WO2009143377A3 - Force balancing mobile robotic system - Google Patents

Force balancing mobile robotic system Download PDF

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Publication number
WO2009143377A3
WO2009143377A3 PCT/US2009/044902 US2009044902W WO2009143377A3 WO 2009143377 A3 WO2009143377 A3 WO 2009143377A3 US 2009044902 W US2009044902 W US 2009044902W WO 2009143377 A3 WO2009143377 A3 WO 2009143377A3
Authority
WO
WIPO (PCT)
Prior art keywords
balancing
robotic system
robotic
balance
mobile robotic
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.)
Ceased
Application number
PCT/US2009/044902
Other languages
French (fr)
Other versions
WO2009143377A2 (en
Inventor
Michael Stilman
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.)
Georgia Tech Research Institute
Georgia Tech Research Corp
Original Assignee
Georgia Tech Research Institute
Georgia Tech Research Corp
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 Georgia Tech Research Institute, Georgia Tech Research Corp filed Critical Georgia Tech Research Institute
Priority to US12/993,650 priority Critical patent/US20120130540A2/en
Priority to EP09751605A priority patent/EP2303731A2/en
Priority to JP2011510711A priority patent/JP2011523903A/en
Publication of WO2009143377A2 publication Critical patent/WO2009143377A2/en
Anticipated expiration legal-status Critical
Publication of WO2009143377A3 publication Critical patent/WO2009143377A3/en
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/002—Balancing devices using counterweights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/49—Control of attitude, i.e. control of roll, pitch or yaw

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Testing Of Balance (AREA)

Abstract

A force balancing robotic system and related methods are disclosed. The robotic system can include a body, a balancing member, and a balancing system. The robotic system can be statically unstable, which can be a result of having a statically unstable body. The balancing member can be connected to the body by a joint. The balancing system can have one or more sub-systems utilized to dynamically balance the robotic system. Such subsystems can include a repositioning system, an accelerating system, and a driving system. The repositioning system can reposition the balancing members to position the center of mass over a target. The accelerating system can accelerate the balancing members to produce a target torque. The driving system can drive the wheels of the robotic system to maintain balance. While retaining balance, the robotic system can absorb external force and apply forces to external objects.
PCT/US2009/044902 2008-05-21 2009-05-21 Force balancing mobile robotic system Ceased WO2009143377A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US12/993,650 US20120130540A2 (en) 2008-05-21 2009-05-21 Force balancing mobile robot and robotic system
EP09751605A EP2303731A2 (en) 2008-05-21 2009-05-21 Force balancing mobile robotic system
JP2011510711A JP2011523903A (en) 2008-05-21 2009-05-21 Force balance mobile robot system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US5490308P 2008-05-21 2008-05-21
US61/054,903 2008-05-21

Publications (2)

Publication Number Publication Date
WO2009143377A2 WO2009143377A2 (en) 2009-11-26
WO2009143377A3 true WO2009143377A3 (en) 2011-05-26

Family

ID=41340900

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2009/044902 Ceased WO2009143377A2 (en) 2008-05-21 2009-05-21 Force balancing mobile robotic system

Country Status (5)

Country Link
US (1) US20120130540A2 (en)
EP (1) EP2303731A2 (en)
JP (1) JP2011523903A (en)
KR (1) KR20110010796A (en)
WO (1) WO2009143377A2 (en)

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Also Published As

Publication number Publication date
JP2011523903A (en) 2011-08-25
US20110071677A1 (en) 2011-03-24
EP2303731A2 (en) 2011-04-06
KR20110010796A (en) 2011-02-07
US20120130540A2 (en) 2012-05-24
WO2009143377A2 (en) 2009-11-26

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