With Gimbal Lock Preventing Means Patents (Class 74/5.2)
  • Patent number: 8322471
    Abstract: An apparatus and method are described for utilizing internally generated angular momentum for supplementing the propulsion of a mobile spherical vehicle capable of motion by rolling over terrain, thereby enabling such vehicles to climb steeper inclines and overcome larger obstacles. Torque generated by counter-rotating gyroscopes was used to supplement gravity generated torque produced by a pendulum drive propulsion system. Precession torque may be generated along a desired axis by changing the angular momentum of the gyroscopes while leaving its magnitude unaffected.
    Type: Grant
    Filed: November 16, 2009
    Date of Patent: December 4, 2012
    Inventor: Gregory C. Schroll
  • Patent number: 7904214
    Abstract: Techniques for providing singularity escape and avoidance are disclosed. In one embodiment, a method for providing control moment gyroscope (CMG) attitude control singularity escape includes calculating a Jacobian A of a set of control equations, calculating a measure of closeness to a singularity, and comparing the calculated closeness to a threshold value, when the calculated closeness is less than or equal to the threshold value, recalculating the Jacobian A. Recalculating may include determining a new direction of virtual misalignment of ? and ?, recalculating the Jacobian inputting the new direction of the virtual misalignment, recalculating the measure of closeness to a singularity, and comparing the measure of closeness to the threshold value. Further, the method may include calculating a gimbal rate command if the of closeness is greater than the threshold value and generating a torque from the gimbal rate command to control the attitude of a satellite.
    Type: Grant
    Filed: October 5, 2009
    Date of Patent: March 8, 2011
    Assignee: The Boeing Company
    Inventor: Christopher J. Heiberg
  • Patent number: 7878276
    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.
    Type: Grant
    Filed: March 30, 2009
    Date of Patent: February 1, 2011
    Inventor: H. Phillip Limbacher, Jr.
  • Publication number: 20090288505
    Abstract: The present invention relates to motors and, more specifically to rotary motors which can supply output motive power about an output axis in response to input rotary power about a different axis. A motor (1) comprises a wheel (2) mounted on a shaft (3) for rotation about a first axis (4). The shaft (3) is additionally mounted for rotation about both an inclination axis (16) and the output axis (11) of the motor (1).
    Type: Application
    Filed: November 13, 2006
    Publication date: November 26, 2009
    Applicant: Erke Erke Arastirmalari Ve Muhendislik A.S.
    Inventor: Mustafa Naci Öztürk
  • Publication number: 20080251646
    Abstract: Techniques for providing singularity escape and avoidance are disclosed. In one embodiment, a method for providing control moment gyroscope (CMG) attitude control singularity escape includes calculating a Jacobian A of a set of control equations, calculating a measure of closeness to a singularity, and comparing the calculated closeness to a threshold value, when the calculated closeness is less than or equal to the threshold value, recalculating the Jacobian A. Recalculating may include determining a new direction of virtual misalignment of ? and ?, recalculating the Jacobian inputting the new direction of the virtual misalignment, recalculating the measure of closeness to a singularity, and comparing the measure of closeness to the threshold value. Further, the method may include calculating a gimbal rate command if the of closeness is greater than the threshold value and generating a torque from the gimbal rate command to control the attitude of a satellite.
    Type: Application
    Filed: April 13, 2007
    Publication date: October 16, 2008
    Applicant: THE BOEING COMPANY
    Inventor: Christopher J. Heiberg