Steerable vertical to horizontal energy transducer for mobile robots

Patent · Mon Jan 01 00:00:00 EST 2001

OSTI ID:874084

Spletzer, Barry L ^[1]; Fischer, Gary J ^[1]; Feddema, John T ^[1]

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1. Albuquerque, NM

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.

• Research Organization: Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
• DOE Contract Number: AC04-94AL85000
• Assignee: Sandia Corporation (Albuquerque, NM)
• Patent Number(s): US 6308791
• OSTI ID: 874084
• Country of Publication: United States
• Language: English

Related Subjects

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
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