JP2016503363A - 蛇状ロボットクローラ - Google Patents
蛇状ロボットクローラ Download PDFInfo
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- JP2016503363A JP2016503363A JP2015539960A JP2015539960A JP2016503363A JP 2016503363 A JP2016503363 A JP 2016503363A JP 2015539960 A JP2015539960 A JP 2015539960A JP 2015539960 A JP2015539960 A JP 2015539960A JP 2016503363 A JP2016503363 A JP 2016503363A
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- robot crawler
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
- B62D55/0655—Articulated endless track vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/07—Mono-track vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
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- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
Abstract
Description
・9つの単軸関節体
・5つの単軸関節体及び2つの二軸関節体
・3つの単軸関節体及び2つの3軸関節体
・2つの単軸関節体、2つの二軸関節体及び1つの3軸関節体
Claims (20)
- 蛇状ロボットクローラであって、
第1駆動サブシステムと、
第2駆動サブシステムと、
前記第1及び第2駆動サブシステムを連結する多自由度のリンクサブシステムと、
前記第1駆動サブシステム、前記第2駆動サブシステム及び前記リンクサブシステムのうちの1つの近くに取外し可能に支持された非専用の高性能制御デバイスであって、当該ロボットクローラに接続されると当該ロボットクローラ内で操作機能性を開始させて制御するように構成された、高性能制御デバイスと、
前記高性能制御デバイスと当該蛇状ロボットクローラとの間を機能的に連結する通信サブシステムであって、前記高性能制御デバイスによる前記第1駆動サブシステム、前記第2駆動サブシステム及び前記リンクサブシステムのうちの少なくとも1つの制御を容易にする、通信サブシステムと、
を備えることを特徴とする蛇状ロボットクローラ。 - 前記高性能制御デバイスが、携帯電話デバイス、無線ネットワークデバイス、ブルートゥースデバイス及びこれらの組合せからなるグループから選択された部材であることを特徴とする請求項1に記載の蛇状ロボットクローラ。
- 前記高性能制御デバイスが、スマートフォンであることを特徴とする請求項1に記載の蛇状ロボットクローラ。
- 前記高性能制御デバイスが、前記第1駆動サブシステム、前記第2駆動サブシステム及び前記リンクサブシステムを独立して制御するように操作可能であることを特徴とする請求項1に記載の蛇状ロボットクローラ。
- 前記通信サブシステムが、電気的連結、光学的連結、無線連結、ブルートゥース連結及びこれらの組合せからなるグループから選択された通信媒体を有することを特徴とする請求項1に記載の蛇状ロボットクローラ。
- 前記高性能制御デバイスが、当該クローラへの無線通信、当該クローラの外部への無線通信、GPSデータ、加速度計データ、振動検出、ユーザインタフェース、カメラ及び/または動画機能性、音声入力、音声出力、センサ処理、ナビゲーション、制御並びにこれらの組合せからなるグループから選択された機能性を当該蛇状ロボットクローラに付与することを特徴とする請求項1に記載の蛇状ロボットクローラ。
- 前記高性能制御デバイスが、一体型デジタルカメラをさらに有することを特徴とする請求項1に記載の蛇状ロボットクローラ。
- 前記デジタルカメラに光学的に連結されたレンズをさらに備え、
前記レンズが、前記デジタルカメラの焦点軸方向を曲げるように操作可能であることを特徴とする請求項7に記載の蛇状ロボットクローラ。 - 前記レンズが、前記デジタルカメラの前記焦点軸方向を回転させるように操作可能であることを特徴とする請求項8に記載の蛇状ロボットクローラ。
- 前記高性能制御デバイスが、前記第1駆動サブシステム及び前記第2駆動サブシステムのうちの一方の近くに支持されていることを特徴とする請求項1に記載の蛇状ロボットクローラ。
- 当該蛇状ロボットクローラに連結された少なくとも1つの外部データ収集デバイスをさらに備えることを特徴とする請求項1に記載の蛇状ロボットクローラ。
- 少なくとも1つの前記外部データ収集デバイスが、前記通信サブシステムを介して、前記高性能制御デバイスと連動するように操作可能であることを特徴とする請求項11に記載の蛇状ロボットクローラ。
- 蛇状ロボットクローラであって、
第1駆動サブシステムと、
第2駆動サブシステムと、
前記第1及び第2駆動サブシステムを連結する多自由度のリンクサブシステムと、
前記第1駆動サブシステム、前記第2駆動サブシステム及び前記リンクサブシステムのうちの1つの近くに支持された取付体であって、当該ロボットクローラに接続されると当該ロボットクローラ内で操作機能性を開始させて制御するように構成された非専用の高性能制御デバイスを受けて取外し可能に支持するように操作可能である、取付体と、
接続すると当該蛇状ロボットクローラと前記高性能制御デバイスとの間を機能的に連結する通信サブシステムであって、前記高性能制御デバイスによる前記第1駆動サブシステム、前記第2駆動サブシステム及び前記リンクサブシステムのうちの少なくとも1つの制御を容易にする、通信サブシステムと、
を備えることを特徴とする蛇状ロボットクローラ。 - 前記取付体が、前記高性能制御デバイスと連動するように構成され、
前記高性能制御デバイスが、携帯電話デバイス、無線ネットワークデバイス、ブルートゥースデバイス及びこれらの組合せからなるグループから選択された部材であることを特徴とする請求項13に記載の蛇状ロボットクローラ。 - 前記取付体が、スマートフォンと連動するように構成されていることを特徴とする請求項13に記載された蛇状ロボットクローラ。
- 請求項1に記載された蛇状ロボットクローラと、
前記蛇状ロボットクローラの前記高性能制御デバイスと無線通信するように操作可能である高性能制御通信デバイスと、
を備えることを特徴とする蛇状ロボットクローラシステム。 - 無線通信することが、前記蛇状ロボットクローラの前記高性能制御デバイスに制御指示を送信することを含むことを特徴とする請求項16に記載の蛇状ロボットクローラシステム。
- 無線通信することが、前記蛇状ロボットクローラの前記高性能制御デバイスから通信信号を受信することを含むことを特徴とする請求項16に記載の蛇状ロボットクローラシステム。
- 前記通信信号が、位置データ、加速度データ、外部センサデータ、診断データ、動画データ及び音声データのうちの少なくとも1つを含むことを特徴とする請求項18に記載の蛇状ロボットクローラシステム。
- 前記高性能制御通信デバイス及び前記蛇状ロボットクローラの前記高性能制御デバイスが、セルラーネットワークを渡って通信するように操作可能であることを特徴とする請求項16に記載の蛇状ロボットクローラシステム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/665,669 | 2012-10-31 | ||
US13/665,669 US9031698B2 (en) | 2012-10-31 | 2012-10-31 | Serpentine robotic crawler |
PCT/US2013/067840 WO2014120307A2 (en) | 2012-10-31 | 2013-10-31 | Serpentine robotic crawler |
Publications (3)
Publication Number | Publication Date |
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JP2016503363A true JP2016503363A (ja) | 2016-02-04 |
JP2016503363A5 JP2016503363A5 (ja) | 2016-12-22 |
JP6385942B2 JP6385942B2 (ja) | 2018-09-05 |
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Application Number | Title | Priority Date | Filing Date |
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JP2015539960A Active JP6385942B2 (ja) | 2012-10-31 | 2013-10-31 | 蛇状ロボットクローラ |
Country Status (5)
Country | Link |
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US (1) | US9031698B2 (ja) |
EP (1) | EP2914403A2 (ja) |
JP (1) | JP6385942B2 (ja) |
KR (2) | KR20150076161A (ja) |
WO (1) | WO2014120307A2 (ja) |
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