发明名称 |
Reconfigurable balancing robot and method for dynamically transitioning between statically stable mode and dynamically balanced mode |
摘要 |
An apparatus and a method for robotic control that allows an unbalanced pendulum robot to raise its Center of Mass and balance on two motorized wheels. The robot includes a pair of arms that are connected to the upper body of the robot through motorized joints. The method consists of a series of movements employing the arms of the robot to raise the robot to the upright position. The method comprises a control loop in which the motorized drives are included for dynamic balance of the robot and the control of the arm apparatus. The robot is first configured as a low Center of Mass four-wheeled vehicle, then its Center of Mass is raised using a combination of its wheels and the joint located at the attachment point of the arm apparatus and the robot body, between the rear and front wheels; the method then applies accelerations to the rear wheels to dynamically pivot and further raise the Center of Mass up and over the main drive wheels bringing the robot into a balancing pendulum configuration.
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申请公布号 |
US2008105481(A1) |
申请公布日期 |
2008.05.08 |
申请号 |
US20060591925 |
申请日期 |
2006.11.02 |
申请人 |
HUTCHESON TIMOTHY L;PRATT JERRY E |
发明人 |
HUTCHESON TIMOTHY L.;PRATT JERRY E. |
分类号 |
B62D61/12;B25J18/00;G06F19/00 |
主分类号 |
B62D61/12 |
代理机构 |
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