Motor vehicles – Special driving device – Stepper
Patent
1988-12-22
1991-04-09
Hill, Mitchell J.
Motor vehicles
Special driving device
Stepper
180 86, 901 1, B62D 5702
Patent
active
050056581
ABSTRACT:
The present invention pertains to a robot for moving along uneven terrain. The robot comprises a body having an exterior surface and a device for defining the terrain around the body. There is also a device for moving the body. The moving device includes legs, at least one of which are capable of being independently positioned adjacent to any portion of the exterior surface of the body. The robot is also comprised of a device for controlling the moving device. The controlling device is connected to the defining 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 angular 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 angular 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 angular 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 reposition itself.
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"ODEX I: The First Functionoid", by Russell, M., Robotics Age, Sept./Oct. 1983, vol. 5, No. 5, pp. 12, 14-18.
The Adaptive Suspension Vehicle (ASV) by Waldron, K. J.; Vohnout, V. J.; Pery, A.; McGhee, R. B., "Configuration Design of the Adaptive Suspension Vehicle", IJRR, 1984, vol. 3, No. 2, 37-48.
TITAN III by Hirose, S.; Masui, T.; Kikuchi, H.; Fukuda, Y.; Umetani, Y., "Titan III: Quadruped Walking Vehicle", 2nd Int. Symp. of Robotics Research, Aug., 1984, Kyoto, Japan, pp. 325-331.
Bares John E.
Whittaker William
Carnegie-Mellon University
Hill Mitchell J.
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