Motor vehicles – Special driving device – Stepper
Patent
1989-05-17
1990-12-18
Marmor, Charles A.
Motor vehicles
Special driving device
Stepper
180 93, 180 932, 280840, 33356, 901 1, 901 46, B62D 6302, B62D 55075
Patent
active
049779710
ABSTRACT:
A hybrid robotic vehicle is provided for use in environments which are hazardous to humans, the vehicle being adapted to carry a payload for use in viewing the area or acquiring other types of sensory data. The hybrid robotic vehicle has a main body and four appendages or legs, each of which has a wheel assembly and a track assembly, and is configured to operate having three degrees-of-freedom about one vertical and two horizontal axes, the three degrees-of-freedom permitting improved capability to cross obstacle-strewn terrain, as well as to traverse inclined surfaces while maintaining the main body and its payload in an upright and level attitude. The vehicle may operate in any of wheeled, tracked, or legged modes, with actuators controlling each of the three joint angles on each leg, and having separate motors for driving the wheels and the tracks, the control being effected by a human operator through a control panel computer interface, and a computer relaying commands through a cable tether connected to the vehicle.
REFERENCES:
patent: 4539760 (1985-09-01), Marchent et al.
patent: 4611296 (1986-09-01), Niedermayr
patent: 4647053 (1987-03-01), Kanno
patent: 4855822 (1989-08-01), Narendra
Crane, III Carl D.
Haukoos Dana S.
Bompey Mitchell
Marmor Charles A.
University of Florida
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