Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Reexamination Certificate
2005-03-22
2005-03-22
Duda, Rina (Department: 2837)
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
C318S567000, C318S568120, C901S001000, C600S141000, C600S146000, C180S009210, C180S009320
Reexamination Certificate
active
06870343
ABSTRACT:
An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of segments interconnected by an integrated joint actuator assembly. The integrated joint actuator assembly includes a plurality of bellows-type actuators individually coupling adjacent segments to permit pivotal actuation of the apparatus therebetween. A controller is employed to maintain proper positional control and stiffness control while minimize air flow.
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Borenstein Johann
Granosik Grzegorz
Duda Rina
The University of Michigan
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