of the robot.

Abstract: A vehicle lateral-motion apparatus that, under the direction of a user, moves a vehicle to which it is mounted in a generally perpendicular direction to a vehicle axis that extends between the front and rear of the vehicle includes a vehicle lifting assembly for elevating the vehicle above a roadway and lowering the vehicle back to the roadway as directed by a user and lateral-motion assembly coupled to the lifting assembly for displacing the vehicle to one side or the other of the vehicle axis while the vehicle is elevated above the roadway.

Abstract: An ambulatory vehicle having legs and configured for transporting a load is disclosed. The ambulatory vehicle includes a load that is able to shift the center of gravity of the ambulatory vehicle along a transverse axis and a longitudinal axis of a beam assembly. Additionally, leg assemblies of the ambulatory vehicle are configured to exchange places along the length of the beam assembly. Further, the vehicle is able to perform a number of gaits including a slow stable gait and faster dynamic gaits comprising striding, trotting, and bounding. The ambulatory vehicle is able to navigate rough terrain and steep slopes and navigate submerged.

Abstract: The present invention provides an assistant apparatus for surmounting a barrier, which comprises a carrier body, an assistant mechanism, and a sensing/driving apparatus. The assistant mechanism, disposed at a side of the carrier body, having an assistant block disposed at the end thereof, functions to place the assistant block on the ground between the carrier body and the barrier so that the carrier body is capable of surmounting the barrier through the assistance of the assistant block. The sensing/driving apparatus, coupled to the assistant mechanism, functions to drive the assistant mechanism to generate the adjusting movement according to whether the barrier is detected or not. By means of the design of the present invention, the assistant block is adopted to reduce the height surmounted by the carrier each time so that the carrier is capable of surmounting the barrier section by section.

Abstract: A guided transport unit and methods of guiding the transport unit for moving a superstructure in precise angular movements over a surface are disclosed. The guided transport unit comprises a skid pad, a vertical displacing member engaged with the skid pad, a base operatively associated with the vertical displacing member, and a directional actuator. The base includes a planar element for engaging the surface over which the superstructure is transported, and a carrier for moving the vertical displacing member and skid pad relative to the surface. The directional actuator controls and secures the relationship among the vertical displacing member, the base, and the skid pad for positioning the base in a predetermined direction to engage the surface, setting the carrier to move each skid pad in a predetermined direction across the planar element of the base, and repositioning the base in another direction for movement of the guided transport unit.

Abstract: A bio-inspired device is provided designed to scale smooth vertical surfaces using anisotropic frictional materials. The device draws its inspiration from geckos and other climbing lizards and employs similar compliance and force control strategies to climb (or hang onto) smooth vertical surfaces including glass, tile and plastic panels. Foremost among the design features embodied in the device are multiple levels of compliance, at length scales ranging from centimeters to micrometers, to allow the device to conform to surfaces and maintain large real areas of contact so that adhesive forces can support it. Structures within the feet ensure even stress distributions over each toe and facilitate engagement and disengagement of the adhesive materials. A force control strategy works in conjunction with the anisotropic adhesive materials to obtain sufficient levels of friction and adhesion for climbing with low attachment and detachment forces.

Abstract: A leg type mobile robot includes a foot joined to a distal end of a leg through a second joint. The foot includes a foot flat portion having a ground contact end of the foot, a movable portion joined to the second joint and configured to be movable in a first direction with respect to the foot flat portion, a shock absorber comprising first and second end portions allowed to move closer to or away from each other in a second direction, the first end portion of the shock absorber being joined to a first point of the movable portion, and a motion direction conversion mechanism configured to convert a motion of the movable portion in the first direction to a motion of the second end portion of the shock absorber in the second direction with respect to the first point of the movable portion.

Abstract: A system for positioning a transportable and relocatable equipment having at least four walking assemblies attached to transportable and relocatable equipment each walking assembly has a walking pad, roller tread for rolling the roller bearing surface, a lift assembly connected to the central collar, a rotatable motion gear assembly disposed around the lifting 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 travelling system for receiving fluid and extending a specified distance causing movement of the equipment in a first direction, and enabling the walking assemblies to raise, reorient, lower, and travel of the transportable and relocatable heavy equipment in a second direction using the treads.

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: Provided is a foot structure for a humanoid robot capable of effectively keeping its balance in a pause state or action. The foot structure includes a support; a plurality of lower structures having an upper member connected to a bottom of the support; a plurality of lower members having a plurality of independent portions each movably connected to the upper member; and a revolute joint for coupling the upper member and the lower member. Since a contact between the foot structure and the floor is smoothly made, a shock is prevented from being transferred to a body of the humanoid robot. Also, a vibration generated when the humanoid robot steps on the floor is eliminated, so that the humanoid robot can pose a stable and smooth gate.

Abstract: A self-propelled mechanical crawler adapted to move on a medium. One example of such a crawler includes a foot, a wave generator adapted to drive a periodic wave in the foot, and a wave transfer mechanism coupled between the wave generator and the foot. The wave transfer mechanism may be adapted to translate the periodic wave produced by the wave generator into a corresponding periodic deformation in the foot so as to generate forces in the medium to propel the crawler.

Abstract: A legged ambulatory vehicle for transporting a load from a first location to a second location is disclosed. The ambulatory vehicle comprises a load that is able to shift the center of gravity of the ambulatory vehicle along a length of a beam assembly. Additionally, the leg assemblies of the ambulatory vehicle are configured to exchange places along the length of the beam assembly. Further, the vehicle is able to perform a number of gaits including a slow stable gait and faster dynamic gaits comprising striding, trotting, and bounding. The ambulatory vehicle is able to navigate rough terrain and steep slopes and navigate submerged.

Abstract: The legged mobile robot the foot comprises a foot main body connected to each leg, a toe provided at a fore end of the foot main body to be bendable with respect to the foot main body, and a bending angle holder capable of holding a bending angle of the toe in a bendable range of the toe. In addition, a legged mobile robot control system is configured to hold the bending angle of the toe at a first time point which is a liftoff time of the leg from a floor or earlier thereof, and to release the bending angle at a second time point after the leg has lifted off the floor to restore the toe to a initial position. With this, the bending angle at the time of liftoff can continue to be held after liftoff, whereby the robot can be prevented from becoming unstable owing to the toe contacting the floor immediately after liftoff. In addition, stability during tiptoe standing can be enhanced.

Abstract: A lifting and steering assembly for permitting a vehicle to be turned in a small area. The lifting and steering assembly includes at least one turning assembly for being coupled to the vehicle. The turning assembly comprises a shaft member is selectively extended from the vehicle whereby the turning assembly selectively engages the support surface to lift a portion of the vehicle off of the support surface. The turning assembly comprises an engaging means for engaging the support surface when shaft member of the turning assembly is extended from the vehicle. The engaging means is coupled to the shaft member. The engaging means is for advancing along the support surface to rotate the portion of the vehicle lifted off the support surface around a portion of the vehicle still in contact with the support surface.

Abstract: In a legged mobile robot, each hip joint that connects a body with a thigh link comprises a first rotary shaft that provides a degree of freedom to rotate about a yaw axis, a second rotary shaft that provides a degree of freedom to rotate about a roll axis, and a third rotary shaft that provides a degree of freedom to rotate about a pitch axis, and in addition thereto, a fourth rotary shaft that provides a redundant degree of freedom. Owing to this configuration, the amount of body bending and the movable range of the legs can be increased, thereby improving the degree of posture and gait freedom.

Abstract: A mobile robot having wheels which maintain contact forces against a surface even when the mobile robot meets an obstacle on the surface and a body of the mobile robot is forced up against the obstacle. The mobile robot easily surmounts the obstacle on the surface, without requiring any sensors, any specific controller, any specific traveling unit to surmount over the obstacle, or any specific drive unit to drive the specific traveling unit. The mobile robot includes the body, the wheels connected with the body which move arcuately relative to the body, and a wheel guide unit coupled at a first end to the body and at a second end to a hub of each of the wheels. The wheel guide unit is contracted when the body is spaced apart from the surface on which the robot moves. However, the wheel guide unit expands to allow the wheel to be in contact with the surface when the body comes into contact with the surface.

Abstract: The invention relates to an actuator which is characterized in that the kinematic connection between the motor and the working element of the robot comprises a mobile link which is pivot fixed to the base of the actuator, a runner which is mounted to the mobile link and which may slide radially along the length thereof and a lever arm which is kinematically connected to the motor and which is hinge-connected to the runner by means of a pin. In this way, the rotation axes of the mobile link, the lever arm and the pin are parallel and said mobile link is kinematically connected to the working element. The distance between the lines that run alongside the rotation axis of the mobile link and the rotation axis of the lever arm may be greater or smaller than the length of the lever arm.

Abstract: A manipulator for servicing tubes extending through a tube sheet having three major components: a base member, a block member, and a foot member. The base member has a holder for supporting tooling or inspection devices. The base member also has at least one gripper for releasably gripping a tube extending through the tube sheet. The block member is connected to the base member for linear movement and rotation relative to the base member. The foot member is connected to the block member for linear movement relative to the block member. The foot member has at least one, and preferably two grippers, for releasably gripping a tube extending through the tube sheet. The manipulator supports itself using the two sets of expandable and translatable grippers that anchor into the tube ends and can move from tube to tube by alternately engaging each set of grippers.

Abstract: Provided is an anthropomorphic robot having two legs and which is capable of walking upright. Each of the two legs has a foot which comprises an upper plate on which an ankle joint is installed and which is similar to a foot of a human, and a lower plate attached to a lower surface of the upper plate and having a plurality of contact portions which contact a ground and which are separated from one another.

Abstract: In a robot having at least one rotating joint (which may have at least two degrees of freedom), in order to perform a high-speed switching operation between a closed link mode and an open link mode with the outside world or a working object, each limb is provided with minimum-required, passive degrees-of-freedom (such as a backlash of a reducer) for removing a dynamic closing error and also the movable range of the limb is properly controlled. Even when an actuator for driving the corresponding joint has no means for obtaining a torque signal, a high-speed switching operation between the closed link mode and the open link mode can be stably achieved.

Abstract: The present invention relates to novel, highly mobile small robots called “Mini-WHEGS™” that can run and jump. They are derived from our larger WHEGS™(“wheel-like lecis”) series of robots, which benefit from abstracted cockroach locomotion principles. Part of their success is derived from the three spoked appendages, called “WHEGS™”, which combine the speed and simplicity of wheels with the climbing mobility of legs. To be more compact than the larger WHEGS™ vehicles, Mini-WHEGS™ uses four wheel-like legs in an alternating diagonal gait. These 9 cm long robots can run at sustained speeds of over 10 body lengths per second and climb obstacles that are taller than their leg length. They can run forward and backward, on either side. Their robust construction allows them to tumble down a flight of stairs with no damage and carry a payload equal to twice their weight. A jumping mechanism enables Mini-WHEGS™ to surmount much larger obstacles such as stair steps.

Abstract: The invention contemplates a selectably operable hydraulic means for laterally shifting one end of a non-moving vehicle in order to provide a desired alignment. The present invention is particularly applicable to vehicle-mounted equipment which has an invariant lateral mounting position on the vehicle and which must be laterally aligned with a stationary workpiece axis. An example of such a need occurs with mobile workover rigs used in well maintenance.

Abstract: An assist device is provided with a spring device that generates an auxiliary driving force, by an elastic energy, acting on a joint of a leg. The spring device includes a gas spring having a cylinder and a piston. Bending/stretching motion between link members and at the joint is transmitted to the spring device through a motion transmission device that includes a link arm. The spring device is provided so that the auxiliary driving force increases as a knee bending angle ? increases until the knee bending angle ? reaches a predetermined angle, and so that, once the knee bending angle ? exceeds the predetermined angle, the auxiliary driving force becomes smaller than or equal to the driving force obtaining at the predetermined angle, effectively reducing a burden on an actuator of the legged mobile robot joint.

Abstract: In a legged mobile robot (10) having a motor (42) that rotates the ankle joint (26R (26L)) about a right-and-left axis of the robot (26RY (26LY)) and a speed reducer (58) that reduces speed of an output of the motor, wherein the motor is disposed at a same position as the knee joint (22R (22L)) or at the thigh link (16R (16L)) such that the speed reducer is disposed at the shank link. With this, it becomes possible to reduce the weight of the distal end of the leg (12R (12L)) can be reduced, whereby enabling to reduce the inertial force generated in the leg during movement or locomotion of the robot.

Abstract: In order to suitably intercommunicate an output signal from a sensor arranged outside an actuator with a higher-order control system, an output from a contact sensor at an arbitrary position on a robot is entered to a nearest actuator device in that a wiring route is the shortest (or joint driving is not interfered therewith). Then, in the actuator device, the output of the outside sensor is processed to remove noise and sensor information is computed, and the processed results are bus-transmitted to the higher-order control system together with a drive-control signal of the actuator and sensor information from sensors housed in the actuator.

Abstract: A vehicle that is propelled by as few as one actuator through a compliant drive train can move quickly on relatively smooth terrain and can climb obstacles. The body of the vehicle may consist of a single segment or multiple segments connected by articulating joints. The driving appendages can take different forms including legs or specialized legs with multiple spokes attached to a rotating hub. The driving appendages can be propelled by as few as one actuator. The driving appendages are each serially connected to their actuator(s) by a compliant device. The compliant devices permit relative motion between driving appendages that share the same actuator. A springably biased compliant device maintains nominal-desired phasing among driving appendages until one of them is forcibly perturbed. The phasing of the driving appendages, or gait, adapts to the terrain. Mechanical stops limit the excursion of the compliant device such that a new desirable leg phasing is reached for climbing large obstacles.

Abstract: Apparatus for printing, scanning engraving or cutting a flat horizontal surface, particularly when the surface is of non-standard dimensions or is supplied in an non-standard manner. The apparatus is suitable for following outside electromechanically commanded instruction and contains an instrument for printing, scanning, engraving or cutting in a stepwise manner by being accurately raised and lowered to the surface and a component for treating the surface.

Abstract: An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of articulating propulsion members. This plurality of propulsion members cooperate in a worm-like or alternating tripod gait to provide forward propulsion wherever a propulsion member is in contact with any feature of the environment, regardless of how many or which ones of the plurality of propulsion members make contact with such environmental feature.

Abstract: The present invention provides a means for limiting the hip and elbow movement in a reciprocating leg so as to simulate the gait of a walking animal. This is accomplished through the use of one or more arcuate guides which control the hip and elbow movement of the reciprocating leg.

Abstract: An apparatus that can return a payload to a known orientation after unknown motion, without requiring external power or complex mechanical systems. The apparatus comprises a faceted cage that causes the system to rest in a stable position and orientation after arbitrary motion. A gimbal is mounted with the faceted cage and holds the payload, allowing the payload to move relative to the stable faceted cage. The payload is thereby placed in a known orientation by the interaction of gravity with the geometry of the faceted cage, the mass of the system, and the motion of the payload and gimbal. No additional energy, control, or mechanical actuation is required. The apparatus is suitable for use in applications requiring positioning of a payload to a known orientation after arbitrary or uncontrolled motion, including remote sensing and mobile robot applications.

Abstract: A gyroscopic motion device constructed for relative motion over an external support structure. The device includes a frame structure configured to support a pair of spaced apart gyroscopes. The device also includes a substructure operatively interposed the pair of gyroscopes which initiates a precessing effect, which results in a change in the angular disposition of the axes of rotation of the gyroscopes to cause the device to move relative to the external support structure.

Abstract: The invention provides a walking device which stimulates a gait of a legged animal. The device includes a frame with spaced axial mounts, a leg, axially connected upper and lower rocker arms which limit reciprocating leg motion. The leg is driven by a connecting arm powered by a rotating crank. The position and configuration of the axial connecting sites establish a prescribed orbital path that the foot undertakes with each revolution of the crank. Both rocker arms and the crank are axially mounted to the frame. The leg has a hip joint axially connected to the upper rocker arm for limiting hip motion, a foot and a knee joint axially connected to the connecting arm. The connecting arm has three axial connecting sites, one for connecting to the knee, another to the crank, and a third connecting site defined as a centrally disposed elbow joint connecting site which connects onto the lower rocker arm and limits knee joint motion.

Abstract: The present invention provides a hopping robot that includes a misfire tolerant linear actuator suitable for long trips, low energy steering and control, reliable low energy righting, miniature low energy fuel control. The present invention provides a robot with hopping mobility, capable of traversing obstacles significant in size relative to the robot and capable of operation on unpredictable terrain over long range. The present invention further provides a hopping robot with misfire-tolerant combustion actuation, and with combustion actuation suitable for use in oxygen-poor environments.

Abstract: A simply-designed, multi-purpose transport module with which heavy loads can be moved over the ground has the following features: a frame, on which the load is laid, is positioned on the floor. A support is positioned on the floor. The ground loading pressure of the frame, on an increase of the ground pressure loading of the support, and the ground pressure loading of the support, on an increase of the ground pressure loading of the frame, can be reduced to below the unloaded weight through an actuator of the frame or of the support. The frame and the support have a first pair of inclined paths through which the frame can be supported on the support and the frame is displaceable horizontally with respect to the support on achieving a sufficient reduction of its ground pressure loading.