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 Title: |
US6343664:
Operating modes 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.; Manchester, NH
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| Assignee: |
DEKA Products Limited Partnership, Manchester, NH
other patents from DEKA PRODUCTS LIMITED PARTNERSHIP (682759) (approx. 104)
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| Published / Filed: |
2002-02-05
/ 2001-01-09
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| Application Number: |
US2001000757230
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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 61/12;
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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:
180/008.2;
180/065.8;
Original:
180/008.2;
180/065.8;
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| Field of Search: |
180/8.1,8.2,8.3,65.1,65.8
701/036,37,38,48,65
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| Priority Number: |
| 2001-01-09 |
US2001000757230 |
| 1999-10-27 |
US1999000428007 |
| 1999-03-15 |
US1999000124403P |
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| Abstract: |
A method for operating a device 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.
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| Attorney, Agent or Firm: |
Bromberg & Sunstein LLP ;
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| Primary / Asst. Examiners: |
Hurley, Kevin;
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| Maintenance Status: |
CC Certificate of Correction issued
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| INPADOC Legal Status: |
Show legal status actions
Family Legal Status Report
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| Parent Case: |
The present application is a divisional application of Ser. No. 09/428,007, filed Oct. 27, 1999. This application claims priority from U.S. Provisional Application, Ser. No. 60/124,403, filed Mar. 15, 1999. These applications are hereby incorporated herein by reference.
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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 306 known family members
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First Claim:
Show all 4 claims |
We claim:
1. A method for governing motion on stairs of a device, the device characterized by an instantaneous pitch angle and having a plurality of wheels, each wheel rotatable about an axis fixed with respect to a cluster arm, the cluster arm rotatable about a cluster axis, the method comprising:
- a. setting a front angle and a rear angle defined with respect to a vertical direction;
- b. actuating the cluster arm to provide descent of the device if the instantaneous pitch exceeds the front angle; and
- c. actuating the cluster arm to provide ascent of the device if the instantaneous pitch is less than the rear angle.
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| Background / Summary: |
Show background / summary
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| Drawing Descriptions: |
Show drawing descriptions
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| Description: |
Show description
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| Forward References: |
Show 6 U.S. patent(s) that reference this one
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| Foreign References: |
Buy
PDF |
Publication |
Date |
IPC Code |
Assignee |
Title |
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DE3128112
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1983-02 |
A61G 3/06
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Heid, Gerhard, Dipl.-Ing., 6100 Darmstadt, DE
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Kleines Elektrofahrzeug |
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DE3242880
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1983-06 |
B60L 11/18
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T.G.R. S.r.l., Ozzano dell'Emilia, IT
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Cart with electrical drive, particularly suitable for transporting heavy and bulky objects on steps |
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EP0109927
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1984-07 |
B62B 5/02
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ROHR MARTIN VON
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Wheel assembly |
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EP0193473
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1986-09 |
A61G 5/00
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Brunet, Pierre
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Motorized transporting device, for example for climbing and descending stairs |
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EP0537698
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1993-04 |
A61G 5/06
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T.G.R. S.r.l.
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Tracked motor-vehicle, particularly adapted for invalid carriages |
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FR0980237
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1951-05 |
B62B 9/02
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Voiture d'enfant ou poussette à chenilles |
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FR2502090
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1982-09 |
A61G 5/06
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TOBEX MOTIVATED CHAIR CY LTD
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VEHICULE POUR MONTER OU DESCENDRE DES ESCALIERS |
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GB1213930
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1970-11 |
B62B 5/02
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GB2139576
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1984-11 |
A61G 5/00
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MAVISPACE LTD
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STAIR CLIMBING DEVICES |
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JP57087766
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1982-06 |
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JP60255580
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1985-12 |
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JP63305082
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1988-12 |
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JP02190277
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1990-07 |
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JP07255780
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1995-03 |
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WO8906117
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1989-07 |
A61G 5/04
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ANSCHUETZ & CO GMBH
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PROCESS FOR STABILIZING A SINGLE-AXLE WHEELED VEHICLE AND VEHICLE SO STABILIZED |
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WO9623478
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1996-08 |
A61G 5/04
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DEKA PRODUCTS LIMITED PARTNERSHIP
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TRANSPORTATION VEHICULES AND METHODS |
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JP52044933
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1975-10 |
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JP06105415
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1989-12 |
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| Other Abstract Info: |
DERABS G2000-572317
DERABS G2000-572318
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| Other References: |
Kawaji, S., Stabilization of Unicycle Using Spinning Motion, Denki Gakkai Ronbushi, 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 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, Japan 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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|
|
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US2002000051333 | 2002-01-18 | is a
division of |
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>US2001000757230<
| 2001-01-09 |
(patented)
[presumed granted]
|
| |
US6343664 issued 2002-02-05 Operating modes 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 |
(pending)
[presumed granted]
|
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US6311794 issued 2001-11-06 System and method for stair climbing in a cluster-wheel vehicle
|
|
|
|
>US2001000757230< | 2001-01-09 | is a
division of |
|
US1999000428007
| 1999-10-27 |
(granted)
|
| |
US6311794 issued 2001-11-06 System and method for stair climbing in a cluster-wheel vehicle
|
|
|
|
>US2001000757230< | 2001-01-09 | is a
division of |
|
US1999000428007
| 1999-10-27 |
(patented)
[presumed granted]
|
| |
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
non-provisional of provisional |
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US1999000124403P
| 1999-03-15 |
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