Multi-modal mobility unmanned vehicle

Patent metadata

Field	Value
Publication number	US-12344407-B2
Application number	US-202218055757-A
Country	US
Kind code	B2
Filing date	Nov 15, 2022
Priority date	Nov 15, 2021
Publication date	Jul 1, 2025
Grant date	Jul 1, 2025

Abstract

In some embodiments, a multi-modal robot can be capable of aerial mobility and ground mobility, and can switch between configuration. The multi-modal robot can include a chassis, and a leg attached to the chassis. The leg can include a frontal hip joint. The frontal hip joint can rotate around a frontal hip axis of rotation. The frontal hip axis of rotation can be parallel to a longitudinal axis of the chassis. The leg can further include a sagittal hip joint, wherein the sagittal hip joint is coupled to the first distal end of a first link. The sagittal hip joint can rotate around a sagittal hip axis of rotation. The leg can include a wheel. The wheel can be configured to rotate around a wheel axis of rotation. The leg can further include a propeller. The propeller can be co-axial with the wheel.

First claim

What is claimed is:

1. A multi-modal robot capable of aerial mobility and ground mobility, the multi-modal robot comprising:
a chassis;
a leg attached to the chassis, the leg comprising:
a frontal hip joint, wherein:
the frontal hip joint is capable of rotating around a frontal hip axis of rotation, and
the frontal hip axis of rotation is parallel to a longitudinal axis of the chassis;

a first link having a first proximal end and a first distal end, where the first link is coupled at the first proximal end to the frontal hip joint;
a sagittal hip joint, wherein:
the sagittal hip joint is coupled to the first distal end of the first link,
the sagittal hip joint is capable of rotating around a sagittal hip axis of rotation, and
the sagittal hip axis of rotation is parallel to a first link longitudinal axis;

a second link, where the second link is coupled at a second proximal end to the sagittal hip joint;
a wheel, wherein:
the wheel is coupled to the second link at a first location, and
the wheel configured to rotate around a wheel axis of rotation; and

a propeller, wherein:
the propeller is co-axial with the wheel, and
the propeller configured to rotate around the wheel axis of rotation.

2. The multi-modal robot of claim 1 , wherein the chassis comprises a frontal hip actuator, the frontal hip actuator connected to the frontal hip joint and configured to drive the frontal hip joint.

3. The multi-modal robot of claim 1 , wherein the multi-modal robot further comprises a second leg, a third leg, and a fourth leg.

4. The multi-modal robot of claim 1 , wherein the leg is movably attached to a frontal surface of the chassis.

5. The multi-modal robot of claim 1 , wherein the first link comprises a sagittal hip actuator.

6. The multi-modal robot of claim 1 , wherein the first link is perpendicular to the frontal hip axis of rotation.

7. The multi-modal robot of claim 1 , wherein the wheel and the propeller are driven by different actuators.

8. The multi-modal robot of claim 1 , wherein the first location is a second distal end on the second link.

9. The multi-modal robot of claim 1 , wherein the wheel includes a wheel gear.

10. The multi-modal robot of claim 1 , wherein the wheel is driven by wheel actuator, the wheel actuator located along a length of the second link between the second proximal end and the first location.

11. The multi-modal robot of claim 1 , wherein the wheel is driven by a wheel actuator, and the wheel actuator is offset radially from the wheel axis.

12. The multi-modal robot of claim 1 , wherein the propeller is a direct-drive propeller.

13. The multi-modal robot of claim 1 , wherein the propeller is driven by a propeller actuator, and the propeller actuator is coaxial with the wheel.

14. A multi-modal robot capable of transitioning from a prone position to a vertical inverted pendulum configuration, the multi-modal robot comprising:
a chassis with a longitudinal axis;
one or more propellers mounted to the chassis, wherein the one or more propellers are capable of being driven by one or more propeller actuators and the one or more propeller actuators are capable of being controlled by one or more propeller actuator controllers;
a set of wheels mounted to a first end of the chassis, wherein the set of wheels is capable of being driven by one or more wheel actuators and the one or more wheel actuators are capable of being controlled by one or more wheel actuator controllers;
a memory;
a processor;
wherein the processor is configured to execute instructions to command the multi-modal robot to transition from a first position in which the chassis longitudinal axis is generally parallel to ground to a second position in which the chassis longitudinal axis is generally perpendicular to ground by:
generating first propeller actuator controller instructions capable of causing the one or more propellers to generate thrust such that the chassis tracks a first pitch rate until a first cutoff pitch, and causing the chassis to rotate from the first position to the second position;
generating first wheel actuator controller instructions capable of causing the set of wheels to provide torque, and causing the chassis to rotate from the first position to the second position;
generating second propeller actuator controller instructions capable of causing the one or more propellers to generate thrust such that the chassis tracks a second pitch rate until a second cutoff pitch, and causing the chassis to rotate from the first position to the second position; and
generating second wheel actuator controller instructions capable of causing the set of wheels to rotate, and maintaining the second position of the chassis; and
the multi-modal robot is configured so that when in the vertical inverted pendulum configuration the multi-modal robot can perform ground movements with two contact points.

15. The multi-modal robot of claim 14 , wherein the one or more propellers are mounted to the chassis, and the one or more propellers can be positioned relative to the chassis.

16. The multi-modal robot of claim 14 , wherein the first wheel actuator controller instructions are capable of causing set of wheels to provide torque to move the first end of the chassis generally underneath the one or more propellers.

17. The multi-modal robot of claim 14 , wherein the first propeller actuator controller instructions are first thrust-vectoring instructions, and the second propeller actuator controller instructions are second thrust-vectoring instructions.

Assignees

• California Inst Of Techn

Inventors

• Ramezani Alireza
• Gharib Morteza
• Nemovi Reza
• Sihite Eric

Classifications

• B64U10/14 Primary

  with four distinct rotor axes, e.g. quadcopters · CPC title

• B64U60/60

  with rolling cages · CPC title

• B64U50/14

  ducted or shrouded · CPC title

• B64C37/00

  Convertible aircraft · CPC title

• B64U10/70 Primary

  Convertible aircraft, e.g. convertible into land vehicles · CPC title