Motor vehicles – Special driving device – Stepper
Patent
1991-04-05
1992-07-07
Hill, Mitchell J.
Motor vehicles
Special driving device
Stepper
180 86, 901 1, B62D 5702
Patent
active
051274841
ABSTRACT:
The present invention pertains to a robot for moving along uneven terrain. The robot comprises a body having an opening through which a leg can pass. There is also a device for moving the body. The moving device includes at least 3 legs, at least one of which can exhibit an overlapping gait with respect to another leg. The robot is also comprised of a device for controlling the moving device such that the body moves along the terrain in a desired path. In an alternative embodiment, the moving device includes legs, each of which can exhibit an overlapping gait with respect to another leg while moving the body. In a preferred embodiment, each leg is comprised of a shoulder that is rotatable in a .theta. direction. Each leg is also comprised of a pedestal which has an axis that is disposed in essentially a z direction, where the z direction is perpendicular to the .theta. direction. There is also a device for linking the shoulder and the pedestal such that the pedestal can be moved in an r direction to a desired r position with respect to the shoulder, where the r direction is perpendicular to the z and the .theta. directions. The robot moves along the terrain which it defines with the defining device by positioning each leg in a desired place determined by the controlling device and then moving the body forward to resituate itself.
REFERENCES:
patent: 4558758 (1985-12-01), Littman et al.
patent: 4662465 (1987-05-01), Stewart
patent: 4790400 (1988-12-01), Sheeter
patent: 4834200 (1989-05-01), Kajita
patent: 5005658 (1991-04-01), Bares et al.
Bares John E.
Whittaker William
Carnegie-Mellon University
Hill Mitchell J.
Schwartz Ansel M.
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