Trilopede mobile robot

摘要

This invention relates to a mobile robot comprising a minimal configuration of three controllable linear actuators 1 and three controllable feet 3. The device may be configured in a triangular or three armed star shape and may be driven omni-directionally. Movement of the robot is achieved by applying or releasing a brake (10 see fig 3b) to a ground engaging ball (8 see fig 3b) in each foot 3 and then extending or contracting selected linear actuators. The configuration of the robot overcomes accessibility issues experienced with circular robots used in cleaning. The invention is theoretically holonomic and experiences no kinematic singularities.