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1. 发明申请

US20080032571A1 Amphibious robotic device 有权
公开(公告)号：US20080032571A1
公开(公告)日：2008-02-07
申请号：US11497302
申请日：2006-08-02
申请人： Gregory Dudek , Chris Prahacs , Shane Saunderson , Philippe Giguere , Junaed Sattar , Michael Jenkin
发明人： Gregory Dudek , Chris Prahacs , Shane Saunderson , Philippe Giguere , Junaed Sattar , Michael Jenkin
IPC分类号： B60F3/00
CPC分类号： B60F3/0007 , B63C11/42
摘要： A control system for a robotic device maneuverable in at least a liquid medium, the system having at least one visual sensor retrieving an image of the device's environment, an image analyzing module receiving the image, determining a presence of an object of a given type therein and analyzing at least one property of the object, a motion calculator determining a desired motion of the device based on the property, and a controller operating a propulsion system of the device to obtain the desired motion. Also, a legged robotic device having a control system including at least one sensor providing data about an environment of the device, the control system using sensor data to determine a desired motion of the device, determining a corresponding required leg motion of each of the legs to produce the desired motion and actuating the legs in accordance with the corresponding required leg motion.

2. 发明授权

US07427220B2 Amphibious robotic device 有权
标题翻译：两栖机器人装置
公开(公告)号：US07427220B2
公开(公告)日：2008-09-23
申请号：US11497302
申请日：2006-08-02
申请人： Greg Dudek , Chris Prahacs , Shane Saunderson , Philippe Giguere , Junaed Sattar , Michael Jenkin
发明人： Greg Dudek , Chris Prahacs , Shane Saunderson , Philippe Giguere , Junaed Sattar , Michael Jenkin
IPC分类号： B63H21/22
CPC分类号： B60F3/0007 , B63C11/42
摘要： A control system for a robotic device maneuverable in at least a liquid medium, the system having at least one visual sensor retrieving an image of the device's environment, an image analyzing module receiving the image, determining a presence of an object of a given type therein and analyzing at least one property of the object, a motion calculator determining a desired motion of the device based on the property, and a controller operating a propulsion system of the device to obtain the desired motion. Also, a legged robotic device having a control system including at least one sensor providing data about an environment of the device, the control system using sensor data to determine a desired motion of the device, determining a corresponding required leg motion of each of the legs to produce the desired motion and actuating the legs in accordance with the corresponding required leg motion.
摘要翻译：一种用于在至少液体介质中操纵的机器人装置的控制系统，所述系统具有至少一个视觉传感器检索设备环境的图像，图像分析模块接收图像，确定其中给定类型的对象的存在以及分析所述对象的至少一个属性，基于所述属性来确定所述设备的期望运动的运动计算器，以及操作所述设备的推进系统以获得期望运动的控制器。此外，具有控制系统的有腿机器人装置包括至少一个提供关于装置的环境的数据的传感器的传感器，所述控制系统使用传感器数据来确定装置的期望的运动，确定每个腿的对应的所需腿部运动以产生期望的运动并且根据相应的所需的腿部运动来致动腿部。

3. 发明申请

US20080300722A1 AMPHIBIOUS ROBOTIC DEVICE 审中-公开
标题翻译：巨大的机器人设备
公开(公告)号：US20080300722A1
公开(公告)日：2008-12-04
申请号：US12192579
申请日：2008-08-15
申请人： Gregory DUDEK , Chris Prahacs , Shane Saunderson , Phillppe Giguere , Junaed Sattar , Michael Jenkin
发明人： Gregory DUDEK , Chris Prahacs , Shane Saunderson , Phillppe Giguere , Junaed Sattar , Michael Jenkin
IPC分类号： G05B19/00 , B60F3/00
CPC分类号： B60F3/0007 , B63C11/42
摘要： A robotic device for navigating in at least a liquid medium, includes a legged propulsion system having a series of legs external of a body of the robotic device, each of the legs being independently driven and mounted to the body for pivotal movement about a respective transverse axis. The legs oscillating relative to the body about the respective transverse axis such that interaction between the legs and the liquid medium produces propulsive forces that displace the robotic device within the liquid medium. A control system is operatively connected to the legged propulsion system for autonomous control and operation of the robotic device based on information received from at least one sensor providing data about an environment of the device.
摘要翻译：用于在至少液体介质中导航的机器人装置包括腿式推进系统，其具有在机器人装置的主体外部的一系列腿，每个腿独立地被驱动并安装到主体上，以围绕相应的横向轴。腿部相对于相应的横向轴线相对于主体振动，使得腿部和液体介质之间的相互作用产生使液体介质内的机器人装置移位的推进力。控制系统可操作地连接到腿式推进系统，用于基于从提供关于设备的环境的数据的至少一个传感器接收的信息来自动控制和操作机器人设备。

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