Steerable vertical to horizontal energy transducer for mobile robots
Abstract
The present invention provides a steerable vertical to horizontal energy transducer for mobile robots that less complex and requires less power than two degree of freedom tilt mechanisms. The present invention comprises an end effector that, when mounted with a hopping actuator, translates along axis (typically vertical) actuation into combined vertical and horizontal motion. The end effector, or foot, mounts with an end of the actuator that moves toward the support surface (typically a floor or the earth). The foot is shaped so that the first contact with the support surface is off the axis of the actuator. Off-axis contact with the support surface generates an on-axis force (typically resulting in vertical motion) and a moment orthogonal to the axis. The moment initiates a horizontal tumbling motion, and tilts the actuator so that its axis is oriented with a horizontal component and continued actuation generates both vertical and horizontal force.
- Inventors:
-
- Albuquerque, NM
- Issue Date:
- Research Org.:
- Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
- OSTI Identifier:
- 874084
- Patent Number(s):
- 6308791
- Assignee:
- Sandia Corporation (Albuquerque, NM)
- Patent Classifications (CPCs):
-
B - PERFORMING OPERATIONS B62 - LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS B62D - MOTOR VEHICLES
- DOE Contract Number:
- AC04-94AL85000
- Resource Type:
- Patent
- Country of Publication:
- United States
- Language:
- English
- Subject:
- steerable; vertical; horizontal; energy; transducer; mobile; robots; provides; complex; requires; power; degree; freedom; tilt; mechanisms; effector; mounted; hopping; actuator; translates; axis; typically; actuation; combined; motion; foot; mounts; moves; support; surface; floor; earth; shaped; contact; off-axis; generates; on-axis; force; resulting; moment; orthogonal; initiates; tumbling; tilts; oriented; component; continued; energy transducer; mobile robot; /180/901/
Citation Formats
Spletzer, Barry L, Fischer, Gary J, and Feddema, John T. Steerable vertical to horizontal energy transducer for mobile robots. United States: N. p., 2001.
Web.
Spletzer, Barry L, Fischer, Gary J, & Feddema, John T. Steerable vertical to horizontal energy transducer for mobile robots. United States.
Spletzer, Barry L, Fischer, Gary J, and Feddema, John T. Mon .
"Steerable vertical to horizontal energy transducer for mobile robots". United States. https://www.osti.gov/servlets/purl/874084.
@article{osti_874084,
title = {Steerable vertical to horizontal energy transducer for mobile robots},
author = {Spletzer, Barry L and Fischer, Gary J and Feddema, John T},
abstractNote = {The present invention provides a steerable vertical to horizontal energy transducer for mobile robots that less complex and requires less power than two degree of freedom tilt mechanisms. The present invention comprises an end effector that, when mounted with a hopping actuator, translates along axis (typically vertical) actuation into combined vertical and horizontal motion. The end effector, or foot, mounts with an end of the actuator that moves toward the support surface (typically a floor or the earth). The foot is shaped so that the first contact with the support surface is off the axis of the actuator. Off-axis contact with the support surface generates an on-axis force (typically resulting in vertical motion) and a moment orthogonal to the axis. The moment initiates a horizontal tumbling motion, and tilts the actuator so that its axis is oriented with a horizontal component and continued actuation generates both vertical and horizontal force.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Mon Jan 01 00:00:00 EST 2001},
month = {Mon Jan 01 00:00:00 EST 2001}
}
Works referenced in this record:
Rapid world modelling from a mobile platform
conference, January 1997
- Barry, R. E.; Jones, J. P.; Little, C. Q.
- Proceedings of International Conference on Robotics and Automation
Advanced Operator Interfaces for a Remote Mobile Manipulation Robot
conference, July 1995
- Horschel, Daniel S.; Little, Charles Q.; Boissiere, Peter T.
- International Conference on Environmental Systems, SAE Technical Paper Series