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 Title: |
US6443251:
Methods 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: |
2002-09-03
/ 2002-01-18
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| Application Number: |
US2002000051333
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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: |
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: |
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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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| INPADOC Legal Status: |
None
Family Legal Status Report
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| Parent Case: |
The present application is a divisional application of Ser. No. 09/757,230, now allowed U.S. Pat. No. 6,343,664 filed Jan. 9, 2001, which is a divisional application of Ser. No. 09/428,007, U.S. Pat. No. 6,311,794, 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 2 claims |
We claim:
1. A method for regaining static stability of a transport device for climbing or descending stairs, the transport device being characterized by a pitch and having:
- i. a cluster arm;
- ii. a cluster arm actuator characterized by a temperature for driving the cluster arm in rotation;
- iii. a brake capable of braking the cluster arm; and
- iv. a sensor that monitors the temperature and provides a sensor signal; the method comprising the steps of:
- a. monitoring the sensor signal; and
- b. disengaging the brake when the sensor signal exceeds a preset threshold so as to allow the cluster arm to rotate freely in such a manner that the device assumes a statically stable configuration on the stairs.
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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 7 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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JP52044933
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1975-10 |
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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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JP06105415
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1989-12 |
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JP02190277
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1990-07 |
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JP04201793
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1992-07 |
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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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| Other Abstract Info: |
DERABS G2000-572317
DERABS G2000-572318
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| Other References: |
Kanoh Adaptive Control of Inverted Pendulum, Computrol, vol. 2, pp. 69-75 (1983).
Yamafuji A Proposal for Modular-Structured Mobile Robots for Work that Principally Involve a Vehicle with Two Parallel Wheels, Automation Technology, vol. 20, pp. 113-118 (1988).
Yamafuji & Kawamura Study of Postural and Driving Control of Coaxial Bicycle, Paper Read at Meeting of Japan Society of Mechanical Engineering (Series C), vol. 54, no. 501, pp. 1114-1121 (May, 1998).
Yamafuji et al. Synchronous Steering Control of a Parallel Bicycle, Paper Read at Meeting of Japan Society of Mechanical Engineering (Series C) , vol. 55, no. 513, pp. 1229-1234 (May, 1989).
Momoi & Yamafuji Motion control of the Paralell Bicycle-Type Mobile Robot Composed of a Triple Inverted Pendulum, Paper Read at Meeting of Japan Society of Mechanical Engineering (Series C), vol. 57, no. 541, pp. 154-159 (Sept., 1991).
Kawaji, S., Stabilization of Unicycle Using Spinning Motion, Denki Gakkai Rohbushi, 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.
New article Amazing Wheelchair Goes up and Down Stairs.
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 |
|
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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|
|
|
US2001000757230 | 2001-01-09 | is a
division of |
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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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US2002000051333 | 2002-01-18 | is a
non-provisional of provisional |
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US1999000124403P
| 1999-03-15 |
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