A - Human Necessities – 63 – H
Patent
A - Human Necessities
63
H
A63H 29/00 (2006.01) A63H 33/00 (2006.01)
Patent
CA 2311504
The robot ball comprises an encapsulating shell, a drive system and a steering system. The shell has an axis of rotation and an outer annular tread surface centered on the axis of rotation. The drive system is encapsulated in the shell and comprises a first motorized mechanism and a counterweight. The first motorized mechanism has a stator portion and a rotor portion centered on the axis of rotation and connected to the shell. The counterweight is connected to the stator portion and is spaced apart from the axis of rotation whereby, due to inertia of the counterweight, rotation of this rotor portion rotates the shell to roll the tread surface on the ground. The steering system comprises a second motorized mechanism through which the counterweight is connected to the stator portion. This second motorized mechanism includes a pivot assembly having a pivot axis transversal to the axis of rotation. Therefore, activation of the second motorized mechanism rotates the counterweight about the pivot axis, tilts the axis of rotation, displaces the center of gravity of the robot ball, and thereby changes the trajectory of the robot ball. An inclinometer is mounted on the stator portion to measure an inclination of the stator portion about the axis of rotation, and a controller regulates the speed of rotation of the rotor portion in relation to the measured inclination. The robot ball further includes a second inclinometer so mounted on the platform as to measure an inclination about the pivot axis. The controller then controls the electric servomotor in relation to the measured platform inclination about the pivot axis.
Caron Serge
Michaud Francois
Bkp Gp
Societe de Commercialisation Des Produits de La Recherche Appliq
Universite de Sherbrooke
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