U.S. patent application number 16/005109 was filed with the patent office on 2018-12-13 for robots with dynamically controlled position of center of mass.
The applicant listed for this patent is Benjamin F. Dorfman. Invention is credited to Benjamin F. Dorfman.
Application Number | 20180354143 16/005109 |
Document ID | / |
Family ID | 64562063 |
Filed Date | 2018-12-13 |
United States Patent
Application |
20180354143 |
Kind Code |
A1 |
Dorfman; Benjamin F. |
December 13, 2018 |
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.
Inventors: |
Dorfman; Benjamin F.; (San
Francisco, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Dorfman; Benjamin F. |
San Francisco |
CA |
US |
|
|
Family ID: |
64562063 |
Appl. No.: |
16/005109 |
Filed: |
June 11, 2018 |
Related U.S. Patent Documents
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
|
|
62517870 |
Jun 10, 2017 |
|
|
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G06F 21/00 20130101;
B62D 57/032 20130101; G05B 2219/40298 20130101; H04L 63/029
20130101; H04L 63/0281 20130101; G06N 3/02 20130101; B25J 19/002
20130101; G06N 3/04 20130101; G05D 1/0891 20130101; G05B 2219/40465
20130101; B25J 19/0008 20130101; B25J 19/0012 20130101; B25J 9/0009
20130101 |
International
Class: |
B25J 19/00 20060101
B25J019/00; B25J 9/00 20060101 B25J009/00; G05D 1/08 20060101
G05D001/08 |
Claims
1. A locomotion robot with a dynamically controlled center of mass,
comprising: a liquid counterweight, at least two liquid chambers
designated for said liquid counterweight, at least one pump, at
least two independently moving parts, each of said at least two
independently moving parts including at least one of said at least
two liquid chambers, said liquid counterweight being transported
and alternatively redistributed between said liquid chambers
amassing a major portion of said liquid counterweight at least in
one of said at least two liquid chambers located in one of said at
least two independently moving parts of said robot while at least
partially emptying at least one of an other of said at least two
liquid chambers located in others of said at least two
independently moving parts of said robot.
2-3. (canceled)
4. A locomotion robot having at least two legs, comprising: a
liquid counterweight, at least two liquid chambers, at least two
liquid pumps, each of said at least two legs including at least one
of said at least two liquid pumps and at least one of said at least
two liquid chambers, said liquid counterweight being transported
and redistributed between said at least two liquid chambers
amassing a major portion of said liquid counterweight in said at
least two liquid chambers located in one of said at least two legs
statically resting on a stable support while partially or
completely emptying at least one of said at least two liquid
chambers located in an other of said at least two legs, one of said
at least two legs having a partially or completely emptied liquid
chamber of said at least two liquid chambers being moved to a new
position, a series of said transport and redistribution of said
liquid counterweight between said at least two liquid chambers
being repeated alternatively until the locomotion robot reaches a
new designated statically stable position.
5. The locomotion robot according to claim 4, further comprising at
least one inflatable airbag on a back of said robot, said robot
having a humanoid form, wherein said airbag is normally collapsed,
wherein in an occurrence of a fall of said humanoid robot, said
airbag is inflated thereby lifting a top of a body of said robot to
an upright position.
6. The locomotion robot according to claim 5, said robot including
at least two hands and a flexible reversibly collapsing liquid
chamber attached to at least one of said at least two hands, said
flexible reversibly collapsing liquid chamber being filled with a
counterweighing liquid controllably shifting a center of mass of
said robot during a self-rising or autonomous operation of said
robot.
7-8. (canceled)
9. A locomotion robot, comprising: a liquid counterweight, at least
two cars each including a tank for said liquid counterweight and a
liquid pump, each of said tanks being connected by a flexible pipe
for transfer of said liquid counterweight, said liquid
counterweight being transported and reversibly redistributed
between said chambers of said tanks. each of said two cars
including a motor or engine, each of said at least two cars having
double flexible joints allowing said two cars to alternatively lift
each other over a ground surface and mutually change their relative
altitudinal positions, one of said double flexible joints having a
telescopic hydraulic cylinder fixed with its base on a first of
said two cars and with its opposite end of a sliding rod being
fixed on a second of said two cars, another of said double flexible
joints having a hoister installed on a second of said two cars and
with an end of a cable of said hoister being fixed on said first of
said two cars, said liquid counterweight being transferred to and
amassed in a tank in said first of said two cars resting on the
ground surface while emptying said tank in said second car of said
two cars, said second car with an emptied tank being lifted by said
telescopic hydraulic cylinder up to or slightly above the ground
surface at an elevated terrain, the first moving moves a robotic
system to a position thereby allowing the second car to be grounded
on said elevated terrain, the second car being grounded on said
elevated terrain by said telescopic hydraulic cylinder, said liquid
counterweight being transferred to and amassed in said tank of the
second of said two cars resting on said ground surface on said
elevated terrain while emptying said tank in said first car of said
two cars, the first car with an emptied tank being lifted by said
hoister up to or slightly above of the ground of said elevated
terrain, said second car moving the robotic system to a position
allowing the first car to be grounded on said elevated terrain,
said first car being grounded on said elevated terrain by said
hoister such that the robotic system is self-ascended upon said
elevated terrain.
10. The locomotion robot according to claim 9, wherein said
locomotion robot ascends vertical barriers exceeding a normal
height of said robot as measured during its resting position or
movement on an even terrain.
11. (canceled)
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 introduced counterweight--the examples
are disclosed in the U.S. Pat. No. 2,344,108; U.S. Pat. No.
3,543,989; U.S. Pat. No. 4,402,646: [0005] Permanently-low
positioning of Center of Mass of the functional robotic
structure--the examples are disclosed in the U.S. patent
disclosures of the human transporter devices that balance on two
wheels U.S. Pat. No. 5,701,965 and U.S. Pat. No. 6,302,230. [0006]
Counterbalancing pressure--pneumatic or hydraulic mechanisms--the
examples are disclosed in the U.S. Pat. No. 3,370,452, U.S. Pat.
No. 4,300,198, U.S. Pat. No. 4,229,136 and U.S. Pat. No.
4,751,868.
[0007] Mechanical spring-based counterbalancing--the examples are
disclosed in the U.S. Pat. No. 3,391,804; U.S. Pat. No. 4,024,961;
U.S. Pat. No. 4,259,876; U.S. Pat. No. 4,283,165, and U.S. Pat. No.
4,378,959.
[0008] Electromechanical counterbalancing devices--the example is
disclosed in the U.S. patent application No. US 2014/0246258.
[0009] 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. To expand
the robots' abilities, both fluid mechanical systems and solid
mechanical systems with extended capabilities had been
disclosed.
[0010] Thus, the U.S. Pat. No. 4,751,868 describes a method and
system employing double-acting, fluid-driven, twistor-pairs as
combined flexural supports, joints, torque motors and
linear-response angular deflectors in arms and legs of arthrobots.
Controllable variation of the fluid pressures of gas (usually
pressurized air) in two elastic shells causes the joint to move
into predetermined predictable angular positions, as a linear
function of the fluid pressure values. The term "arthrobots" in
this disclosure is used to place equal emphasis upon robots having
jointed arms for manipulating objects and upon robots having
multiple jointed legs for self-propelled locomotion. A six-legged,
insect-like, self-propelled, walking robot ("hexapodal arthrobot")
achieves locomotion with three legs always on the ground, providing
advantageous, stable tripod support, by programming fluid pressures
in twistor-pairs of respective joints varying in predetermined
sequences. Costly friction-producing bearings are eliminated at
joints and by eliminating bearings, mass, weight and inertia are
substantially reduced, and frictional and torque drag effects are
nearly eliminated. These benefits result with significant
improvements in static and dynamic performance of arthrobots,
reduce costs of manufacture and may be employed for various
industrial applications and for toys. However, it does not address
the problem of dynamic balance of locomotion robots and it is
limited with arthrobots.
[0011] The U.S. Pat. No. 8,316,972 discloses a dynamically
controlled active mechanical systems an apparatus and a method for
robotic control that allows an unbalanced pendulum robot to raise
its Center of Mass and balance on two motorized wheels. The robot
includes a pair of arms that are connected to the upper body of the
robot through motorized joints. The method consists of a series of
movements employing the arms of the robot to raise the robot to the
upright position. The robot is first configured as a low Center of
Mass four-wheeled vehicle, then its Center of Mass is raised using
a combination of its wheels and the joint located at the attachment
point of the arm apparatus and the robot body, between the rear and
front wheels; the method then applies accelerations to the rear
wheels to dynamically pivot and further raise the Center of Mass up
and over the main drive wheels bringing the robot into a balancing
pendulum configuration.
[0012] 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.
[0013] The U.S. Pat. No. 8,977,485 B2 disclosed methods for robotic
self-righting from an overturned state to its nominal upright
configuration including defining a convex hull and center of mass
of each link of the robot; determining the convex hull and overall
robot center of mass for each joint configuration of the robot;
analyzing each convex hull face to determine its stability or
instability; grouping continuously stable orientations of the robot
and joint configurations together defining nodes and transitions
there between; assigning a cost to transitions between nodes;
computing an overall cost for each otential set of transition costs
resulting in achievement of the goal; and determining a sequence of
one or more actions to self-right the robot such that the sequence
of actions minimizes the overall cost of self-righting the
robot.
[0014] Although counterbalancing and self-rising may be considered
as secondary functions supporting the primary useful functionality
of the robots, they substantially defines maneuverability,
stability and dynamic balance of robots, their safety and the scope
of the practically useful functions achievable at the given general
state of robotic science and technology. 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. The objectives of the present invention are relatively
simple dynamically controlled counterbalancing methods and
apparatuses with the higher levels of reliability and safety
predominantly targeting the humanitarian tasks wherein the safety
of operation and availability of the aimed complicated localities
possess a higher priority than the speed of the motion.
[0015] Another objectives of the present invention are dynamically
controlled counterbalancing methods and apparatuses extending the
scope of available tasks into the hardly available or not available
yet fields wherein the human life is endangered, such as rescue
works in fire, in the ruins after natural or human-made disaster,
or in the harmful industrial productions, or in the mining and
geological explorations.
[0016] Also objectives of the present invention are relatively
simple self-rising methods and devices consistent with the
disclosed counterbalancing system of a robot.
SUMMARY OF THE INVENTION
[0017] The present invention comprises a robotic apparatus and
methods that allow to dynamically control position of its Center of
Mass (COM) and to maintain the balance during movement of a
locomotion robot upon uneven terrains.
[0018] More specifically, it is aimed at legged and/or wheeled
locomotion robots with dynamically controllable position of center
of mass significantly decoupled from the momentary configuration of
the structure of the robot during its movement.
[0019] One of principle embodiments of present invention is a
capability of the robot to shift its COM to new designated position
while the structure of the robot remains immovable.
[0020] Another principle embodiment of present invention is a
capability of the robot to maintain its COM at the lowest possible
position during a motion on an uneven terrain.
[0021] Other principle embodiment of present invention is ability
of the robot for altitudinal elevating position of its Center of
Mass above the supporting ground significantly higher, in some
embodiments--in a few folds higher than the normal height of the
robot itself thus allowing ascending the steep barriers or vertical
walls in urban environment or during a self-mountaineering.
[0022] The key physical principle underlying the present invention
is the replacement of the discrete motion of macro body, such as
counterweighing solid load or counterbalancing rigid mechanisms,
for continuous microscopic/molecular flow of liquid counterweight.
The robot includes a liquid counterweight, at least one pump, and
at least two independently moving parts of the body, each comprises
at least one liquid chamber.
[0023] The method consists of redistributing of liquid
counterweight between the liquid chambers amassing the major
portion of the liquid counterweight in the liquid chamber located
in the part of the robot resting on stable support while partially
or completely emptying the liquid chamber located in the other part
of the robot thus maintaining the Center of Mass (CoM) of the robot
in the margin of stable support and allowing motion of the other
movable part of the robot to a new stable position while reliably
retaining the dynamic balance; the method then applies to transfer
the liquid counterweight and amass it in the other part; such
operations repeated alternatively; a series of such alternating
operations allows to move the robot over uneven terrain or to raise
the robot uphill or upstairs while continuously maintaining its
dynamic balance and stability of its proper position in space.
[0024] Method allows various embodiments including legged, wheeled
and reconfigurable locomotion robots. Some embodiments of the
disclosed method and apparatuses may comprise a plurality of
movable parts, each part contains its liquid chamber or
chambers.
[0025] The disclosed method and apparatuses also imply the
embodiments with structurally reconfigurable robots allowing
reversible mutual transforming between various arrangements.
[0026] Another important aspect of this invention is due to the
fact that the adaptive redistribution of the internal liquid mass
in an autonomously moving system actually approaches one of the
basic mechanical principles underlying the dynamics of natural
organisms.
[0027] Accordingly to the present invention, the liquid chambers of
robots may be rigid or flexible or combine both.
[0028] Also accordingly to the present invention, the liquid
counterweight, depending on specific designation, kind and
dimension of the robots, may be lightweight, as water or oil,
medium heavyweight, as bromoform, heavyweight, as liquid gallium,
or ultra-heavyweight, as mercury.
[0029] The same liquid, in particularly oil, may be also employed
in hydraulic power transmission systems driving or reconfiguring
the robots.
[0030] The present invention provides the following advantages to
locomotion robots design and functionality: [0031] 1. Replacement
of motion of macroscopic solid counterweighing bodies for a
microscopic continuous molecular flow of liquid counterweight
brings multifaceted benefits to the robot mechanics and virtually
decouples the COM position from the robot's motion and momentary
configuration. [0032] 2. Substantial decoupling of COM position
from the robot's motion allows significant simplifications in the
mathematical model of the robot's dynamics and its control and
design. [0033] 3. It allows motion of the robot under condition of
continuous static stability keeping its safely to the pathway even
on strongly uneven terrains, such as ruins, or in mountains or
while rising upstairs. [0034] 4. In spite the liquid counterweight
increases the general mass of robot, it allows avoiding certain
relatively heavy and complex structural components. [0035] 5.
Replacement of mechanical counterbalance for liquid counterweight
also decreases vibrations, thus additionally simplifying the
dumping system and supporting smooth motion of the robot. [0036] 6.
The liquid counterweight allows continuous maintaining the lowest
possible position of COM thus significantly decreasing possibility
of the fall. [0037] 7. If a fall occurred, the flexible liquid
jackets cushion a shock thus protecting the robot structure and
sensitive apparatuses; then, the liquid may be redistributed
effectively supporting self-rising of the robot. The same or
complimentary flexible jackets may be employed as inflated air
pillow elevating the body of robot to position, from which its
final self-rising may be relatively easy completed. [0038] 8. In
some embodiment of the present invention, the liquid counterweight
may be transferred upstairs, or uphill, or on the sharp high
barrier substantially exceeding the height of the robot even by
several folds, such as wall of the building or ledge or steep slope
in mountains, thus providing robots with capability which in
principle not available for robots designed based on the prior art.
[0039] 9. The adaptive redistribution of the internal liquid mass
in an autonomously moving system actually approaches one of the
basic mechanical principles underlying the dynamics of natural
organisms.
[0040] The disclosed transferable liquid counterbalancing methods
method and apparatuses also imply the embodiments with such
structurally reconfigurable robots as hybrid manned-robotic
systems, bio-like multi-pod robotic devices as caterpillar or
spider and also allows reversible mutual transforming between
various bio-like arrangements practically beneficially actualizing
real and imaginative bio-forms, such as centaurs.
[0041] According to an embodiment, a locomotion robot with a
dynamically controlled center of mass, includes: a liquid
counterweight, at least two liquid chambers designated for said
liquid counterweight, at least one pump, at least two independently
moving parts, each of said at least two independently moving parts
including at least one of said at least two liquid chambers, said
liquid counterweight being transported and alternatively
redistributed between said liquid chambers amassing a major portion
of said liquid counterweight at least in one of said at least two
liquid chambers located in one of said at least two independently
moving parts of said robot while at least partially emptying at
least one of an other of said at least two liquid chambers located
in others of said at least two independently moving parts of said
robot.
[0042] According to a further embodiment, a locomotion robot with a
dynamically controlled center of mass, said robot includes: a
liquid counterweight, at least two liquid chambers designated for
said liquid counterweight, at least one pump, at least two
independently moving parts, each of said at least two independently
moving parts including at least one of said at least two liquid
chambers, said liquid counterweight being transported and
redistributed between said at least two liquid chambers amassing a
major portion of said liquid counterweight in said at least two
liquid chambers located in said at least two independently moving
parts statically resting on stable support while partially or
completely emptying those of said liquid chambers located in others
of said at least two independently moving movable parts, one of
said at least two independently moving parts with a partially or
completely emptied liquid chambers being moved to new position, a
series of said transport and redistribution of said liquid
counterweight between said liquid chambers being repeated
alternatively until the locomotion robot reaches a new designated
statically stable position.
[0043] According to yet another embodiment, a locomotion robot with
a dynamically controlled center of mass, said robot includes: a
liquid counterweight, a plurality of independently moving parts,
each of at least two of said independently moving parts including
at least one liquid chamber and at least one pump, said liquid
counterweight being transported and redistributed relative to said
at least one liquid chamber amassing a major portion of said liquid
counterweight in said at least one liquid chamber being located in
said plurality of independently moving parts statically resting on
a stable support while partially or completely emptying said at
least one liquid chamber located in an other of said plurality of
independently moving parts, one of said plurality of independently
moving parts having a partially or completely emptied liquid
chamber being moved to a new position, the series of said transport
and redistribution of liquid counterweight between said liquid
chambers repeated alternatively until the locomotion robot reached
new designated statically stable position.
[0044] According to another embodiment, a locomotion robot having
at least two legs, includes: a liquid counterweight, at least two
liquid chambers, at least two liquid pumps, each of said at least
two legs including at least one of said at least two liquid pumps
and at least one of said at least two liquid chambers, said liquid
counterweight being transported and redistributed between said at
least two liquid chambers amassing a major portion of said liquid
counterweight in said at least two liquid chambers located in one
of said at least two legs statically resting on a stable support
while partially or completely emptying at least one of said at
least two liquid chambers located in an other of said at least two
legs, one of said at least two legs having a partially or
completely emptied liquid chamber of said at least two liquid
chambers being moved to a new position, a series of said transport
and redistribution of said liquid counterweight between said at
least two liquid chambers being repeated alternatively until the
locomotion robot reaches a new designated statically stable
position. The locomotion robot can further include at least one
inflatable airbag on a back of said robot, said robot having a
humanoid form, wherein said airbag is normally collapsed, wherein
in an occurrence of a fall of said humanoid robot, said airbag is
inflated thereby lifting a top of a body of said robot to an
upright position. The robot can include at least two hands and a
flexible reversibly collapsing liquid chamber attached to at least
one of said at least two hands, said flexible reversibly collapsing
liquid chamber being filled with a counterweighing liquid
controllably shifting a center of mass of said robot during a
self-rising or autonomous operation of said robot.
[0045] According to a still further embodiment, a locomotion robot,
includes: a liquid counterweight, at least two cars each including
a tank for said liquid counterweight and a liquid pump, each of
said tank being connected by a corresponding flexible pipe for
transfer of said liquid counterweight, said liquid counterweight
being transported and reversibly redistributed between said
tanks.
[0046] According to yet a further embodiment, a locomotion robot,
includes:
[0047] at least two cars,
[0048] a liquid counterweight, each of at least two cars including
a tank for said liquid counterweight and a liquid pump, each of
said liquid tanks being connected by a flexible pipe for transfer
of said liquid counterweight, said liquid counterweight being
transported and reversibly redistributed between chambers of said
tanks, said at least two cars being adjacent to one another and
joined together by a telescopic hydraulic cylinder, each of at
least two cars including a motor or engine.
[0049] According to another embodiment, a locomotion robot,
includes: a liquid counterweight, at least two cars each including
a tank for said liquid counterweight and a liquid pump, each of
said tanks being connected by a flexible pipe for transfer of said
liquid counterweight, said liquid counterweight being transported
and reversibly redistributed between said chambers of said tanks,
each of said two cars including a motor or engine, each of said at
least two cars having double flexible joints allowing said two cars
to alternatively lift each other over a ground surface and mutually
change their relative altitudinal positions, one of said double
flexible joints having a telescopic hydraulic cylinder fixed with
its base on a first of said two cars and with its opposite end of a
sliding rod being fixed on a second of said two cars, another of
said double flexible joints having a hoister installed on a second
of said two cars and with an end of a cable of said hoister being
fixed on said first of said two cars, said liquid counterweight
being transferred to and amassed in a tank in said first of said
two cars resting on the ground surface while emptying said tank in
said second car of said two cars, said second car with an emptied
tank being lifted by said telescopic hydraulic cylinder up to or
slightly above the ground surface at an elevated terrain, the first
moving moves a robotic system to a position thereby allowing the
second car to be grounded on said elevated terrain, the second car
being grounded on said elevated terrain by said telescopic
hydraulic cylinder, said liquid counterweight being transferred to
and amassed in said tank of the second of said two cars resting on
said ground surface on said elevated terrain while emptying said
tank in said first car of said two cars, the first car with an
emptied tank being lifted by said hoister up to or slightly above
of the ground of said elevated terrain, said second car moving the
robotic system to a position allowing the first car to be grounded
on said elevated terrain, said first car being grounded on said
elevated terrain by said hoister such that the robotic system is
self-ascended upon said elevated terrain. The locomotion can robot
ascend vertical barriers exceeding a normal height of said robot as
measured during its resting position or movement on an even
terrain.
[0050] According to a further embodiment, a locomotion robot with a
dynamically controlled center of mass includes: a liquid
counterweight, a pump, at least two liquid chambers, said liquid
counterweight being transported and alternatively redistributed
between said at least liquid chambers, said liquid counterweight
including water, oil, bromoform, liquid (melted) gallium or gallium
alloys, or mercury.
BRIEF DESCRIPTION OF THE DRAWINGS
[0051] FIG. 1 shows the sequential stages of ascending a single
step on a terrain for the Humanoid embodiment of the invention.
[0052] FIG. 2 shows the sequential stages of robot ascending stairs
for the Humanoid embodiment of the invention.
[0053] FIG. 3 shows diagrams illustrating the time dependence of
position of Centers of Mass (CoM) relatively to the ground level
and relatively to the left and right support areas of humanoid
during ascending the stairs.
[0054] FIG. 4 is a flowchart showing alternating phases of body
movement and liquid load transfer during robot motion on uneven
terrain.
[0055] FIG. 5 shows a few alternative designs for liquid chambers
and their positions on a humanoid robot.
[0056] FIG. 6 shows views of the humanoid robots' effective moving
on an even terrain in three different embodiments.
[0057] FIG. 7 shows the sequential stages of self-rising after fall
for the Humanoid embodiment of the invention.
[0058] FIG. 8 shows preferable configuration of a relatively light
wheeled locomotion robot embodiment of the invention.
[0059] FIG. 9 shows preferable configuration of relatively heavy
wheeled locomotion robot embodiment of the invention.
[0060] FIG. 10 shows a self-mountaineering relatively light wheeled
locomotion robot ascending a high vertical ledge.
[0061] FIG. 11 shows a self-mountaineering relatively heavy wheeled
locomotion robot ascending a high vertical ledge.
[0062] FIG. 12 shows a general view of Hybrid Robotic
Systems--Wheeled/Bio-like Locomotion Robotic train.
[0063] FIG. 13 shows the wave-like motion of the Wheeled/Bio-like
Locomotion Robotic train.
[0064] FIG. 14 shows the initial stages of a slope ascending.
[0065] FIG. 15 shows the final stages in this example of a slope
ascending.
[0066] FIG. 16 shows ascending assisted with the anchors/paws.
[0067] FIG. 17 shows a simplified schematic illustrating as an
example a self-ascending hybrid manned-robotic mobile
apparatus.
[0068] FIG. 18 shows a simplified schematic illustrating as an
example caterpillar-like robotic system transforming between
various bio-like arrangements practically and beneficially
actualizing real and imaginative bio-forms, such as centaurs.
[0069] FIG. 19 shows Spider-like reconfigurable locomotion robotic
system with broadly variable mass distribution and position of
center of mass.
DETAILED DESCRIPTION OF THE INVENTION
[0070] The key concept of present invention is transferable liquid
counterweight wherein the transfer of said liquid counterweight
substantially or virtually completely decoupled from the motion of
the robot's arms and from the motion of its body.
[0071] Fixed liquid counterweight is known by prior art, although
not in robotic systems, but in industrial cranes. Fixed liquid
counterweight provides some convenience during installation or
transportation of cranes, but it neither improves, nor extend their
useful functionalities.
[0072] Partially movable solid counterweight is known by prior art
in robotic systems, however a motion of solid counterweight is
strictly specified for every particular configuration of a robot's
arm and/or its body, and the allowable motion of solid
counterweight is narrow limited; besides, it requires additional
complex mechanical subsystem and corresponding complex control and
supporting mathematical apparatus.
[0073] Contrarily to these particularities and limitations of the
prior arts, the transferable liquid counterweight brings to robots
and robotic systems the following advantages: [0074] 1. A change of
CoM position is not directly bounded with functional configuration
or functional motion of robot; instead, accordingly to the present
invention, the dynamically adaptive change of CoM position is
achieved by continuous molecular flow of liquid mass that does
neither disturb nor restrict the structural body motions and only
defined by the requirement of the designated useful task. [0075] 2.
If required, the necessary change of CoM position may be conducted
while the arms and body of robot remain immovable; alternatively,
if required, the necessary change of CoM position may be conducted
in real time of the robot's motion. [0076] 3. Substantial
decoupling of COM position from the robot's motion allows
significant simplifications in the mathematical model of the
robot's dynamics and its control and design. Contrarily to the
counterbalancing methods and apparatuses known by prior art wherein
the dynamical balance of a robotic system every moment depends on
the momentary velocity vector of counterweighing solid body or
counterbalancing mechanism and their momentary position and, thus,
depends on the trajectory of said solid body or mechanism motion,
the trajectory of liquid flow is simply defined by a flexible
connecting pipe and does not influence the robotic system dynamic
balance. [0077] 4. The transferable liquid counterweight allows
motion of a humanoid robot under condition of continuous static
stability keeping its safely to the pathway even on strongly uneven
terrains, such as ruins, or in mountains or while rising upstairs.
[0078] 5. In spite the liquid counterweight increases the general
mass of robot, it allows avoiding certain relatively heavy and
complex structural components. [0079] 6. Replacement of mechanical
counterbalance for the transferable liquid counterweight also
decreases vibrations, thus additionally simplifying the dumping
system and supporting smooth motion of the robot. [0080] 7. The
transferable liquid counterweight allows continuous maintaining the
lowest possible position of COM thus significantly decreasing
possibility of the fall. [0081] 8. If a fall occurred, the flexible
liquid jackets cushion a shock thus protecting the robot structure
and sensitive apparatuses; then, the liquid may be redistributed
effectively supporting self-rising of the robot. [0082] 9. During
the robot's ascending, the transferable liquid counterweight may be
lifted upstairs, or uphill, or on the sharp high barrier even
greater by several folds than the height of the robot, such as wall
of the building or ledge in mountains, thus providing robots with
capability not available for robots designed based on the prior
art. [0083] 10. For humanoids and other bio-like robots, the
transferable liquid counterweight represents a significant further
approach to the natural balancing mechanisms acting in the live
organisms.
[0084] The disclosed robot with a transferable liquid counterweight
includes at least one pump, and at least two independently moving
parts of the body, each comprises at least one liquid chamber.
[0085] The method consists of redistributing of liquid
counterweight between the liquid chambers amassing the major
portion of the liquid counterweight in the liquid chamber located
in the part of the robot resting on stable support while partially
or completely emptying the liquid chamber located in the other part
of the robot thus maintaining the Center of Mass of the robot in
the margin of stable support and allowing motion of the other
movable part of the robot to new stable position without disruption
of the dynamic balance of the robot; the method then applies to
transfer the liquid counterweight and amass it in the other part;
such operations repeated alternatively; a series of such
alternating operations allows to move the robot over uneven terrain
or to raise the robot uphill while continuously maintaining its
dynamic balance and stability of its proper position in space.
[0086] Method allows various embodiments including legged, wheeled
and reconfigurable locomotion robots. Some embodiments of the
disclosed method and apparatuses may comprise a plurality of
movable parts, each part contains its liquid chamber or
chambers.
[0087] There are variety of liquid pumps known of the prior art,
the highly effective miniature pumps are readily available from the
industry, and any person of ordinary skill in the pertinent area
could make and use the invention without extensive experimentation.
The preferable pump depends on specific technical task and may be
selected by such person of ordinary skill. Generally, gas-powered
liquid transfer pump may be preferred in most implementations of
the present invention due to simplicity of the pump and entire
liquid transfer system. It is important that gas-powered liquid
transfer pumps are functioning from compressed air; thus, the
liquid counterweight may be transferred on substantial height
practically without limitation.
[0088] It is also important, that the liquid transfer pumps are
energetically exceptionally effective, and energy effectiveness up
to about 98% is practically achievable.
[0089] The liquid counterweight, depending on specific designation,
kind and dimension of the robots, may be lightweight--as water or
oil, medium heavyweight--as bromoform (also known as
Tribromomethane, CHBr3; specific gravity 2.89), heavyweight, as
liquid gallium, or ultra-heavyweight, as mercury. All these liquid
matters are readily available from the industry.
[0090] In some embodiments, the same liquid, in particularly oil,
may be also employed in hydraulic power transmission systems
driving or reconfiguring the robots.
[0091] Particular embodiments of the present invention will be
clear in specific details from the following examples:
[0092] The FIGS. 1-7 show examples of the humanoid robots
embodiments of the present invention;
[0093] The FIGS. 8-11 show examples of the wheeled robots
embodiments of the present invention;
[0094] The FIGS. 12--16 show an example of hybrid systems.
The Humanoid Robots Embodiments
EXAMPLE 1
[0095] FIG. 1 shows humanoid robot 101 with joints 102-107
ascending a step. The schematically shown silhouette of a humanoid
possesses typical proportions of human (male) body (as defined in
"Human Mass Distribution", USAARL, 88-5, here incorporated for
reference). The liquid chambers, rigid 108, and flexible 109(a, b)
[109a shows the flexible chamber 109 in deflated stet, 109b shows
the flexible chamber 109 in the filled with liquid state], are
attached to each leg of robot: the rigid chambers 108 are fixed
under the foots, and flexible chambers 109 are attached to the
shanks. The pipe 110 (or `vessel` in bio-like term) is ending in
small recession 111 in the bottom of chambers 108, thus a
relatively insignificant comparatively to total liquid load 112a,
112b (112a in rigid chambers, 112b in flexible chambers) but
functionally important amount of counterweighing liquid always
remains in recessions 111 preventing air bubbles formation.
[0096] The structural components of the body and mechanisms made of
magnesium-lithium alloys with density range 1.4-1.6. Such alloys
with reliable protective coatings are known by the prior art and
readily available on the industrial market. The magnesium alloys
are also known by the prior art as the materials with the superior
values of specific stiffness even with comparison with the high
quality steel and titanium alloys.
[0097] The "bones" of robot are tubular, thus assuring the utmost
maximal specific stiffness of the structure. The exterior made of
carbon-fiber composites, the elastic chambers made of
fiber-reinforced plastics, both kinds of the ultra-light materials
known by the prior art. The height of robot in this example (not
including the bottom chamber under foot in correspondingly designed
robots) is 160 cm. Total structural (solid) mass of robot, not
including liquid load, is 50 kg.
[0098] Table shows the required volume of different liquids at
different relative mass of liquid load vs. body of robot with solid
mass 50 kg.
TABLE-US-00001 TABLE Volume of liquid load, liters for M.sub.sol =
50 kg Relative mass of Tribromomethane Liquid liquid counterweight
(bromoform) gallium Mercury M.sub.liq/M.sub.sol .times. 100% 2.89
kg/l 6.095 kg/l 13.546 kg/l 100 17.3 8.20 3.69 80 13.8 6.56 2.95 50
8.65 4.1 1.85 25 4.33 2.05 0.92
[0099] In the shown example, internal dimensions of each of the
bottom (rigid) chambers 108 are: length L=38 cm, height H=16 cm,
width W=22 cm; the corners are slightly rounded, and the actual
internal volume 13 liters; maximal liquid mass is 37.57 kg of
bromoform in each chamber 108. The actual maximal volume of each
flexible chambers 109b 4.3 liters; maximal liquid mass is 12.43 kg
of bromoform in each chamber 109b.
[0100] The shown example illustrates the maximal liquid load equal
to the solid mass of robot, in specific example 50 kg; the liquid
counterweight in shown example is the medium heavyweight bromoform
(Tribromomethane, CHBr.sub.3; specific gravity 2.89).
[0101] It is important to note that a smaller relative amounts of
liquid load, such as 25% of the solid mass of robot, that is 12.5
kg, will be sufficient for substantial improvement of stability and
dynamic balance of robot; however maximal amount of liquid shown on
example allows maintaining static stability with substantial margin
even during ascending. It is also important to note, that the
maximal relative amount of liquid counterweight implies slightly
more complex design; the shown examples on FIG. 1 and the following
figures illustrating humanoid embodiments of the present invention
explain embodiments with the maximal relative amount of medium
heavyweight liquid counterweight thus assuring that any person of
ordinary skill in the pertinent area could make and use the
invention without extensive experimentation even in such relatively
complex embodiments, and certainly in the embodiments with lower
relative amount and/or greater specific gravity of liquid
counterweight--if a person selects such embodiments.
[0102] Referring to FIG. 1, images A1, B1, C1, D1, El, F1, G1 show
a sequence of configurations, or phases, which the robot passes
through while ascending a singular step between two flat terrains.
Positions of Center of Mass (CoM) of the robot's solid structure,
as well as CoM of its liquid counterweight and general CoM of the
entire robot including liquid counterweight are shown for each
phase: specifically, the altitudinal positions of three CoM are
shown on Z-axis to the left of each image illustrating
corresponding phase, and the ground projections of three CoM
relatively to ground projection of the robot's foots shown under
image illustrating each phase as images A2, B2, C2, D2, E2, F2, G2
correspondingly; the filling of chambers with liquid indicated by
pattern as explained into insert in FIG. 1; ground projection of
the suspended foot not touching the ground shown as contour with
broken line.
[0103] In the initial position of robot, phase A1, at front of the
step, the total load of counterweighing liquid is equalized between
both legs, and liquid partially filled both rigid chambers 108,
while both flexible chambers 109 are emptied and deflated. Ground
projections of three CoM are closely positioned between the foots
inside, and specifically in the center of the ground support
polygon of the robot (polygons are not marked to prevent
unnecessary complexity of the figure, that is for its better
visibility).
[0104] In the preparatory position of robot, phase B1, all amount
of liquid counterweight transferred to the chambers 108 and 109b of
the left leg; the chambers 108 and 109a of the right leg emptied.
The position of ground projection of CoM of solid body was not
changed, the position of ground projection of CoM of liquid
counterweight shifted to center of ground projection of lest foot,
the position of ground projection of general CoM also shifted
inside of the ground projection of the left foot.
[0105] In the critical phase C1, when the right foot does not touch
the ground, the position of ground projection of general CoM
remains inside of the ground projection of the left foot.
[0106] In the phase D1, the right foot touches the ground, and all
amount of liquid counterweight transferred to the chambers 108 and
109b of the right leg, while the chambers 108 and 109a of the left
leg emptied. The position of ground projection of general CoM
shifted inside of the ground projection of the right foot.
[0107] In the critical phase E1, when the left foot does not touch
the ground, the position of ground projection of general CoM
remains inside of the ground projection of the right foot until the
left foot touches the ground in phase E1.
[0108] In the final phase F1 the total load of counterweighing
liquid is equalized between both legs as it was in the initial
position of robot, phase A1.
[0109] FIG. 2 shows sequent phases of a humanoid robot mounting a
stairway. Phases A1-E1 are identical to shown for ascending a
singular step on FIG. 1 (note, phases A1-D1 are not shown on FIG.
2). Phases H1 and I1 and their corresponding ground projections H2,
I2 on FIG. 2 (and the following similar phases not shown on FIG. 2)
differ in that that they do not imply intermediate equalizing of
liquid counterweight between the left and right chambers until the
robot finally mounted on the top of staircase.
[0110] FIG. 3 shows diagrams illustrating the time dependence of
position of the solid body CoM, position of liquid counterweight
CoM and position of general CoM of the entire robotic system
relatively to the ground level (top diagram) and relatively to the
left and right support areas of humanoid (bottom diagram) during
its ascending the stairs.
[0111] Specifically: On the top diagram, the curve 301 shows the
time dependence of the altitudinal position of the solid body CoM,
the curve 302 shows the time dependence of the altitudinal position
of CoM for the entire robotic system including both solid body and
liquid counterweight, and the curve 303 shows the time dependence
of the altitudinal position of the liquid counterweight CoM; line
304 shows the level of new step. It is clear from the top diagram
that the altitudinal position of COM of the entire robotic system
is nearly 50% lower than of the altitudinal position of the solid
body CoM, that is the CoM position of a robot with transferable
liquid counterweight during the all ascending is almost two-fold
lower than the CoM position of a conventional similar robot known
from prior art without a transferable liquid counterweight.
[0112] On the bottom diagram, the shadowed areas 305a and 305b
shows the width of the left support when the left foot of the robot
is touching the ground, the shadowed areas 306a and 306b shows the
width of the right support when the right foot of the robot is
touching the ground, the curve 307 shows the time dependence of the
ground projection of the solid body CoM, the curve 308 shows the
time dependence of the ground projection of the CoM position for
the entire robotic system, and the curve 309 shows the time
dependence of the ground projection of the CoM position for the
liquid counterweight relatively to the ground support areas. It is
apparent from the bottom diagram that a robot with transferable
liquid counterweight retains static stability during the entire
ascending including the time intervals when right or left foot are
detached from ground, while a conventional similar robot known from
prior art without a transferable liquid counterweight during said
interval must be supported with complex and less reliable dynamic
balancing system.
[0113] It is evident from these examples that a transferable liquid
counterweight allows a robot to maintain a quasi-static state and
stability during its motion on uneven terrain or ascending the
stairs, that is to adjust its CoM to new designated position while
the solid body of a robot remains in static state and move the
solid body to new designated position while retaining the ground
projection of CoM in the ground support polygon and, hence, to
retain its static stability during the motion.
[0114] The flowchart shown on FIG. 4 illustrates such alternating
phases of body movement and liquid load transfer during the robot
ascending the stairs: "Standing body/liquid transfer.fwdarw.Body
motion/stationary liquid counterweight.fwdarw. . . . "; Phases A,
B, C, D, E, F, G on FIG. 4 corresponds to FIG. 1.
[0115] It is important to note that the examples shown on FIG. 1
and FIG. 2 illustrate only one of possible designs of liquid
chambers for humanoid robots. FIG. 5 shows four other examples of
possible designs. The preference depends on specific kind of a
robot and designated technical task. Any person of ordinary skill
in the pertinent area could make and use the invention implementing
any of designs shown on FIGS. 1,2 and 5 or employ some different
design. Such design does not limit the essence of this invention as
defined in claims.
[0116] Referring to FIG. 5, there are shown the following examples
of alternative designs for liquid chambers and their positions on a
humanoid robot:
[0117] FIGS. 5a and 5b show correspondingly right 501 and left 502
foots of a robot based on design allowing continuous retaining of
the lowest position of CoM during the robot's motions. Two
separated liquid chambers attached to each foot of a robot: the
chambers 503 and 504 are attached under foots and the chambers 505
and 505 are installed upon the chambers 503 and 504 from external
sides of the foots. Referring to the above disclosed example of
humanoid with solid mass 50 kg and the maximal liquid bromoform
counterweight equal to the solid mass 50 kg, each of the bottom
chambers 503 and 504 have the following internal dimensions: length
(along x-axis) 38 cm, height (along z-axis) 10 cm, width (along
y-axis) 23 cm, internal volume 8.65 liters, maximal liquid load 25
kg; each of the top chambers 505 and 506 have the following
internal dimensions: length L=38 cm, height 17.6 cm, width 13 cm,
internal volume 8.65 liters, maximal liquid load 25 kg, equal to
the bottom chambers.
[0118] The average thickness of the walls of chambers 3 mm. The
external dimensions of four chambers are shown on FIGS. 5a and 5b
in proportions to this example.
[0119] Besides the lowest CoM position, the advantages of this
design are equal volumes of all chambers and their positioning
outside of the main structure of the robot.
[0120] FIGS. 5c and 5d, 5e and 5f show examples of flexible liquid
chambers designed as the boots of the robots: the shadowed areas
507 and 508 indicate volume occupied by the foots and shanks of the
robot, 509--the low chambers, 510--the upper chambers; 511 and
512--cross-sectional view of the upper chambers, the patterned
areas 513 and 514 indicate volume occupied by the foots and shanks
of the robot.
[0121] In specific example proportionally illustrated by FIGS. 5c
and 5d for robot with height 160 cm and mass 50 kg and maximal
liquid counterweight equal to solid mass of the robot as in the
examples explained above, the foot length 38 cm and maximal total
width of foot 23 cm including thickness of the walls, the volume of
each low chamber is 7 liters, the volume of each upper chamber is
10.3 liters, total maximal mass of liquid counterweight amassed in
both chambers of one leg is 50 kg of bromoform.
[0122] FIGS. 5e and 5f show similar design for robot with height
160 cm and mass 50 kg and liquid counterweight equal to 60% of
solid mass of the robot.
[0123] The advantages of the design shown on FIGS. 5c-5f, besides
its simplicity, is due to flexibility of chambers: the lowest
position of the solid foot of robot directly touching the
supporting ground.
[0124] Alternatively, FIG. 5g shows design with flexible upper
chambers 515 and rigid bottom chambers 516 wherein both kinds of
chambers directly attached to solid foot of the robot. For maximal
liquid counterweight equal to 100% of the solid mass of the robot,
each of the rigid bottom chambers has external dimensions: length
38 cm, width 24 cm, and height from ground to the foot of the robot
15 cm with thickness of magnesium side walls 1.5 mm and thickness
of the bottom wall 4 mm; the useful internal volume of each rigid
chamber 13 liters; the volume of each of the flexible upper
chambers 4.3 liters or 50 kg of bromoform, although it requires
relatively large foot dimensions and distance up to 15 cm between
the solid foot and supporting ground.
[0125] FIG. 5h shows similar design in the same scale for maximal
liquid counterweight equal to 100% of the solid mass of the robot
using the super-heavy liquid, that is mercury. It is apparent that
where it is compatible with general requirements, the mercury
liquid counterweight allows the utmost compactness and simplicity
of the design.
[0126] The transferable liquid counterweight disclosed in this
patent document provides the manifold empowering for the robots'
maneuverability and stability while not implying any additional
load on the robot mechanics during its motion on uneven terrain or
during ascending. However, such substantial additional load is not
However, such substantial liquid load is not commonly required
during the robots' motion on even terrain.
[0127] As it will be clear from the following disclosure, there are
various embodiments of the present inventions supporting effective
motion of the robots with the transferable liquid counterweight on
the even terrains.
[0128] FIG. 6 shows views of the humanoid robots moving on an even
terrain in three different embodiments:
[0129] In the embodiments illustrated by FIG. 6a, robot equipped
with water jackets 601 and 602, and the entire liquid counterweight
transferred in the jacket during the robot motion on even terrain.
This embodiment allows compact general design with flexible jacket
chambers made of fiber-reinforced plastic implying additional mass
of about only 1% to the solid mass of the robot. The motion of the
robot's leg is free from liquid load. However, the altitudinal
position of CoM slightly increased, as its shown on z-axis at
right.
[0130] In the embodiments illustrated by FIG. 6b, the bottom liquid
chambers under foots of the robot equipped with
retractable-extendable wheels 603 and may be equipped with
miniature motors. The solid body of the robot is completely free
from the liquid load, while the position of CoM almost two folds
lower than in common design known from prior art, and the dynamic
balance of the robot during its motion is significantly enhanced.
This is the most preferable embodiments for robots moving on the
normal roads or on the floors of the buildings.
[0131] In the embodiments illustrated by FIGS. 6c-1 and 6c-2, the
robot is equipped with a wheeled rigid jacket 604 on its back; the
jacket is detachable from the back while remaining connected with
robot with pneumatic telescopic cylinder 605 and pipe for liquid
transfer (not shown on the figure). During the motion of the robot
on terrain, jacket is converted in the attached car 606, the liquid
is transferred to the car, leaving robot free from liquid load. The
jacket-car made of reinforced plastic and carbon-fiber composites,
the wheels and cylinder made of magnesium alloy, additional solid
mass of the robot is about 2%.
[0132] The advantage of this design is possibility of a normal
motion of the robot on even as well as on slightly uneven terrain
where the embodiment shown on FIG. 6b is inconvenient.
[0133] It is evident from the disclosure provided above that the
transferable liquid counterweight provides significant enhancing of
stability and dynamic balance for the bipod humanoid robot thus
decreasing the risk of fall. Moreover, in the falling occurrence
the transferable liquid counterweight and supporting devices
decrease the probability of serious damage of the falling robot and
provide effective means for its self-rising (or self-righting,
using different term for this action).
[0134] FIG. 7 shows the sequential stages 7a-1 to 7a-7 of the
robot's self-rising after fall for the Humanoid embodiment of the
invention. The flexible jacket 701 on the robot's back is also used
as the inflatable by compressed air structure. During normal
operation and motion of the robot, the jacket is deflated or filled
with liquid, as described above. In the occurrence of fall on back,
FIG. 7a-1, the jacket is softening a shock and then inflated as
shown on 702 lifting robot to nearly vertical position of the upper
part of the body, FIG. 7a-2; next, portions of the liquid
counterweight are transferred into the flexible cuffs 703, FIG.
7a-3, further shifting the ground projection of CoM to the right
side; next, the inflatable flexible pillow 704-1 is filled with
air, FIG. 7a-4, allowing robot to restore the vertical position of
the upper part of its body; next, the flexible pillow further
inflated (704-2, FIGS. 7a-5 and 704-3, FIG. 7a-6), allowing robot
to incline ahead further shifting the ground projection of CoM to
the right side until it securely localized in the ground support
polygon; from this position robot may easily restore its normal
functional position, FIG. 7a-7.
[0135] FIGS. 7b-1 and 7b-2 show a different design of the back
jacket as a pneumatic spring (705, 706). This design is more
compact and simple, but the preference depends on the entire design
of the robot and should be specifically adjusted.
The Locomotion Wheeled Robots Embodiments
[0136] The locomotion wheeled robots on even or slightly uneven
terrains usually retain condition of static mobility maintaining
the ground projection of the center of mass in the margins of the
Ground Support Polygon, but there are relatively strict limitations
of accessibility of uneven terrain for the wheeled robots.
[0137] As it will become clear from the following examples, the
transferable liquid load significantly extends the scope of
capabilities of the wheeled robots. FIGS. 8 and 9 show respectively
the examples of a relatively light and relatively heavy wheeled
locomotion robot embodiments of the invention and FIGS. 10 and 11
illustrate their extended functionality, which is not achievable by
robots known by the prior art.
EXAMPLE 1
A Relatively Light Wheeled Locomotion Robot Embodiment of the
Invention
[0138] FIG. 8 shows one of preferable configurations of a
relatively light wheeled locomotion robot embodiment of the
invention.
[0139] The locomotion robot consists of two cars 801 and 802. Each
car has tank for liquid counterweight 803 and 804 of equal
capacities. Specifically, on FIG. 8, the tank 803 is filled with
liquid; in this and the following examples the counterweighing
liquid is water. The tanks are connected with the water transfer
flexible pipe 805 and spring-loaded folding flexible pipe 812. The
cars 801 and 802 have double flexible connections. First, the car
802 is connected with the car 801 through console 809 and
telescopic hydraulic cylinder 806; the base outer jacket of
cylinder 806 is fixed to the box 810 rigidly installed on the car
801, the opposite side, that is the external end of the sliding
rode of the cylinder 806, is rigidly fixed to console 809. The
second connection is realized through hoister; the hoister 807 with
electrical motor is installed on console 809, and the cable 808 of
the hoister is attached to box 810. Each of the cars 801 and 802
has driving motor; the motors are installed in boxes 810 and 811.
The hydraulic system of the telescopic hydraulic cylinder 806 also
installed in box 810.
[0140] For a specific example, the following characteristics of
apparatus are in geometric proportions to the shown on FIG. 8: The
width of each car 800 mm; the length of each car 1400 mm; the
dimension of the each water tank, mm: 800 (across the width of the
cars).times.250.times.450 (height). The maximal capacity of the
each water tank: 90 liters; actual liquid load in the example: 80
liters. Each tank has built-in air compressor for gas-driving water
transfer. The drivetrains and frames of the cars and structural
components of telescopic cylinders made of magnesium alloy, water
tanks are made of fiber-reinforced plastic. The wheels 12'' are
pneumatic. Weight of frames and drivetrains: left--25 kg, right 20
kg. Weight of each tank including compressor with motor without
water 6 kg.
[0141] Motors: motor on the left car used as the main driving motor
of the robot and for hydraulic cylinder (alternatively) 500 W, 25
kg; driving motor on the right car 300 W, 15 kg; motor of the
electrical hoister 400 W, 20 kg.
[0142] Telescopic cylinder: 3 stages, diameters 90 mm; 70 mm; 50
mm; stroke 3,150 mm; closed length 1,320 mm; hydraulic oil capacity
13.5 liters; total weight of telescopic hydraulic system 30 kg.
[0143] Three Lithium-ion battery:
[0144] 1. main battery powering the hydraulic lifting system and
drivetrain in the left car--20 kg, 2.56 kWh.
[0145] 2. electrical hoister, 10 kg, 1.28 kWh
[0146] 3. drivetrain in the right car, 4 kg, 0.5 kWh
[0147] Other components--2 kg on each car.
[0148] Total weight of cars:
[0149] Left car without water: 108 kg; right car without water: 77
kg.
[0150] Maximal speed of the entire robot on even road 5 km/h
without liquid counterweight and without cargo; 4 km/h with 80 kg
liquid counterweight without cargo; 3 with 90 kg liquid
counterweight with cargo up to 50 kg on right car and up to 100 kg
on right car (up to 150 kg total).
[0151] Maximal speed during the maneuvering motions of the right
car 0.5 km/h.
[0152] Maximal allowed cargo with 90 liter counterweight: left up
to 50 kg+right car up to 100 kg, up to 150 kg total.
[0153] Maximal height in a one-step rising: 3 meters, that is over
free folds greater than the maximal height of the exemplified
mobile robotic system on an even terrain.
EXAMPLE 2
A Relatively Heavy Wheeled Locomotion Robot Embodiment of the
Invention
[0154] FIG. 9 shows preferable configuration of relatively heavy
wheeled locomotion robot embodiment of the invention. The principle
system design is similar to the above described example of the
relatively light wheeled robot (FIG. 8 and the Example 1).
[0155] The main difference of relatively heavy wheeled locomotion
robot embodiment is employment of a powerful multi-stage telescopic
hydraulic cylinder providing a significantly greater stroke, as
well rigidity of extended cylinder; this, in turn, allows
substantially higher altitude in one-step rising action as well as
greater cargo.
[0156] The components of system are principally the same: the
locomotion robot consists of two cars 901 and 902. Each car has
tank for liquid counterweight 903 and 904 of equal capacities.
Specifically, on FIG. 9, the tank 903 is filled with s water. The
tanks are connected with the water transfer flexible pipe 905 and
spring-loaded folding flexible pipe 912. The cars 901 and 902 have
double flexible connections. First, the car 902 is connected with
the car 901 through console 909 and telescopic hydraulic cylinder
906; the base outer jacket of cylinder 906 is fixed to the box 910
rigidly installed on the car 901, the opposite sliding end of the
cylinder 906 is rigidly fixed to console 909. The second connection
is realized through hoister; the hoister 907 with electrical motor
is installed on console 909, and the cable 909 of the hosier is
attached to box 910. Each of the cars 901 and 902 has driving
motor; the motors are installed in boxes 910 and 911. The hydraulic
system of the telescopic hydraulic cylinder 906 also installed in
box 910.
[0157] The exemplified specific characteristics in geometric
proportions as shown on FIG. 9 are the following:
[0158] The width of each car 1000 mm
[0159] The length of each car 2000 mm
[0160] The maximal capacity of the each water tank: 400 liters;
actual liquid load in the example: 250 liters.
[0161] Telescopic cylinder: 10 stages (the outer diameters, mm)
[0162]
52.times.66.times.80.times.94.times.109.times.125.times.141.times.158.tim-
es.178.times.200;
[0163] closed length 780 mm; stroke 5,200 mm
[0164] hydraulic oil capacity 41 liters; total weight of telescopic
hydraulic system 87 kg.
[0165] Total weight of the cars
[0166] Left car without water: 220 kg
[0167] Right car without water: 120 kg
[0168] Maximal allowed cargo with 400 liter counterweight: left up
to 100 kg and right car up to 250 kg, up to 350 kg total.
[0169] Maximal height in a one-step rising: 5 meters.
[0170] FIGS. 10 (10a-10i) show series of subsequent steps of
self-mountaineering for relatively light wheeled locomotion robot
shown on FIG. 8 and specified in Example 1. It may be seen from
FIGS. 10a-10j that the robot is able to ascend a 3-m high vertical
ledge:
[0171] FIG. 10a shows initial position of the robot at the face of
the 3-m high ledge; the liquid counterweight is amassed in tank
installed on the left car;
[0172] FIG. 10b shows the right car of the robot is lifted by
telescopic hydraulic lifting system on the height of 3,150 mm, that
is 150 mm above the ledge;
[0173] FIG. 10c shows the next stage of the ascending with left car
approaching the edge to a practically feasible proximity, and the
right car takes position above the upper plateau;
[0174] FIG. 10d shows the next stage when the right car is grounded
on the upper plateau;
[0175] FIG. 10e shows that at the following stage the
counterweighing water is transferred into the tank installed on the
right car, which is already ascended the ledge; in this position
about 58% of the total mass of robot is accumulated on the right
car; more specifically, the total mass located to right side from
the edge of ledge, including left car, console and holster is 122
kg and the ground projection of this total mass CoM is located at
310 mm to the left side from the edge of the ledge; the total mass
located to right side from the edge of ledge is 143 kg, and the
ground projection of this total mass CoM is located at 750 mm to
the right side from the edge of the ledge, the momentums' ratio is
2.83;
[0176] FIG. 10g shows the left car of the robot is lifted by
electrical hoister lifting system on the height of 3,150 mm, that
is 150 mm above the ledge;
[0177] FIG. 10h shows that the right car carrying the left car
above the ground moved further to the right until the left wheels
of the left car are securely located to the right side from the
edge of the ledge;
[0178] FIG. 10i shows that the both car of the robot are finally
grounded on the upper terrain.
[0179] FIG. 11 shows a self-mountaineering relatively heavy wheeled
locomotion robot shown on FIG. 9 and specified in Example 2
ascending a 5-m high vertical ledge.
[0180] The stages 11a to 11i are similar to the above described
stages 10a-10i, however, the height of the ledge is 5 meters, the
telescopic lifting system is substantially more powerful and
significantly more rigid, the greater length of the cars and
greater absolute and relative counterbalancing liquid mass provide
highly-secured ascending and ability to carry not only cargo, but
also passengers.
The Hybrid Wheeled/Bio-Like Robotic Systems' Embodiments
[0181] The transferable liquid counterbalancing methods also allow
embodiments practically realizing various Hybrid Robotic Systems,
such as Wheeled/Bio-like Locomotion Robots, beneficially combining
technical and natural configurations and reconfigurable systems,
thus, bringing to practice the respective advantages. FIGS. 12-16
illustrate examples of wheeled multi-car trains capable to ascend
steeply inclined terrains.
[0182] FIG. 12a shows a general view of the train. In the shown
simplest example, the train consists of 5 cars: 1201 is the rear
locomotive car, 1202-1204 are the intermediate cars, 1205 is the
front locomotive car, 1206 is the functional robotic car. Both
locomotive cars carry tanks 1207, 1209 for transferable liquid
counterweight 1208 shown on FIG. 12a in the tank of the front
locomotive car. The functional robotic car carries the functional
robot 1210, which during transportation placed in folded
configuration to secure the lowest position of CoM. The wheels with
solid tires 1211 have relatively large diameter and installed
slightly extending beyond the front and rear edges of the car
chassis to empower maneuverability on uneven terrains. Cars
connected with joints 1212 allowing up/down swing and with
one-stage hydraulic telescopic cylinders 1213 shown on FIG. 12a in
retracted state. In this specific example, all the hydraulic
telescopic cylinders of the robotic system are single-acting. The
double-acting telescopic cylinders may be also employed providing
certain improvements in the system maneuverability with the price
of some increase in weight and complexity.
[0183] FIG. 12b shows two adjacent cars with hydraulic telescopic
cylinders in the extended state 1213(ext). Each car of the train
has autonomic hydraulic system with pumps, but only cars 1201 and
1205 have driving motors or engines.
[0184] FIGS. 12c, 12d, 12e show the sequent configurations 1210,
1214, 1215 of the functional robot in the process of unfolding
after the robotic train reached a destination point. In the
illustrating example, the functional robot comprises the upper part
of the humanoid with arms and head.
[0185] Accordingly to the present invention, the robotic train is
capable to use any of three modes of motion depending on the
practical task in progress and the current conditions of a terrain:
1. on even terrains, the preferable mode is the motion as common
train with all hydraulic telescopic cylinders in retracted state;
2. on uneven terrains and while ascending the slopes, the
preferable mode is the wave-like motion empowered by the
consecutively extending hydraulic systems; 3. in some particular
conditions, such as particularly steep slopes, the motion empowered
by concurrently extending a few or all hydraulic systems is
possible and may be preferable. The self-descriptive FIGS. 13a-13g
show the wave-like motion empowered by the consecutively extending
hydraulic systems.
[0186] FIGS. 14a-14d show the initial stages of a slope ascending.
At the original stage 14a at the front of a slope, the liquid
counterweight is amassed in the front locomotive car. The stage 14b
made under driving force of the front locomotive car with a partial
free motion of telescopic cylinder connecting the front locomotive
car with the functional robotic car. The stage 14c made by full
extension of this telescopic cylinder empowered by the
corresponding hydraulic system. At the stage 14d, the liquid
counterweight is transferred from the front locomotive car to the
rear locomotive car. Beginning from this stage and until the front
locomotive car and the functional robotic car reached and reliably
grounded upon the even terrain uphill, the further ascending is
conducting under driving force of the rear locomotive car and by
hydraulic systems using the option "2" or "3" as described above in
the paragraph [0118].
[0187] FIGS. 15a-15e show the final stages in this example of
ascending. After the front locomotive car and the functional
robotic car reached and reliably grounded upon the even terrain
uphill, the liquid counterweight is transferred again in the front
locomotive car as show FIG. 15b. The final ascending of the train
is empowered by the driving force of the front locomotive car until
the entire train is positioned on the terrain uphill as shows FIG.
15c. Then the functional robotic system is unfolded to the working
position as show FIGS. 15d and 15e. In such configuration, the
functional robotic system resembles the "wheeled centaurs" thus
beneficiary actualizing the ancient imaginative concept.
[0188] It is important to note that while in the illustrating
example for the purpose of visibility shown only 3 intermediate
cars, the number of the practical intermediate cars in the robotic
train accordingly to the present invention and correspondingly the
available height of ascending may be significantly greater.
Moreover, the cars may be equipped with anchors (or paws, using
bio-like terms) allowing ascending the slope exceeding the fully
extended length of the train. FIGS. 16a and 16b show two
intermediate stages of such ascending: the anchors 1601 are in
"weighed" positions and the anchors 1602 are in "anchored`
positions.
[0189] It is preferable accordingly to the present invention that
all solid components of robotic systems, when their functionality
allows, are made from ultra-light materials, such as magnesium and
magnesium alloys, including lithium-magnesium alloys, and
carbon-fiber composites. The maximal allowed length of the train,
in particularly the number of intermediate cars, and hence--the
maximal difference of the altitudes between the successive plateaus
is defined by ratio of the combined mass of the front locomotive
car with liquid counterweight and the combined mass of the
intermediate cars and the rear car without liquid load.
[0190] In specific example proportionally corresponding to FIG. 12,
each car has length 80 cm, width 50 cm, height (except tanks and
functional robot) 30 cm. Lithium batteries distributed at the
bottoms among all the cars, in spite the major energy consumption
is due to functionality of locomotive cars during transportation
and to the functional robot at a designated point. The CoM of each
car located at 20 cm above the ground in proximity of geometric
centre of the car ground projection (measured on a horizontal
terrain); the mass of each intermediate car including hydraulic
system and lithium batteries 5 kg; mass of each locomotive car
including plastic tank but without liquid load 12 kg; mass of the
car with functional robotic system 30 kg; this car carries greater
load of batteries that also maintains its CoM at relatively low
position 25 cm above the ground; the length of this car is 90 cm
(slightly different in proportion from shown on FIG. 12). The
useful volume of each tank is 100 liters; the maximal number of
intermediate cars 8; the stroke of telescopic cylinder is 60 cm;
total length of intermediate chain of cars with extended cylinders
12 m; maximal possible inclination of slope 60; preferable maximal
inclination of slope 55; the maximal difference of the altitudes
between the successive plateaus 10 m.
[0191] The disclosed transferable liquid counterbalancing methods
method and apparatuses also imply the embodiments with structurally
reconfigurable robots including hybrid manned-robotic systems,
bio-like multi-pod robotic devices as caterpillar or spider and
also allows reversible mutual transforming between various bio-like
arrangements practically beneficially actualizing real and
imaginative bio-forms, such as centaurs. Some embodiments of the
disclosed method and apparatuses may comprise a plurality of
movable parts, each part contains its chamber. Below, some examples
are given for illustration.
The Hybrid Manned/Autonomous Robotic Systems' Embodiments
[0192] FIG. 17 shows a simplified schematic illustrating as an
example a self-ascending hybrid manned-robotic mobile apparatus
(the exterior appearance). Said hybrid manned-robotic mobile
apparatus consists of four connected cars, including two end
vehicles with semi-independent power drives and two wheeled tanks
with liquid loads as well as additional smaller tanks underneath of
the cabins. The cars are connected with telescopic hydraulic
cylinders known by the prior art (for visibility, the telescopic
cylinder is simplified on FIG. 17b). The power drives, the main
frames of cars and telescopic cylinder are made of ultra-light
alloys, the remaining components of the system, including the
bodies of cabins and tanks are made of plastic. The hybrid
manned-robotic mobile apparatus comprises an internal control
system providing it with ability for autonomous motion, two
semi-independent power drives and correspondingly two cabins with
conventional wheels for human driver. Each cabins may also carry
passengers.
[0193] FIG. 17 a shows said self-ascending hybrid manned-robotic
mobile apparatus in the process of automotive transportation upon a
flat terrain. FIGS. 17b-1-17b-7 schematically show the
self-ascending hybrid manned-robotic mobiles in the process of
automotive mountaineering.
The Reconfigurable Bio-like Robotic Systems' Embodiments
[0194] FIG. 18 shows a simplified schematic illustrating as an
example caterpillar-like Sylphon-based robotic system transforming
between various bio-like arrangements practically and beneficially
actualizing real and imaginative bio-forms, such as centaurs.
Specifically, FIG. 18a shows such bio-like sylphon-based robotic
system self-converting from the caterpillar-like to centaur-like
functional state, wherein: FIG. 18a-0--exterior appearance in the
passive position during automotive transportation on uneven
terrain, FIG. 18a-1 is initial low functional position; grey-filled
area shows the liquid level. FIGS. 18a-2-18a-4 show high functional
positions of robotic system; the maximal achievable height of such
position depends on the nature of the liquid load, specifically:
FIG. 18a-2 shows the maximal achievable height for system loaded
with water, FIG. 18a-3--high functional position of robotic system
loaded with bromoform, FIG. 18a-4--high functional position of
robotic system loaded with mercury. FIGS. 18b-1-18b-6 show the
sequent steps of a bio-like sylphon-based robotic system
self-converting from the caterpillar-like to centaur-like
functional state in the process of stepwise ascending.
[0195] FIG. 19 shows Spider-like reconfigurable locomotion robotic
system with broadly variable mass distribution and position of
center of mass: 1901--head with the central control system;
1902--central rigid reservoir; 1903--extremities in completely
deflated state; 1904--wheels; 1905--extremities in slightly
inflated and partially filled with liquid load state;
1906--extremities as the supporting feet in completely inflated and
fully filled with liquid load state; 1907--extremities as the
working hands in completely deflated and emptied from liquid load
state. The gray filling shows liquid load; for visibility purpose,
the volumes of reservoirs shown out of comparative scale. FIG. 19a
shows Spider-like reconfigurable locomotion robotic system in
position of the wheeled self-transportation; FIG. 19b shows this
system in intermediate state; FIG. 19c shows Spider-like
reconfigurable locomotion robotic system in a stationary position
with multiple working hands.
[0196] Although the primary goal of this invention is providing
technical means preventing risk for human lives and health in the
harsh environment and challenging task, the relatively small or
miniature models of the disclosed apparatuses may be employed as
the children toys and for various entertainments including
competitive games for people of various ages.
[0197] Applications of the disclosed methods and apparatuses can be
realized in life-threatening circumstances, including natural and
man-made disasters and battle fields. Application of the disclosed
methods and apparatuses can be realized in circumstances demanding
strong requirements for reliability and smoothness of the robot
motion, including in a medical hospital, such as field hospitals.
Applications of disclosed methods and apparatuses can be realized
in an environment and under work conditions implying risk for human
life or health, such as mining, chemical factories, and nuclear
power stations. Applications of relatively small or miniature
models of the disclosed apparatuses can be realized in the form of
children's toys and entertainments. All provided specific
embodiments, examples and illustrations in this patent disclosure
should be considered as explanatory illustrations that neither
limit nor exhaust the possible implementations of present invention
in the entire scope of its claims.
* * * * *