Self-stabilizing walking apparatus that is capable of being reprogrammed or puppeteered

Abstract

An apparatus that is capable of achieving self-stabilization while walking comprises two front legs and two rear legs with each leg having three joints including a hip joint, an upper leg joint, and a lower leg joint. Each joint is powered by a motor and is monitored by an encoder, totaling twelve of each for the entire apparatus. Stability is maintained by adding weight to the two front legs and by positioning a separate weight toward the front and middle of the apparatus, thereby moving the center of balance of the apparatus further within the stability envelope of the apparatus. As a result, the apparatus maintains its stability by itself without the need for additional CPU's. The apparatus also includes an animation motor that is capable of causing the apparatus to make non-ambulatory movement and a cartridge slot which allows the user to download new programming which facilitates new behavior being exhibited by the apparatus.

Description

[0001] This application claims benefit of U.S. Provisional Application No. 60 / 203,042, filed May 9, 2000.[0002] 1. Field of the Invention[0003] The invention relates to self-stabilizing walking platforms that can be reprogrammed and, more particularly, to a self-stabilizing quadruped walking platform that can be controlled in a fashion allowing flexible user programming and operation.[0004] 2. Description of the Related Art[0005] There are numerous examples in the prior art of walking quadruped devises that try to walk in a fashion that is similar to four-legged animals. Many of these devices use twelve motors with three used in conjunction with each limb and a gyroscope. The first of these motors controls the motion of the hip joint of the limb, the second motor controls the upper leg joint of the limb, while the third and final motor of the limb controls the knee joint. All four limbs and the motors associated therewith are controlled by a separate CPU and servo for each motor whi...

AI Technical Summary

Benefits of technology

[0011] Another embodiment of the present invention that is capable of being reprogrammed includes a cartridge slot into which an intermediate flash cartridge can be inserted. This feature allows the user to download new programming which can alter the way the apparatus moves or behaves. Thus, the apparatus could for example act like a dog and then be reprogrammed to act like a cat. This feature solves the problem of the user getting tired of the apparatus exhibiting the same behavior repeatedly. In addition, games may be downloaded to the apparatus so that the user can play against the apparatus in games like tic, tac, toe. Finally, the cartridge slot can be used to download improvements and fix bugs concerning the programming of the apparatus. This embodiment is also capable of remote diagnostics so that someone other than the user who is more knowledgeable about the workings and programming of the apparatus can determine what is wrong with the apparatus and take the appropriate course of action.

[0012] Yet another embodiment of the present invention that is capable of reproducing precise three dimensional movements comprises an input apparatus which may be manipulated much as a puppeteer either manually or mechanically. The position of the legs as they are moved is detected by encoders that are located within the input apparatus and then is transmitted to the output apparatus whose information processor directs the legs of that apparatus to mimic the position of the legs of the input apparatus in real time. Alternatively, the puppeteer may choose to record the movements of the input apparatus via computer which is hard wired to the input apparatus. Then the movements and timing of the recording can be manipulated on the computer until the puppeteer is satisfied with the end result. Next, the altered program may be downloaded to the output apparatus via the intermediate flash cartridge that is inserted into the cartridge slot, which is part of the output apparatus, and executed just as any other program. These features provide a way to control the output apparatus so precisely that it can reproduce three dimensional movements that are not possible to execute using traditional methods of control such as a joystick remote control.

[0013] The various different embodiments that have been described may be powered electrically, chemically, by solar power, etc. to cause any of their motors to turn and move the apparatus. It is also readily apparent to those skilled in the art that these features can be applied to walking devises that have fewer and more than four legs as well. As can be seen, this invention provides a walking apparatus that can maintain self-stabilization, that can be reprogrammed, and that can reproduce precise three dimensional movements at a cost that is less than found in prior art devices.

Problems solved by technology

However, prior art devices are still unsatisfactory for three reasons.

One problem is that these devices do not have enough stability that is incorporated into their structural elements to provide self-stabilization.

The large number of CPU's with a high computing power, the gyroscope, and servos increase the overall cost of these devices significantly.

This can be cost prohibitive in the robotics and toy fields where amateurs wish to have a walking device that can mimic the motion of animals but cannot afford to pay the price that is currently associated therewith.

Another problem with these devises is that they lack the ability to alter the way they move because they are rigidly preprogrammed to act a certain way.

This leaves these devices incapable of adapting to their environment and altering their response to stimuli and obstacles found therein.

This can be disadvantageous in toy applications where the user may grow tired of having the apparatus behave in an identical fashion every time the apparatus is used.

This may also be disadvantageous in robotics applications where the user may need the apparatus to move and act in different ways in order to achieve some desired result such as solving a problem or gaining access to a remote area.

A third problem with these prior art devices is that they do not provide adequate means for the user to control them.

Although this method is satisfactory for simple movements in horizontal directions, it can be unwieldy if not impossible to use such a remote controller to effectuate complex three dimensional movement that may not even be ambulatory in nature.

These types of control can be disadvantageous in toy and robotics applications where the user may wish to make the apparatus simulate unique and very precise movements in order to create some desired end result.

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