WO2024259021A3 - Robotic systems and methods employing actuated mobile effector mounts and passive flexible arms - Google Patents

Robotic systems and methods employing actuated mobile effector mounts and passive flexible arms Download PDF

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Publication number
WO2024259021A3
WO2024259021A3 PCT/US2024/033687 US2024033687W WO2024259021A3 WO 2024259021 A3 WO2024259021 A3 WO 2024259021A3 US 2024033687 W US2024033687 W US 2024033687W WO 2024259021 A3 WO2024259021 A3 WO 2024259021A3
Authority
WO
WIPO (PCT)
Prior art keywords
mobile hand
propulsion system
passive flexible
flexible arms
robotic systems
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/US2024/033687
Other languages
French (fr)
Other versions
WO2024259021A2 (en
Inventor
John Lert
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.)
Alert Venture Fund LLC
Original Assignee
Alert Venture Fund LLC
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 Alert Venture Fund LLC filed Critical Alert Venture Fund LLC
Priority to CN202480052462.XA priority Critical patent/CN121693451A/en
Priority to EP24824110.1A priority patent/EP4724347A2/en
Publication of WO2024259021A2 publication Critical patent/WO2024259021A2/en
Publication of WO2024259021A3 publication Critical patent/WO2024259021A3/en
Anticipated expiration legal-status Critical
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
    • 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
    • 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
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • 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
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • 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
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • 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
    • B25J9/0087—Dual arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/678—Interaction with payloads or external entities for tethered vehicles
    • 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
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/689—Pointing payloads towards fixed or moving targets
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/20—Aircraft, e.g. drones
    • G05D2109/25—Rotorcrafts
    • G05D2109/254—Flying platforms, e.g. multicopters

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)

Abstract

A robotic limb includes a non-articulated passive flexible arm that does not have powered movement, and an actuated mobile hand (e.g., effector mount) to hold a tool (e.g., effector). The mobile hand has a propulsion system and the flexible arm carries a control signal to the propulsion system to control the mobility of the mobile hand. A robotic limb controller autonomously determines a location of the mobile hand, autonomously determines a trajectory of the mobile hand based on its location, and generates the control signal for the propulsion system. In various examples, the tool held by the mobile hand facilitates contact with an object (e.g., to facilitate repair, painting, cleaning, or other surface treatment, or crop harvesting). The propulsion system of the mobile hand may include multiple thrusters to facilitate mobility in air or water, and/or wheels or motorized/articulated legs to facilitate mobility on a surface.
PCT/US2024/033687 2023-06-12 2024-06-12 Robotic systems and methods employing actuated mobile effector mounts and passive flexible arms Ceased WO2024259021A2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202480052462.XA CN121693451A (en) 2023-06-12 2024-06-12 Robotic system and method employing an actuated movable actuator mount and a passive flexible arm
EP24824110.1A EP4724347A2 (en) 2023-06-12 2024-06-12 Robotic systems and methods employing actuated mobile effector mounts and passive flexible arms

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US202363507735P 2023-06-12 2023-06-12
US63/507,735 2023-06-12
US202463569519P 2024-03-25 2024-03-25
US63/569,519 2024-03-25

Publications (2)

Publication Number Publication Date
WO2024259021A2 WO2024259021A2 (en) 2024-12-19
WO2024259021A3 true WO2024259021A3 (en) 2025-04-03

Family

ID=93852906

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2024/033687 Ceased WO2024259021A2 (en) 2023-06-12 2024-06-12 Robotic systems and methods employing actuated mobile effector mounts and passive flexible arms

Country Status (3)

Country Link
EP (1) EP4724347A2 (en)
CN (1) CN121693451A (en)
WO (1) WO2024259021A2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20250001592A1 (en) * 2023-06-30 2025-01-02 The Regents Of The University Of California Last-Mile Delivery Systems Incorporating Modular Robots

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160318607A1 (en) * 2015-04-29 2016-11-03 Pinakin Desai Tethered drone assembly
US20200326706A1 (en) * 2019-04-10 2020-10-15 General Electric Company Systems and methods for localizing aerial vehicle using unmanned vehicle
US20210147080A1 (en) * 2019-11-18 2021-05-20 Agco Corporation Crop-extraction system having an unmanned aerial vehicle, and related methods
US20220023685A1 (en) * 2019-02-20 2022-01-27 Ebara Corporation Drone system
US11235890B1 (en) * 2016-10-25 2022-02-01 Working Drones, Inc. Unmanned aerial vehicle having an elevated surface sensor
US20220117217A1 (en) * 2020-10-19 2022-04-21 Aigen Inc. Collaborative robot network with hybrid electro-mechanical plant management methods

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160318607A1 (en) * 2015-04-29 2016-11-03 Pinakin Desai Tethered drone assembly
US11235890B1 (en) * 2016-10-25 2022-02-01 Working Drones, Inc. Unmanned aerial vehicle having an elevated surface sensor
US20220023685A1 (en) * 2019-02-20 2022-01-27 Ebara Corporation Drone system
US20200326706A1 (en) * 2019-04-10 2020-10-15 General Electric Company Systems and methods for localizing aerial vehicle using unmanned vehicle
US20210147080A1 (en) * 2019-11-18 2021-05-20 Agco Corporation Crop-extraction system having an unmanned aerial vehicle, and related methods
US20220117217A1 (en) * 2020-10-19 2022-04-21 Aigen Inc. Collaborative robot network with hybrid electro-mechanical plant management methods

Also Published As

Publication number Publication date
CN121693451A (en) 2026-03-17
EP4724347A2 (en) 2026-04-15
WO2024259021A2 (en) 2024-12-19

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