Abstract: A mechanical leg comprises a frame, a retractable member, a wheel, an extension and retraction driving member, a travel driving member, an auxiliary leg, and an auxiliary wheel. The extension and retraction driving member is located on a side of the frame. The retractable member is connected to the extension and retraction driving member. The wheel is connected to the retractable member. The wheel is further connected to the travel driving member. A first end of the auxiliary leg is connected to the auxiliary wheel, and a second end of the auxiliary leg is located on the frame. The retractable member extends under the driving of the extension and retraction driving member to drive the wheel to jump. The wheel is driven by the travel driving member to move. When the auxiliary wheel contacts the ground, the mechanical leg moves with the rolling of the wheel and the auxiliary wheel.

Abstract: A mobile robot includes a robot chassis having a forward end, a rearward end and a center of gravity. The robot includes a driven support surface to propel the robot and first articulated arm rotatable about an axis located rearward of the center of gravity of the robot chassis. The arm is pivotable to trail the robot, rotate in a first direction to raise the rearward end of the robot chassis while the driven support surface propels the chassis forward in surmounting an obstacle, and to rotate in a second opposite direction to extend forward beyond the center of gravity of the robot chassis to raise the forward end of the robot chassis and invert the robot endwise.

Abstract: Disclosed are a charger and a method of charging an electric vehicle. A main body of the charger includes a plurality of sub main bodies coupled to each other to transform its shape. The charger with the main body having a first shape moves toward the electric vehicle, and is then transformed to have a second shape. The first shape refers to a shape allowing the main body to be movable on a ground, and the second shape refers to a shape making the main body occupy a smaller surrounding area of the electric vehicle than the first shape. The electric vehicle is charged as connected to the charger having the second shape. The charger does not obstruct traffic of other vehicles because its size is reduced during charging.

Abstract: An electronic guide dog includes: a main frame, front drive wheels disposed on both sides of a front portion of the main frame, and rear drive wheels disposed on both sides of a rear portion of the main frame, wherein the front drive wheels and the rear drive wheels are connected to the main frame through front arms and rear arms, respectively; wherein the electronic guide dog further comprises: a head frame hinged to a front of a top end of the main frame, wherein a signal receiving board is provided on the head frame; a drive mechanism comprising a rear drive motor; a swivel obstacle avoidance mechanism comprising an infrared sensor provided on a front side of the main frame, a left front drive motor and a right front drive motor; an identification braking mechanism; a front arm swing mechanism; and an auxiliary support mechanism.

Abstract: An adaptable wheel has a central hub, radial segments connected to the central hub at a proximal end and extending radially from the central hub, each radial segment having a linear actuator configured to change a length of the radial segment; a shoe connected to a distal end of the radial segment for contacting a surface being traversed by the wheel; and a locking mechanism for selectively preventing linear motion of the linear actuator. A control system for an adaptable wheel includes a distance sensor on a vehicle for determining distance to a surface in the path of the vehicle and a computer for receiving distance information from the distance sensor and, responsive to the distance information, determine a desired length of a segment of an adaptable wheel for maintaining a hub of a wheel level, and provide control signals to a linear actuator of the segment.

Abstract: A compact ground robot includes a vehicle body, a forward pair of track assemblies mounted to the vehicle body, and a rearward pair of track assemblies mounted to the vehicle body. All the track assemblies are foldable underneath the vehicle body for compact transport of the robot. All the track assemblies unfold to a deployed position supporting the vehicle body for deployment of the robot. Each track assembly may include a drive sprocket, a flipper, and a tack about the sprocket and flipper.

Abstract: A mobile robotic device and a method for controlling the mobile robotic device to move are provided. The mobile robotic device includes: a body; a rotatable portion connected to the body and configured to support the body in a rotatable manner; and an operational portion which comprises at least two arms connected to the body and configured to support the body in a walkable manner. In operation, the mobile robotic device is switchable between a manipulation mode in which the rotatable portion supports the body in the rotatable manner and a locomotion mode in which the at least two arms support the body in the walkable manner.

Abstract: A pool cleaning robot for cleaning a pool that may include a filtering unit; a housing; an impeller; a pump motor for rotating the impeller; a drive system; and an interface for coupling an extraction element to the pool cleaning robot, during a pool exit process; and wherein during at least a part of the pool exit process an upper end of the interface is higher than the housing.

Abstract: The invention is directed to a stair-climbing remote control utility wagon. The wagon provides a forward chassis arm and a rear chassis arm which are interleaved with each other, providing a broad, stable base. The forward chassis arm terminates in a forward chassis, and the rear chassis arm terminates in a rear chassis. The forward chassis and the rear chassis provide powerful, battery-powered electric motors and caterpillar tracks. The forward chassis arm and rear chassis arm are fully articulated by servomotors, providing telescoping segments which may be extended and retracted with servomotors, and the motor housing of the forward chassis arm further provides infrared sensors, which are controlled by a microprocessor to enable the wagon to climb a flight of stairs. The forward chassis arm and rear chassis arm may also be used to elevate the bed of the wagon to any height, up to 48 inches.

Abstract: An adaptable wheel has a central hub, radial segments connected to the central hub at a proximal end and extending radially from the central hub, each radial segment having a linear actuator configured to change a length of the radial segment; a shoe connected to a distal end of the radial segment for contacting a surface being traversed by the wheel; and a locking mechanism for selectively preventing linear motion of the linear actuator. A control system for an adaptable wheel includes a distance sensor on a vehicle for determining distance to a surface in the path of the vehicle and a computer for receiving distance information from the distance sensor and, responsive to the distance information, determine a desired length of a segment of an adaptable wheel for maintaining a hub of a wheel level, and provide control signals to a linear actuator of the segment.

Abstract: A method of operating a mobile robot includes driving the robot according to a drive command issued by a remote operator control unit in communication with the robot, determining a driven path from an origin, and after experiencing a loss of communications with the operator control unit, determining an orientation of the robot. The method further includes executing a self-righting maneuver when the robot is oriented upside down. The self-righting maneuver includes rotating an appendage of the robot from a stowed position alongside a main body of the robot downward and away from the main body, raising and supporting the main body on the appendage, and then further rotating the appendage to drive the upright main body past a vertical position, causing the robot to fall over and thereby invert the main body.

Abstract: A wheel includes an outer wheel ring, a hub at least one support device supporting the outer wheel ring on the hub, and an adjustment device configured to adjust the hub relative to the outer wheel ring, wherein the support device has multiple support elements which extend between the hub and the wheel ring, and wherein the support elements are arranged three-dimensionally such that the hub can be adjusted in five degrees of freedom relative to the outer wheel ring.

Abstract: A modular submersible survey vehicle (“MSSV”) that includes a pair of continuous tracks, a chassis, a shell and a plurality of watertight modules. The MSSV can also include a mast with a mast topper, and a remote control device. A chassis is mounted on the pair of continuous tracks and covered by the shell on the sides and top but open on the bottom. The watertight modules are mounted on the chassis and contain mechanical devices and electronic components for locomotion, controlling movement of the MSSV, surveying and wireless communication. The mast topper can support a radio antenna, a global positioning antenna, a WiFi an antenna, a light and/or a camera. The remote control device is used to control the MSSV from a remote location. The shell is vented so that water freely passes into and out of the shell through the open bottom of the chassis.

Abstract: A system for extraction of a pool cleaning robot from a pool, the system may include a base for receiving the pool cleaning robot; and at least one out of (a) an interface device and (b) a pool cleaner electrical power cable winding drum; wherein the interfacing device comprises an interfacing device portion that extends beyond and below the base during a part of the extraction of the pool cleaning robot from the pool; and wherein the pool cleaner electrical power cable winding drum is configured to wind and unwind a power cable of the pool cleaning robot during the part of the extraction of the pool cleaning robot from the pool.

Abstract: A pool cleaning robot for cleaning a pool, comprising: a housing; and a drive system that is arranged to move the pool cleaning robot in relation to an environment of the pool cleaning robot; wherein the environment comprises the pool and an exterior surface; wherein the drive system comprises: a drive motor system; a group of interfacing modules; a transmission system that is arranged to couple the drive motor system to the group of interfacing modules; and an interface manipulator; wherein interfacing modules of the group are arranged to interface between the pool cleaning robot and the environment; wherein the interface manipulator is arranged to change a spatial relationship between (a) the housing and (b) a selected interfacing module of the group, during an exit process during which the pool cleaning robot exits the pool.

Abstract: An adaptable wheel has a central hub, radial segments connected to the central hub at a proximal end and extending radially from the central hub, each radial segment having a linear actuator configured to change a length of the radial segment; a shoe connected to a distal end of the radial segment for contacting a surface being traversed by the wheel; and a locking mechanism for selectively preventing linear motion of the linear actuator. A control system for an adaptable wheel includes a distance sensor on a vehicle for determining distance to a surface in the path of the vehicle and a computer for receiving distance information from the distance sensor and, responsive to the distance information, determine a desired length of a segment of an adaptable wheel for maintaining a hub of a wheel level, and provide control signals to a linear actuator of the segment.

Abstract: A system for extraction of a pool cleaning robot from a pool, the system may include a pool cleaning robot interface that is arranged to be coupled to a pool cleaning robot during an exit process during which the pool cleaning robot is extracted from the pool; and a pool cleaning robot manipulator that is coupled to the pool cleaning robot interface, wherein the pool cleaning robot manipulator is arranged to move the pool cleaning robot interface between a first and second portion; wherein when the pool cleaning robot interface is at the first position and is coupled to the pool cleaning robot, the pool cleaning robot is within the pool; wherein when the pool cleaning robot interface is at the second position and is coupled to the pool cleaning robot, the pool cleaning robot is positioned outside the pool.

Abstract: A method of operating a mobile robot includes driving the robot according to a drive command issued by a remote operator control unit in communication with the robot, determining a driven path from an origin, and after experiencing a loss of communications with the operator control unit, determining an orientation of the robot. The method further includes executing a self-righting maneuver when the robot is oriented upside down. The self-righting maneuver includes rotating an appendage of the robot from a stowed position alongside a main body of the robot downward and away from the main body, raising and supporting the main body on the appendage, and then further rotating the appendage to drive the upright main body past a vertical position, causing the robot to fall over and thereby invert the main body.

Abstract: An example robotic chassis may include a frame including a first side member and a second side member connected by a transverse member near respective first ends of first side member and the second side member. The robotic chassis may also include a rigid case having a mounting point for a tablet computer. The rigid case may be rotatably coupled between the side members near respective second ends of the side members. The robotic chassis may further include a first arm and a second arm having respective distal ends and respective proximal ends. Respective proximal ends of the first arm and the second arm may be rotatably coupled to the frame near opposite respective first ends of the first side member and the second side member. In addition, the robotic chassis may include a plurality of wheels rotatably coupled to the frame.

Abstract: Devices, systems, and methods for inspecting and objectively analyzing the condition of a roof are presented. A vehicle adapted for traversing and inspecting an irregular terrain includes a chassis having a bottom surface that defines a higher ground clearance at an intermediate location, thereby keeping the center of mass low when crossing roof peaks. In another embodiment, the drive tracks include a partially collapsible treads made of resilient foam. A system for inspecting a roof includes a lift system and a remote computer for analyzing data. Vehicles and systems may gather and analyze data, and generate revenue by providing data, analysis, and reports for a fee to interested parties.

Abstract: A robotic vehicle (10,100,150A,150B150C,160,1000,1000A,1000B,1000C) includes a chassis (20,106,152,162) having front and rear ends (20A,152A,20B,152B) and supported on right and left driven tracks (34,44,108,165). Right and left elongated flippers (50,60,102,154,164) are disposed on corresponding sides of the chassis and operable to pivot. A linkage (70,156,166) connects a payload deck assembly (D1,D2,D3,80,158,168,806), configured to support a removable functional payload, to the chassis. The linkage has a first end (70A) rotatably connected to the chassis at a first pivot (71), and a second end (70B) rotatably connected to the deck at a second pivot (73). Both of the first and second pivots include independently controllable pivot drivers (72,74) operable to rotatably position their corresponding pivots (71,73) to control both fore-aft position and pitch orientation of the payload deck (D1,D2,D3,80,158,168,806) with respect to the chassis (20,106,152,162).

Abstract: Devices, systems, and methods for inspecting and objectively analyzing the condition of a roof are presented. A vehicle adapted for traversing and inspecting an irregular terrain includes a chassis having a bottom surface that defines a higher ground clearance at an intermediate location, thereby keeping the center of mass low when crossing roof peaks. In another embodiment, the drive tracks include a partially collapsible treads made of resilient foam. A system for inspecting a roof includes a lift system and a remote computer for analyzing data. Vehicles and systems may gather and analyze data, and generate revenue by providing data, analysis, and reports for a fee to interested parties.

Abstract: A method of negotiating an obstacle including driving an articulated vehicle along a drive direction over a surface, driving the articulated vehicle to approach an obstacle with a rearward portion of the articulated vehicle, pivoting arms of the vehicle from a stowed position next to a main frame of the vehicle downward and away from the main frame, raising and supporting the main frame on the arms, positioning at least a portion of the main frame substantially against the obstacle, and driving onto the obstacle.

Abstract: Devices, systems, and methods for inspecting and objectively analyzing the condition of a roof are presented. A vehicle adapted for traversing and inspecting an irregular terrain includes a chassis having a bottom surface that defines a higher ground clearance at an intermediate location, thereby keeping the center of mass low when crossing roof peaks. In another embodiment, the drive tracks include a partially collapsible treads made of resilient foam. A system for inspecting a roof includes a lift system and a remote computer for analyzing data. Vehicles and systems may gather and analyze data, and generate revenue by providing data, analysis, and reports for a fee to interested parties.

Abstract: A climbing robot for travelling over adhesive surfaces with endless traction mechanisms and, fastened to them at a distance, controllable adhesive feet that circulate with the endless traction mechanisms along guides in the travel plane, by means of which the adhesive sides of their adhesive elements always point towards the travel surface and wherein the adhesive elements that support and move the climbing robot are switched “ON” and lowered onto the adhesive surface and all of the other adhesive elements are switched “OFF” and raised from the adhesive surface. The climbing robot has square running gear, and a foot plate with a guide running around the edges for a multitude of adhesive feet driven by traction mechanisms exists in each of the four corners of the running gear.

Abstract: A stair-climbing device including a support unit, a climbing unit driven by a motor and a control unit for controlling operation of the climbing unit, wherein a detection unit is provided for detecting the current position of the support unit with respect to one or several steps of a stair which includes at least one non-contact sensor, wherein the detection unit provides signals to the control unit, which signals contain information about the current position of the support unit with respect to one or several steps of the stair, and wherein the control unit is adapted to control operation of the climbing unit depending on signals of the detection unit.

Abstract: A robotic vehicle includes a chassis supported on right and left driven tracks, right and left elongated flippers disposed on corresponding sides of the chassis, and a battery unit holder disposed on the chassis for removably receiving a battery unit weighing at least 50 lbs. The battery unit holder includes a guide for receiving and guiding the battery unit to a connected position and a connector mount having locating features and communication features. The locating features receive corresponding locating features of the battery unit, as the battery unit is moved to its connected position, to align the communication features of the connector mount with corresponding communication features of the battery unit. The communication features of the connector mount are movable in a plane transverse to the guide to aid alignment of the communication features for establishment of an electrical connection therebetween when the battery unit is in its connected position.

Abstract: A robotic vehicle is disclosed, which is characterized by high mobility, adaptability, and the capability of being remotely controlled in hazardous environments. The robotic vehicle includes a chassis having front and rear ends and supported on right and left driven tracks. Right and left elongated flippers are disposed on corresponding sides of the chassis and operable to pivot. A linkage connects a payload deck, configured to support a removable functional payload, to the chassis. The linkage has a first end rotatably connected to the chassis at a first pivot, and a second end rotatably connected to the deck at a second pivot. Both of the first and second pivots include independently controllable pivot drivers operable to rotatably position their corresponding pivots to control both fore-aft position and pitch orientation of the payload deck with respect to the chassis.

Abstract: A mobile robot includes a chassis defining at least one chassis volume and first and second sets of right and left driven flippers associated with the chassis. Each flipper has a drive wheel and defines a flipper volume adjacent to the drive wheel. The first set of flippers is disposed between the second set of flippers and the chassis. Motive power elements are distributed among the chassis volume and the flipper volumes. The motive power elements include a battery assembly, a main drive motor assembly, and a load shifting motor assembly.

Abstract: A method is disclosed for a robotic vehicle to climb a step. The robotic vehicle uses tracked flippers to engage the top of the step and drives with additional tracks other than the tracked flippers. The robotic vehicle also shifts and tilts a payload in order to move the CG of the payload ahead of the vehicle chassis and past the edge of the step.

Abstract: A method for forming a robotic vehicle. The method may involve forming a body and arranging a plurality of movable legs to project from the body for propelling the body over a surface. An actuator may be carried by the body to selectively engage and disengage different ones of the movable legs to cause a motion of the body, and thus the robotic vehicle, to travel over the surface.

Abstract: The invention relates to a climbing robot that can move along a post having a vertical axis, which comprises a frame fitted with motorized means for moving along the post and with a module for controlling and commanding these movement means. The motorized movement means comprise bracing means of which the center of gravity is at a distance from the axis of the post and which comprise at least two rolling contact elements designed to be in contact with the post, including at least one motorized rolling contact element called the propulsion contact element.

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: A hybrid mobile robot includes a base link and a second link. The base link has a drive system and is adapted to function as a traction device and a turret. The second link is attached to the base link at a first joint. The second link has a drive system and is adapted to function as a traction device and to be deployed for manipulation. In another embodiment an invertible robot includes at least one base link and a second link. In another embodiment a mobile robot includes a chassis and a track drive pulley system including a tension and suspension mechanism. In another embodiment a mobile robot includes a wireless communication system.

Abstract: A transformable robotic platform includes a main frame and a tiltable central assembly and two pairs of parallel tracks. A first pair of tracks is fixed to the main frame while a second pair of tracks is pivotable with respect to the main frame. The central assembly incorporates imaging means, designation means and operational means in a synchronized manner, thus simplifying the maneuvering of the robotic platform and the operation of its operational means by a remote operator. Tilting the central assembly as well as the second pair of tracks shifts the center of gravity of the robotic platform rearward decreasing downward gravitational force on the front end of the platform facilitating climbing over obstacles. Tilting the central assembly also provides double-sided operation and about face operation of the robotic platform without the need to perform maneuvers which flip over the entire robotic platform.

Abstract: A robotic vehicle is disclosed, which is characterized by high mobility, adaptability, and the capability of being remotely controlled in hazardous environments. The robotic vehicle includes a chassis having front and rear ends and supported on right and left driven tracks. Right and left elongated flippers are disposed on corresponding sides of the chassis and operable to pivot. A linkage connects a payload deck, configured to support a removable functional payload, to the chassis. The linkage has a first end rotatably connected to the chassis at a first pivot, and a second end rotatably connected to the deck at a second pivot. Both of the first and second pivots include independently controllable pivot drivers operable to rotatably position their corresponding pivots to control both fore-aft position and pitch orientation of the payload deck with respect to the chassis.

Abstract: A robotic vehicle includes a chassis supported on right and left driven tracks, right and left elongated flippers disposed on corresponding sides of the chassis, and a battery unit holder disposed on the chassis for removably receiving a battery unit weighing at least 50 lbs. The battery unit holder includes a guide for receiving and guiding the battery unit to a connected position and a connector mount having locating features and communication features. The locating features receive corresponding locating features of the battery unit, as the battery unit is moved to its connected position, to align the communication features of the connector mount with corresponding communication features of the battery unit. The communication features of the connector mount are movable in a plane transverse to the guide to aid alignment of the communication features for establishment of an electrical connection therebetween when the battery unit is in its connected position.

Abstract: Disclosed are vehicles and methods for transporting materials.

Abstract: A mobile robot includes a chassis defining at least one chassis volume and first and second sets of right and left driven flippers associated with the chassis. Each flipper has a drive wheel and defines a flipper volume adjacent to the drive wheel. The first set of flippers is disposed between the second set of flippers and the chassis. Motive power elements are distributed among the chassis volume and the flipper volumes. The motive power elements include a battery assembly, a main drive motor assembly, and a load shifting motor assembly.

Abstract: An articulated tracked vehicle that has a main section, which includes a main frame, and a forward section. The main frame has two sides and a front end, and includes a pair of parallel main tracks. Each main track includes a flexible continuous belt coupled to a corresponding side of the main frame. The forward section includes an elongated arm. One end of the arm is pivotally coupled to the main frame near the forward end of the main frame about a transverse axis that is generally perpendicular to the sides of the main frame. The arm has a length sufficiently long to allow the forward section to extend below the main section in at least some degrees of rotation of the arm, and a length shorter than the length of the main section. The center of mass of the main section is located forward of the rearmost point reached by the end of the arm in its pivoting about the transverse axis.

Abstract: An articulated vehicle including a main frame, a drive system disposed on the main frame, and at least one arm having a proximal end and a distal end. The proximal end of the at least one arm being pivotally coupled to the main frame and the distal end being pivotable above the surface. The vehicle also including an articulator motor disposed on the main frame and coupled to the at least one arm for pivoting the at least one arm above the surface and about the transverse axis, and a slip clutch coupled between the articulator motor and the at least one front arm for enabling rotation of the at least one front arm without rotation of the articulator drive motor when a torque between the at least one front arm and the main frame exceeds a threshold torque.

Abstract: A device for reversing the steering movement of a steering-wheel shaft of a vehicle by superimposing a further movement on the steering movement.

Abstract: A robotic vehicle having a body with an internal volume. A plurality of extendable legs project outwardly from the body for supporting the body on a surface and for propelling the body, in at least a partial rolling motion, over the surface. A gimbal system is supported within the body. The gimbal system has a support platform that is moveable within at least two non-parallel planes. An actuator is supported on the support platform and is positionable by the gimbal system into different positions to actuate selected ones of the extendable legs, to thus assist in propelling the vehicle.

Abstract: One embodiment of the invention includes an application of multilayer thermo-reversible dry adhesives in climbing devices.

Abstract: An extension/retraction cylinder stops or starts tilting the platform of the stair-climbing wheelchair carrier based on a detection signal from an inclination sensor provided in the crawler drive unit. When the crawler drive unit is detected to be not tilted, the tilting motion of the platform is stopped at an intermediate angle (e.g. 20°) of a maximum preset angle (e.g. 40°). When the crawler drive unit is detected to be tilted, the platform is tilted up to the maximum preset angle, and as soon as the crawler drive unit is detected not to be tilted after tilting, the platform is driven so as to decrease its inclination angle relative to the crawler drive unit. Thus, a comfortable and usable stair-climbing wheelchair carrier can be provided.

Abstract: This invention relates to a self-leveling and balancing vehicle which is composed of a base and a moving and driving mechanism installed on the base, wherein the moving and mechanism having two longitudinal moving seats installed on the guiding rails fixed on the base, a connecting frame extending to connect the two moving seats and two sector gears installed on the two moving seats. A driving motor and a sensor are installed on the connecting frame, two level driving gears being installed on two ends of the driving shaft and engaged with the two sector gears, a balance gear box being installed on the driving shaft and having an output shaft extending to the connecting frame and can be rotated freely, further two driven gears being installed on two ends of the output shaft and engaged with the racks fixed on the bas.

Abstract: An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of drive track assemblies. The plurality of drive track assemblies cooperate 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 drive track assemblies make contact with such environmental feature.

Abstract: An articulated tracked vehicle that has a main section, which includes a main frame, and a forward section. The main frame has two sides and a front end, and includes a pair of parallel main tracks. Each main track includes a flexible continuous belt coupled to a corresponding side of the main frame. The forward section includes an elongated arm. One end of the arm is pivotally coupled to the main frame near the forward end of the main frame about a transverse axis that is generally perpendicular to the sides of the main frame. The arm has a length sufficiently long to allow the forward section to extend below the main section in at least some degrees of rotation of the arm, and a length shorter than the length of the main section. The center of mass of the main section is located forward of the rearmost point reached by the end of the arm in its pivoting about the transverse axis.