US20160184721A1 - Rolling and jumping robot with an increased obstacle passing ability - Google Patents

Rolling and jumping robot with an increased obstacle passing ability Download PDF

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Publication number
US20160184721A1
US20160184721A1 US14/979,891 US201514979891A US2016184721A1 US 20160184721 A1 US20160184721 A1 US 20160184721A1 US 201514979891 A US201514979891 A US 201514979891A US 2016184721 A1 US2016184721 A1 US 2016184721A1
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US
United States
Prior art keywords
robot
wheels
ground
carriage
sliding part
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US14/979,891
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English (en)
Inventor
Thomas Barse
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Parrot Drones SAS
Original Assignee
Parrot Drones SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Parrot Drones SAS filed Critical Parrot Drones SAS
Publication of US20160184721A1 publication Critical patent/US20160184721A1/en
Assigned to PARROT DRONES reassignment PARROT DRONES ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: PARROT
Abandoned legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H11/00—Self-movable toy figures
    • A63H11/06—Jumping toys
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
    • A63H17/004—Stunt-cars, e.g. lifting front wheels, roll-over or invertible cars
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
    • A63H17/26—Details; Accessories
    • A63H17/262—Chassis; Wheel mountings; Wheels; Axles; Suspensions; Fitting body portions to chassis
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H29/00—Drive mechanisms for toys in general
    • A63H29/22—Electric drives
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H33/00—Other toys
    • A63H33/005—Motorised rolling toys
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Definitions

  • the invention relates to a rolling and jumping robot including a pair of wheels arranged on either side of a robot body.
  • Such a type of robot is described for example in the JP 2011/41696 A (Barse) as well as in the EP 2 862 606 A1 (published on 22 Apr. 2015), corresponding to the product marketed under the name “Jumping Sumo” by Parrot SA, Paris, France.
  • the robot body includes a frame or carriage connected to the wheels and a sliding part guided on slides, with a spring interposed between the carriage and the sliding part.
  • a motor moves the sliding element closer to the carriage, which has for effect to progressively compress the spring and hence accumulate therein an elastic potential energy.
  • the unit is maintained in this position by a locking system, which may be liberated to abruptly release the spring and to throw the robot above the ground by transformation of the potential energy of the spring into kinetic energy, the impact of the sliding part against the ground producing, by reaction, the desired leaping effect.
  • the jump height may be adjusted by a variable compression of the spring, so as to deliver a more or less significant energy at the time of the jump.
  • the object of the present invention is, while keeping this base structure and this jumping function, to improve the robot and to add it functionalities of aid to obstacle passing, in particular when it is used in “cross-country”, or to get over steps, pavement edges, etc., for example, and this with a minimum of complementary physical means added to the base structure.
  • the invention applies to a robot of the above-mentioned type, i.e. comprising more precisely and in a manner known per se, in particular from the above-mentioned JP 2011/41696 A:
  • the sliding part includes a protruding distal end supporting a contact pad such that, in the contracted position, the contact pad is located near the perimeter of the wheels, and that the expansion of the sliding part is transmitted by the contact pad.
  • the robot further includes a tail stand extending in a vertical plan and fastened to the robot body at a fixation point located remote from the sliding part and in a region at the opposite from the ground according to the main direction of the carriage.
  • the tail stand forms at its distal end an alternative ground-bearing point, in a region located beyond the circumference of the wheels.
  • this tail stand is at least partially elastically deformable by bending so as to allow under stress a moving of the contact pad closer to or away from the surface of contact with the ground.
  • the wheels are advantageously wheels that are notched at their periphery.
  • the robot further comprises jump-control means, adapted to modify the configuration of the robot, successively between:
  • FIG. 1 is a general three-quarter front view of a known robot.
  • FIG. 2 is a general three-quarter rear view of the robot of FIG. 1 , showing more precisely the different elements of this known robot that, combined together, ensure the jumping function.
  • FIGS. 3( a ) and ( b ) are side views illustrating the known robot of FIGS. 1 and 2 , with the sliding part in the extended position and the contracted position, respectively.
  • FIGS. 4( a ) to ( d ) illustrate a robot of the type illustrated in the preceding Figures, but modified according to the teachings of the invention, as it is in four successive positions, i.e.: extended, contracted, jump preparation and jump triggering.
  • FIGS. 5( a ) to ( c ) illustrate the robot according to the invention of FIG. 4 , as it is at three successive steps of passing an obstacle such as a step.
  • FIGS. 1, 2 and 3 illustrate a robot of a known type, such as that described in the above-mentioned EP 2 862 606 A1.
  • the reference 10 generally denotes the robot, which comprises a carriage 12 supported by two wheels 14 .
  • the wheels 14 are mounted on the carriage 12 so as to pivot about a common axis D, and they are driven independently by individual electric motors (not shown), piloted by suitable circuits allowing the robot, according to the direction and speed of rotation of the wheels, to progress along a straight line, to move rearward, to turn about itself or to turn along a curve, etc., such different moves being controlled by the user by means of a suitable remote-control.
  • the carriage 12 extends following a main direction A, perpendicular to the pivot axis D of the wheels, and it supports a sliding part 16 movable in translation parallel to the axis A under the effect of a suitable motor, piloted by the robot control circuits.
  • This sliding part 16 comprises for example two parallel rods 18 guided by these respective cylinders 20 integral with the carriage 12 , with interposition between the rods 18 and the cylinders 20 of one or several helical springs (not visible in the Figures) serving as energy storage means, with compression of the spring when the sliding part 16 is moved closer to the carriage 12 , and conversely returning to the sliding part 16 of the energy stored by these springs when the sliding part 16 is released towards an extended position of the carriage/sliding part unit.
  • This mechanism is described in particular in the EP 2 952 236 A1 (published on 9 Dec. 2015).
  • the robot may also be provided with one or several optical devices 38 ( FIG. 1 ), such as a camera or a light, whose optical axis 8 forms a fixed angle with respect to the main direction A of the carriage and of the robot body integral with this carriage.
  • This device allows for example, when the robot rolls, to light in front of the robot and/or to pick up a video image of the manoeuvre ground, viewed from the robot.
  • FIGS. 3( a ) and ( b ) illustrate the robot in two positions hereinafter referred to as “extended” 40 and “contracted” 40 ′ positions, corresponding to the two extremes positions of the sliding part 16 in its guided movement in translation with respect to the carriage 12 .
  • the robot rests on the ground 42 through three bearing points: in 44 , at the contact of the wheels (point A 1 ) with the ground, and through the contact pad 36 at the distal end of the sliding part 16 (point A 2 ).
  • the sliding part 16 forms a telescopic unit with the carriage 12 , and may hence move in translation between the extended position 40 ( FIG. 3( a ) ) and the contracted position 40 ′ ( FIG. 3 b )) under the action of a motor specifically piloted to ensure this translation.
  • FIG. 3( a ) The extended position of FIG. 3( a ) allows in particular the rolling on the ground, the rotations, etc.
  • the moving of the sliding part 16 towards the contracted position produces a moving of the ground-bearing point A 2 of the pad 36 and, correlatively, a modification of the inclination of the axis A of the carriage, and hence of the robot inclination.
  • the contracted position of FIG. 3( b ) forms the jump-preparation position, which will occur through abrupt liberation of the energy of the previously-compressed springs, this energy being transmitted via the pad 36 , by inertia and reaction of the ground, to the body 22 of the robot, to cause the latter to leap.
  • FIGS. 4 and 5 illustrate a robot such as that just described with reference to the state of the art, after having been modified according to the teachings of the invention.
  • FIG. 4 will explain how is kept the (pre-existing) jumping function that has been described hereinabove, whereas FIG. 5 will illustrate the (new) obstacle passing function.
  • wheels 14 which are notched wheels, i.e. provided at their periphery, on the tire tread, with reliefs, notches or grousers 48 or other similar means (grousers added to or integral with the wheel, deep sculptures, etc.) providing a high adhesion on irregular grounds, for example, as illustrated in FIGS. 5( b ) and ( c ) , on the edge of a step, or on natural, stony grounds, with branches, etc., by minimising the risk of skidding of the robot.
  • An alternative to notched wheels consists, equivalently, in making these wheels from a very soft material, able to conform, through its deformation, the irregularities of the ground on which the robot evolves.
  • the robot is provided with a tail stand 5 fastened to the robot body.
  • this stand 50 is formed of an elongated rigid element 52 linked to the robot body by an elastically deformable member 54 such as an helical spring or an elastic sleeve.
  • the distal end 56 of the tail stand 50 is intended to form an alternative bearing point for the robot body.
  • the size and shape of the tail stand are chosen so that this end 56 is located beyond the periphery of the wheels, for example at a distance from the rotation axis comprised between typically 1 and 3 times the diameter of the wheels.
  • the tail stand 50 is fastened to the body (by the elastic element 54 in the illustrated example) at a fixation point 58 located in the radial direction remote from the sliding part 16 and in a region of the robot body located at the opposite from the ground according to the main direction A of the carriage, in particular on the protruding excrescence 24 in the upper part of the robot body, in the inner vicinity of the periphery of the wheels.
  • the tail stand 50 that extends in a vertical plan, is a flexible stand due to the elastic member 54 that links the elongated rigid element to the robot body at the fixation point 58 . More precisely, this flexibility must permit a bending deformation allowing, under stress, a moving of the contact pad ( 36 ) closer to or away from the surface of contact with the ground.
  • the general configuration of the tail stand and the size thereof are such that, when the sliding part is in the extended position (configuration of FIG. 4( a ) , itself corresponding to the configuration of FIG. 3( a ) ), the only bearing points that maintain the robot and that support the weight thereof in this case remain the sliding part (at A 2 ) and the wheels (at A 1 ).
  • the size and shape of the tail stand are chosen so that this change of bearing point upon the passage of the sliding part to the concentrated position is made with no modification of the general direction of the axis ⁇ of the carriage, and hence of the axis ⁇ of the robot camera with respect to the ground (or with a slight modification, due to the weight of the robot and of the flexible portion, causing a slight bending of the stand).
  • This will avoid a tilting of the image of the scene picked-up by this camera, as it was the case with the known robot illustrated in FIG. 3 , where the passage from the position of FIG. 3( a ) to that of FIG. 3( b ) was made with a tilting upward of the axis ⁇ , and hence of the viewing direction 8 of the camera.
  • the tail stand 50 has advantageously a curved shape, whose concavity is turned towards the ground, which allows with a shorter stand to better control the position of the robot body.
  • the end 56 of the tail stand has for main function to form an alternative bearing point for the robot in conditions that will be exposed hereinafter.
  • this end may also serve to the fixation of an accessory providing the robot with an additional functionality, for example by mounting a float, a brush, a catapult, spikes, etc., either by mounting directly the accessory on the tail stand, or by replacing all or part of the rigid portion 52 of the stand by a replacement element carrying the accessory in question.
  • the sliding part 16 is in the extended position, and the robot rests on its two wheels (point A 1 ) and on the pad 36 (point A 2 ).
  • the end 56 of the tail stand 50 is remote from the ground. This configuration is not different from that illustrated in FIG. 3 a for a device according to the prior art.
  • the configuration is that illustrated in FIG. 4( b ) .
  • the sliding part 16 is then in the contracted position, with compression of the springs, as in the above-described configuration of FIG. 3( b ) .
  • the third bearing point becomes the end 56 of the stand (alternative bearing point A 3 ), the pad 36 being then located above the level of the ground. II will be moreover noted that, in this position of FIG. 4( b ) , the flexible stand 50 is not, or almost not, under bending stress.
  • This contracted position may be kept, waiting for a latter jump, wherein the robot can continue to evolve on the ground with an increased stability, in particular on an uneven ground, thanks to the grousers 48 of the wheels 14 , but above all, to the greater distance between the points of contact A 1 of the wheels and the third bearing point, i.e. the alternative bearing point A 3 , which defines a larger lift triangle than in the preceding case.
  • the control circuit of the driving motors of the wheels sends to these latter an acceleration impulse that causes a tilting rearward of the robot body (arrow 64 , FIG. 3( c ) ), with for consequence the moving backward of the alternative bearing point A 3 (arrow 68 ) and the bending (schematised by the arrow 70 ) of the elastic element 54 of the tail stand.
  • the acceleration impulse imparted to the robot and the bending of the tail stand 50 have for effect to press the pad 36 to the ground.
  • the control circuit releases the locking means of the sliding part, which has for effect to cause the abrupt expansion of this sliding part and the leap of the robot above the ground, through the pad 36 (arrow 72 , FIG. 4( d ) ).
  • the releasing of the locking means is caused at the suitable time by adjustment between the instant of this releasing (unlocking) and the duration of the impulse of acceleration of the wheels. This ensures a jump in the best conditions, with direct and immediate transmission of the energy liberated at the time of the unlocking.
  • the obstacle is, in this example, a step 74 in front of which the robot is located, in the configuration illustrated in FIG. 5( a ) .
  • This configuration is in any point identical to that of FIG. 4( b ) described hereinabove, i.e. with the robot resting on the ground through its two wheels (bearing point A 1 ) and the end 56 of the tail stand 50 (alternative bearing point A 3 ).
  • the sliding part 16 is in the contracted position (and it will stay therein for all the duration of the obstacle passing), i.e. the pad 36 is in the inner vicinity of the periphery of the wheels 14 .
  • the wheels 14 of the robot have moved forward (arrow 76 ) and they enter into contact with the obstacle 74 and, thanks to the grousers 48 , engage with a protruding part of this obstacle, for example the nose of the step 74 .
  • the robot is then in rest on the points A 5 of contact of the wheels with the obstacle, and the alternative bearing point A 3 that is still in contact with the ground.
  • the tail stand 50 Under the effect of the robot weight, whose centre of gravity G is located between the points A 5 and A 3 , the tail stand 50 is put under elastic stress, with bending of the deformable elastic element 54 (bending schematised by the arrow 78 ).
  • the robot After the centre of gravity G of the robot has passed the obstacle, i.e., in the example illustrated, when the pad 36 arrives at the nose of the step 74 (bearing point A 6 ), then the robot can carry on its way, the tail stand 50 ensuring the stability of the mobile unit during this transitory phase.
  • the contact face of the pad 36 turned towards the ground is preferably a convex, rounded face, in order not to get caught on the obstacle and to allow the later to be passed with no trouble.
  • this obstacle passing functionality requires no run-up to be given to the robot, wherein the configuration illustrated in FIG. 5( a ) can be a configuration in which the robot is stopped, simply in front of the obstacle.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Toys (AREA)
US14/979,891 2014-12-29 2015-12-28 Rolling and jumping robot with an increased obstacle passing ability Abandoned US20160184721A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1463364A FR3031044A1 (fr) 2014-12-29 2014-12-29 Robot roulant et sauteur a capacite accrue de franchissement d'obstacle
FR1463364 2014-12-29

Publications (1)

Publication Number Publication Date
US20160184721A1 true US20160184721A1 (en) 2016-06-30

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US14/979,891 Abandoned US20160184721A1 (en) 2014-12-29 2015-12-28 Rolling and jumping robot with an increased obstacle passing ability

Country Status (5)

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US (1) US20160184721A1 (fr)
EP (1) EP3042702A1 (fr)
JP (1) JP2016137240A (fr)
CN (1) CN105799802A (fr)
FR (1) FR3031044A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10058999B2 (en) * 2016-10-12 2018-08-28 Lunghwa University Of Science And Technology Wheeled jumping robot
CN109850025A (zh) * 2019-02-26 2019-06-07 浙江大学 一种墙面跳跃的单腿机器人机构及控制方法
CN110253593A (zh) * 2019-06-03 2019-09-20 北京交通大学 具有可变形车架结构的轮式越障机器人
CN111055947A (zh) * 2019-12-03 2020-04-24 上海交通大学 可折叠轮式变形机器人装置
CN111284582A (zh) * 2020-03-26 2020-06-16 行星算力(深圳)科技有限公司 一种多功能全地形运输机器人
CN111514591A (zh) * 2019-02-01 2020-08-11 智高实业股份有限公司 可转向的爬墙玩具
CN113002244A (zh) * 2021-03-16 2021-06-22 重庆大学 深空探测弹跳机器人
CN117262053A (zh) * 2023-09-15 2023-12-22 山东大学 一种基于张拉整体结构的机器人、复合机器人及工作方法

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CN111591373B (zh) * 2020-06-04 2021-04-13 崔正筠 一种全地形探测小车
CN112223309B (zh) * 2020-09-30 2024-01-12 腾讯科技（深圳）有限公司 一种控制器、控制方法及机器人
CN112548984B (zh) * 2020-12-10 2022-04-12 逻腾（杭州）科技有限公司 一种带伸缩臂的滚动越障机器人
CN113086101B (zh) * 2021-03-29 2022-03-11 哈尔滨工业大学 一种水面跳跃滑行机器人
CN113443041B (zh) * 2021-07-29 2022-05-17 山东大学 复合腿足机构及3-ups并联轮足复合弹跳机器人
CN116215691B (zh) * 2023-03-16 2024-10-18 吉林大学 一种月面车轮脱困仿生腿式机构

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WO2010030055A1 (fr) * 2008-09-12 2010-03-18 Convex Co., Ltd. Robot mobile à fonction de saut
US9381443B2 (en) * 2013-10-18 2016-07-05 Parrot Multi-position rolling and jumping toy

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US3703784A (en) * 1972-03-16 1972-11-28 Voorhis F Wigal Multiple jumping device
US8083013B2 (en) * 2006-12-06 2011-12-27 The Regents Of The University Of California Multimodal agile robots
JP5234659B2 (ja) * 2009-08-21 2013-07-10 牛田 浩 跳躍体
CN203525303U (zh) * 2013-10-21 2014-04-09 胡妍琪 一种新型弹跳玩具车
FR3021875B1 (fr) 2014-06-04 2016-06-24 Parrot Mecanisme d'armement/desarmement a ressort et jouet sauteur l'incorporant

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010030055A1 (fr) * 2008-09-12 2010-03-18 Convex Co., Ltd. Robot mobile à fonction de saut
US9381443B2 (en) * 2013-10-18 2016-07-05 Parrot Multi-position rolling and jumping toy

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10058999B2 (en) * 2016-10-12 2018-08-28 Lunghwa University Of Science And Technology Wheeled jumping robot
CN111514591A (zh) * 2019-02-01 2020-08-11 智高实业股份有限公司 可转向的爬墙玩具
CN109850025A (zh) * 2019-02-26 2019-06-07 浙江大学 一种墙面跳跃的单腿机器人机构及控制方法
CN110253593A (zh) * 2019-06-03 2019-09-20 北京交通大学 具有可变形车架结构的轮式越障机器人
CN111055947A (zh) * 2019-12-03 2020-04-24 上海交通大学 可折叠轮式变形机器人装置
CN111284582A (zh) * 2020-03-26 2020-06-16 行星算力(深圳)科技有限公司 一种多功能全地形运输机器人
CN113002244A (zh) * 2021-03-16 2021-06-22 重庆大学 深空探测弹跳机器人
CN117262053A (zh) * 2023-09-15 2023-12-22 山东大学 一种基于张拉整体结构的机器人、复合机器人及工作方法

Also Published As

Publication number Publication date
FR3031044A1 (fr) 2016-07-01
EP3042702A1 (fr) 2016-07-13
CN105799802A (zh) 2016-07-27
JP2016137240A (ja) 2016-08-04

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STCB Information on status: application discontinuation

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