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Title: US6289263: Spherical mobile robot
[ Derwent Title ]


Country: US United States of America

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9 pages

 
Inventor: Mukherjee, Ranjan; East Lansing, MI

Assignee: Board of Trustees operating Michigan State University, East Lansing, MI
other patents from MICHIGAN STATE UNIVERSITY (372255) (approx. 528)
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Published / Filed: 2001-09-11 / 1998-12-15

Application Number: US1998000211346

IPC Code: Advanced: A63H 33/00; B25J 5/00;
IPC-7: G06F 19/00;

ECLA Code: A63H33/00E; B25J5/00;

U.S. Class: Current: 700/245; 074/490.03; 074/490.05; 074/490.06; 700/251; 700/255; 700/262; 700/263; 901/023; 901/029;
Original: 700/245; 700/251; 700/255; 700/262; 700/263; 074/490.03; 074/490.05; 074/490.06; 901/023; 901/029; 464/437;

Field of Search: 700/245,251,262,263,255 074/490.06,490.03,490.05 464/106,136 901/023,29,27 446/437,458

Priority Number:
1998-12-15  US1998000211346
1997-12-16  US1997000069796P

Abstract:     A spherical robot having a spherical body and a drive mechanism. The spherical body defines a cavity and a center. The drive mechanism is disposed within the cavity, coupled to the spherical body, wherein said drive mechanism includes a plurality of masses coupled to said body which are radially positionable within said cavity to create a moment about said center of said body, and is adapted to create a moment about the center of the body. This moment causes the body to rotate.

Attorney, Agent or Firm: Harness, Dickey & Pierce, P.L.C. ;

Primary / Asst. Examiners: Cuchlinski, Jr., William A.; Marc, McDieunel

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Parent Case:

CROSS-REFERENCE TO RELATED APPLICATIONS
    This application claims priority to United States Provisional Patent Application No. 60/069,796 filed on Dec. 16, 1997.

Designated Country: AL AM AP AT AZ BA BB BG BR BY CA CH CN CU CZ DE DK EA EE EP ES FI GB GE GH GM HR HU ID IL IS JP KE KG KP KR KZ LC LK 

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First Claim:
Show all 16 claims
What is claimed is:     1. A spherical robot comprising:
  • a spherical body defining a cavity and a center; and
  • a drive mechanism having a shaft fixed to said spherical body disposed within said cavity and coupled to said spherical body, wherein said drive mechanism includes a plurality of masses coupled to said body which are radially movable within said cavity to create a moment about said center of said body, said moment causing said body to rotate.


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Forward References: Show 20 U.S. patent(s) that reference this one

       
U.S. References: Go to Result Set: All U.S. references   |  Forward references (20)   |   Backward references (5)   |   Citation Link

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Patent  Pub.Date  Inventor Assignee   Title
Get PDF - 20pp US4244296  1981-01 Vertut  Commissariat a l'Energie Atomique Self-propelled vehicle
Get PDF - 6pp US4501569  1985-02 Clark, Jr. et al.   Spherical vehicle control system
Get PDF - 9pp US4726800  1988-02 Kobayashi  Shinsei Kogyo Co., Ltd. Radio-controllable spherical toy vehicle
Get PDF - 16pp US4878393  1989-11 Duta et al.   Dextrous spherical robot wrist
Get PDF - 10pp US5297981  1994-03 Maxim et al.  The Ertl Company, Inc. Self-propelled bouncing ball
       
Foreign References: None

Other Abstract Info: DERABS G1999-443866

Other References:
  • Mukherjee et al., Simple Motion Planning Strategies for Spherobot: A Spherical Mobile Robot, IEEE., pp. 2132-2137, Dec. 1999.*
  • Halme, A., Schonberg, T., and Wang, Y., 1996, "Motion Control Of A Spherical Mobile Robot", Proc. AMC'96-MIE. (6 pages).
  • Li, Z., and Canny, J., 1990, "Motion of Two Rigid Bodies with Rolling Constraint", IEEE Transactions on Robotics and Automation, vol. 6, No. 1, pp. 62-72. (11 pages)
  • Koshiyama, A., and Yamafuji, K., 1993, "Design and Control of an All-Direction Steering Type Mobile Robot", International Journal of Robotics Research, vol. 12, No. 5, pp. 411-419. (9 pages) [ISI abstract]
  • Bicchi, A., Balluchi, A., Prattichizzo, D., and Gorelli, A., "Introducing the "SPHERICLE": an Experimental Testbed for Research and Teaching in Nonholonomy", (7 pages).
  • Brown, Jr., H.B., and Xu, Y., Sep. 1997, "A Single-Wheel, Gyroscopically Stabilized Robot", IEEE Robotics & Automation Magazine.
  • International Search Report for PCT/US98/26626 dated Feb. 22, 1999, 4 pages.


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