A method of maneuvering a robot includes driving the robot across a surface and turning the robot by shifting a center of mass of the robot toward a turn direction, thereby leaning the robot into the turning direction. The robot includes an inverted pendulum body, a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one leg prismatically coupled to the inverted pendulum body, and a drive wheel rotatably coupled to the at least one leg. The inverted pendulum body has first and second end portions and defines a forward drive direction. The method also includes turning the robot by at least one of moving the counter-balance body relative to the inverted pendulum body or altering a height of the at least one leg with respect to the surface.
Maneuvering mobile robots
2020-10-13
Patent
Electronic Resource
English
Maneuvering and Control of Flexible Space Robots
Online Contents | 1994
|Maneuvering and control of flexible space robots
NTRS | 1994
|Maneuvering and control of flexible space robots
AIAA | 1994
|Maneuvering and Control of Flexible Space Robots
British Library Conference Proceedings | 1994
|