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 Title: |
US6311794:
System and method for stair climbing in a cluster-wheel vehicle
[ Derwent Title ]
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| Country: |
US United States of America
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| Inventor: |
Morrell, John B.; Manchester, NH
Kerwin, John M.; Weston, MA
Kamen, Dean L.; Bedford, NH
Ambrogi, Robert R.; Manchester, NH
Duggan, Robert J.; Strafford, NH
Heinzmann, Richard K.; Francestown, NH
Key, Brian R.; Pelham, NH
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| Assignee: |
Deka Products Limited Partneship, Manchester, NH
other patents from DEKA PRODUCTS LIMITED PARTNERSHIP (682759) (approx. 104)
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| Published / Filed: |
2001-11-06
/ 1999-10-27
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| Application Number: |
US1999000428007
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| IPC Code: |
Advanced:
A61G 5/04;
A61G 5/06;
A61G 5/14;
B62B 5/02;
B62D 57/00;
G05B 13/04;
A61G 5/10;
A61G 5/12;
B60K 7/00;
IPC-7:
B62D 57/028;
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| ECLA Code: |
A61G5/06A; A61G5/04; B62D57/00; G05B13/04B; K61G5/04; K61G203/14; L60K7/00;
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| U.S. Class: |
Current:
180/008.3;
701/124;
Original:
180/008.3;
701/124;
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| Field of Search: |
180/7.1,8.1,8.2,8.3,65.1,65.8,907
280/5.28,5.32
701/124
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| Priority Number: |
| 1999-10-27 |
US1999000428007 |
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| Abstract: |
A system and method for operating a device in ascending or descending stairs. The device has a plurality of wheels rotatable about axes that are fixed with respect to a cluster arm, where the cluster arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and cluster arms are controlled according to separate control laws by a controller. Whether the device ascends or descends the stairs is governed by the pitch of the device relative to specified front and rear angles. Shifting the center of gravity of the combination of device and payload governs the direction of motion of the device.
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| Attorney, Agent or Firm: |
Bromberg & Sunstein LLP ;
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| Primary / Asst. Examiners: |
Hurley, Kevin;
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| INPADOC Legal Status: |
Show legal status actions
Family Legal Status Report
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| Parent Case: |
This application claims priority from U.S. Provisional Application, Ser. No. 60/124,403, filed Mar. 15, 1999, which is incorporated herein by reference, and, is a continuation in part of U.S. application Ser. No. 08/479,901, filed Jun. 7, 1995, now issued as U.S. Pat. No. 5,975,225, which is a continuation in part of U.S. application Ser. No. 08/384,705, filed Feb. 3, 1995, now issued as U.S. Pat. No. 5,971,091, which is a continuation in part of U.S. application Ser. No. 08/250,693, filed May 27, 1994, now issued as U.S. Pat. No. 5,701,965.
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| Designated Country: |
AE AL AM AP AZ BA BB BG BY CU CZ EA EE GD GE GH GM HR HU ID AT BE CH CY DE DK ES FI FR GB GR IE CR DM DZ
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| Family: |
Show 348 known family members
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First Claim:
Show all 19 claims |
We claim:
1. A device for ascending and descending stairs, the device and any payload together constituting a system characterized by a center of gravity and a pitch, the device comprising:
- a. a cluster arm, rotatable about a cluster axis, the cluster arm characterized by a cluster angle;
- b. a plurality of ground contacting members rotatable about member axes fixed with respect to the cluster arm; and
- c. a motorized actuator for rotating the cluster arm about the cluster axis so as to cause the device to execute one of ascent and descent of the stairs based on an input that includes a shift of the center of gravity.
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| Background / Summary: |
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| Drawing Descriptions: |
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| Description: |
Show description
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| Forward References: |
Show 15 U.S. patent(s) that reference this one
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| Foreign References: |
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| Other Abstract Info: |
DERABS G1998-076064
DERABS G1998-455581
DERABS G1999-609847
DERABS G1999-619291
DERABS G2000-572317
DERABS G2000-572318
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| Other References: |
Kawaji, S., Stabilization of Unicycle Using Spinning Motion, Denki Gakkai Ronbusi, D, vol. 107, Issue 1, Japan (1987), pp. 21-28.
Schoonwinkel, A., Design and Test of a Computer-Stabilized Unicycle, Stanford University (1988), UMI Dissertation Services.
Vos. D., Dynamics and Nonlinear Adaptive Control of an Autonomous Unicycle, Massachusetts Institute of Technology, 1989.
Vos. D., Nonlinear Control of an Autonomous Unicycle Robot: Practical Isues, Massachusetts Institute of Technology, 1992.
Koyanagi et al., A Wheeled Inverse Pendulum Type Self-Contained Mobile Robot and its Posture Control and Vehicle Control, The Society of Instrument and Control Engineers, Special issue of the 31st SICE Annual Conference, Japan 1992, pp. 13-16.
Koyanagi et al., A Wheeled Inverse Pendulum Type Self-Contained Mobile Robot, The Society of Instrument and Control Engineers, Special issue of the 31st SICE Annual Conference, Japan 1992, pp. 51-56.
Koyanagi et al., A Wheeled Inverse Pendulum Type Self-Contained Mobile Robot and its Two Dimensional Trajectory Control, Proceeding of the Second International Symposium on Measurement and Control in Robotics, Japan 1992, pp. 891-898.
Osaka et al., Systems and Control, vol. 25, No. 3, Japan Mar. 1981, pp. 159-166 (Abstract Only).
Roy et al., Five-Wheel Unicycle System, Medical & Biological Engineering & Computing, vol. 23, No. 6, United Kingdom 1985, pp. 593-596.
(4 pages)
Cited by 45 patents
Kawaji, S., Stabilization of Unicycle Using Spinning Motion, Denki Gakkai Ronbushi, D, vol. 107, Issue 1, JapanJan. /1987, pp. 21-28 (Abstract Only).
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| Continuity Data: |
| Application Number | Filed | Notes |
|---|
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US2002000234025 | 2002-09-03 | is a
continuation of |
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US2002000051333
| 2002-01-18 |
(granted)
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US6443251 issued 2002-09-03 Methods for stair climbing in a cluster-wheel vehicle
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US2002000051333 | 2002-01-18 | is a
division of |
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US2001000757230
| 2001-01-09 |
(granted)
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US6343664 issued 2002-02-05 Operating modes for stair climbing in a cluster-wheel vehicle
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US2002000051333 | 2002-01-18 | is a
division of |
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US2001000757230
| 2001-01-09 |
(patented)
[presumed granted]
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US6343664 issued 2002-02-05 Operating modes for stair climbing in a cluster-wheel vehicle
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US2001000757230 | 2001-01-09 | is a
division of |
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>US1999000428007<
| 1999-10-27 |
(pending)
[presumed granted]
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US6311794 issued 2001-11-06 System and method for stair climbing in a cluster-wheel vehicle
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US2001000757230 | 2001-01-09 | is a
division of |
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>US1999000428007<
| 1999-10-27 |
(granted)
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US6311794 issued 2001-11-06 System and method for stair climbing in a cluster-wheel vehicle
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|
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US2001000757230 | 2001-01-09 | is a
division of |
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>US1999000428007<
| 1999-10-27 |
(patented)
[presumed granted]
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US6311794 issued 2001-11-06 System and method for stair climbing in a cluster-wheel vehicle
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US1999000428007 | 1999-10-27 | is a
non-provisional of provisional |
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US1999000124403P
| 1999-03-15 |
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