Robots with dynamically controlled position of center of mass

Abstract

Dynamic control of a center of mass position is based on replacement of discrete motion of macro body (counterweighing solid or counterbalancing mechanisms) for continuous molecular flow of counterweighing liquid. Redistributing liquid counterweight between chambers attached to independently moving parts of robot allows its motion to new stable position without disruption in static stability and dynamic balance. Various embodiments include bipods / humanoids, wheeled locomotion robots and hybrid wheeled / multi-pod bio-like robotic systems; some embodiments allow reversible mutual reconfiguration between various structural arrangements. In humanoid embodiments, method allows moving on uneven terrain or ascending staircases while maintaining static stability; method also decreases the probability of fall and secures self-rising if a fall occurred. In some embodiments liquid counterweight may be transferred upon high barriers exceeding the height of robot by a few folds, such as walls of the building or ledge or steep slope in mountains, thus providing robots with capability principally not available to prior art.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS[0001]This application claims the benefit of U.S. Provisional Patent Application Ser. No. 62 / 517,870, filed Jun. 10, 2017, which is incorporated herein by reference in its entirety.FIELD OF THE INVENTION[0002]The present invention generally pertains to maneuverability, stability and dynamic balance of robots, in particular, to robots having extended capabilities for autonomous movement upon strongly uneven ground, including ruins and mountains, and in dangerous environments. Specifically, the present invention is aimed at methods and apparatuses providing dynamically controllable position of center of mass for legged and wheeled locomotion robots.Description of the Related Art[0003]Counterbalancing subsystems are the important parts of the entire robotic mechanical systems. Thus, significant efforts focused in the advancing of the counterbalancing subsystems of robots, and various passive and active approaches had been developed:[0004]Specially...

AI Technical Summary

Benefits of technology

The present invention is about a robot that can move around uneven terrain and maintain its balance. It uses special techniques to control its position and keep everything in the right place during movement.

Problems solved by technology

The cited examples indicate multidirectional approaches to the counterbalancing subsystem design; however, mechanical counterbalancing methods and apparatuses face double limitations—they are specified to particular configurations of the arms or body of the robots and strictly limit the height of barriers which the locomotion robot is able to overcome.

However, it does not address the problem of dynamic balance of locomotion robots and it is limited with arthrobots.

It is apparent from the cited examples that the various methods and mechanisms known from the prior arts provide effective approaches to the counterbalancing problem in the numerous specific tasks; however, they imply the increase of complexity in design, structure and control of robotic systems, while the stability and safety requirements still necessitate the further improvements; these problems are particularly strong in the complex environment thus limiting the scope of available practical tasks in robot implementation.

Furthermore, the fall of a robot during maneuvers is frequently occurring.

On one hand, it represents the manifold dangers for completion of a responsible tasks, for humans in the proximity and for the robot itself.

On the other hand, rising the robot back represents a complex and not always solvable task for remote operators.

The self-rising (also termed as self-righting) of robots based on passive approaches, specific mechanisms, overturned drivability, and dynamic approaches known from the prior arts didn't not resolve the problem.

Moreover, counterbalancing and self-rising significantly contributes into the manifold complexity of robotic mechanics, including mathematical apparatus and control systems, design and structures.

Such growing complexity represents the major hurdle limiting the pace of progress in the field.

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