JP5520048B2 - 蛇行型ロボット式無限軌道車 - Google Patents

蛇行型ロボット式無限軌道車 Download PDF

Info

Publication number
JP5520048B2
JP5520048B2 JP2009536347A JP2009536347A JP5520048B2 JP 5520048 B2 JP5520048 B2 JP 5520048B2 JP 2009536347 A JP2009536347 A JP 2009536347A JP 2009536347 A JP2009536347 A JP 2009536347A JP 5520048 B2 JP5520048 B2 JP 5520048B2
Authority
JP
Japan
Prior art keywords
frame
endless track
arm
joint
bending
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP2009536347A
Other languages
English (en)
Japanese (ja)
Other versions
JP2010509129A (ja
JP2010509129A5 (https=
Inventor
ジェーコブセン，スティーブン・シー
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Raytheon Co
Original Assignee
Raytheon Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Raytheon Co filed Critical Raytheon Co
Publication of JP2010509129A publication Critical patent/JP2010509129A/ja
Publication of JP2010509129A5 publication Critical patent/JP2010509129A5/ja
Application granted granted Critical
Publication of JP5520048B2 publication Critical patent/JP5520048B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/04—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track having other than ground-engaging propulsion means, e.g. having propellers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Toys (AREA)
  • Braiding, Manufacturing Of Bobbin-Net Or Lace, And Manufacturing Of Nets By Knotting (AREA)
JP2009536347A 2006-11-13 2007-11-13 蛇行型ロボット式無限軌道車 Expired - Fee Related JP5520048B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US85891706P 2006-11-13 2006-11-13
US60/858,917 2006-11-13
PCT/US2007/023909 WO2008076194A2 (en) 2006-11-13 2007-11-13 Serpentine robotic crawler

Publications (3)

Publication Number Publication Date
JP2010509129A JP2010509129A (ja) 2010-03-25
JP2010509129A5 JP2010509129A5 (https=) 2011-01-13
JP5520048B2 true JP5520048B2 (ja) 2014-06-11

Family

ID=39533470

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2009536347A Expired - Fee Related JP5520048B2 (ja) 2006-11-13 2007-11-13 蛇行型ロボット式無限軌道車

Country Status (6)

Country Link
US (1) US7845440B2 (https=)
EP (2) EP2082159B1 (https=)
JP (1) JP5520048B2 (https=)
CN (2) CN102141181B (https=)
IL (2) IL198710A0 (https=)
WO (1) WO2008076194A2 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018117530A (ja) * 2017-01-23 2018-08-02 坂下 恒明 農業機械

Families Citing this family (98)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7960935B2 (en) 2003-07-08 2011-06-14 The Board Of Regents Of The University Of Nebraska Robotic devices with agent delivery components and related methods
CA2861159C (en) 2006-06-22 2018-02-27 Board Of Regents Of The University Of Nebraska Magnetically coupleable robotic devices and related methods
US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
US9579088B2 (en) 2007-02-20 2017-02-28 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical visualization and device manipulation
US8509972B2 (en) * 2006-08-29 2013-08-13 Industrial Technology Research Institute Electronic pet and pet interaction system thereof
US8185241B2 (en) 2006-11-13 2012-05-22 Raytheon Company Tracked robotic crawler having a moveable arm
DE602007013793D1 (de) 2006-11-13 2011-05-19 Raytheon Co Anpassbare spuranordnung für einen raupenroboter
EP2082159B1 (en) * 2006-11-13 2013-04-10 Raytheon Company Serpentine robotic crawler
ATE473907T1 (de) * 2006-11-13 2010-07-15 Raytheon Sarcos Llc Vielseitig verwendbares endlosband für leichte mobile roboter
US8002716B2 (en) * 2007-05-07 2011-08-23 Raytheon Company Method for manufacturing a complex structure
JP5331102B2 (ja) * 2007-05-08 2013-10-30 レイセオン カンパニー ロボットクローラのための可変プリミティブマッピング
CN101784435B (zh) * 2007-07-10 2013-08-28 雷神萨科斯公司 模块化机器人履带车
CA2690808C (en) 2007-07-12 2016-09-27 Board Of Regents Of The University Of Nebraska Methods and systems of actuation in robotic devices
EP2178431A4 (en) 2007-08-15 2017-01-18 Board of Regents of the University of Nebraska Medical inflation, attachment, and delivery devices and related methods
WO2009023851A1 (en) 2007-08-15 2009-02-19 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
US8392036B2 (en) 2009-01-08 2013-03-05 Raytheon Company Point and go navigation system and method
WO2010089101A1 (de) * 2009-02-03 2010-08-12 Eckhard Polman Transportvorrichtung, transportkette sowie kettenglied
WO2010144820A2 (en) 2009-06-11 2010-12-16 Raytheon Sarcos, Llc Amphibious robotic crawler
WO2010144813A1 (en) * 2009-06-11 2010-12-16 Raytheon Sarcos, Llc Method and system for deploying a surveillance network
CN101695835B (zh) * 2009-10-29 2012-05-09 哈尔滨工程大学 一种智能翻转式攀爬机器人
WO2011075693A1 (en) 2009-12-17 2011-06-23 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
WO2011080590A2 (en) * 2009-12-30 2011-07-07 Sewervue Technology Corp. Apparatus and method for inspection of underground sewer pipes
US8428780B2 (en) * 2010-03-01 2013-04-23 Honda Motor Co., Ltd. External force target generating device of legged mobile robot
US8396593B2 (en) * 2010-03-01 2013-03-12 Honda Motor Co., Ltd. Gait generating device of legged mobile robot
JP5398592B2 (ja) * 2010-03-01 2014-01-29 本田技研工業株式会社 脚式移動ロボットの運動状態評価装置
JP5398589B2 (ja) * 2010-03-01 2014-01-29 本田技研工業株式会社 脚式移動ロボットの目標運動評価装置
US8100205B2 (en) * 2010-04-06 2012-01-24 Robotex Inc. Robotic system and method of use
CA2804176A1 (en) 2010-08-06 2013-02-05 Board Of Regents Of The University Of Nebraska Methods and systems for handling or delivering materials for natural orifice surgery
WO2012044663A1 (en) 2010-09-30 2012-04-05 Schlee Keith L Multi-unit mobile robot
US8662213B2 (en) 2011-01-10 2014-03-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Locomotion of amorphous surface robots
US9056746B2 (en) * 2011-02-11 2015-06-16 University Of Regina Adaptable vehicle
EP4275634A3 (en) 2011-06-10 2024-01-10 Board of Regents of the University of Nebraska Surgical end effector
WO2013009887A1 (en) 2011-07-11 2013-01-17 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
EP3730031A1 (en) 2011-10-03 2020-10-28 Board of Regents of the University of Nebraska Robotic surgical devices and systems
JP2013113597A (ja) * 2011-11-25 2013-06-10 Hitachi-Ge Nuclear Energy Ltd 調査ビークル、容器内の調査装置及び画像の処理方法
US9168786B2 (en) 2011-12-02 2015-10-27 Helical Robotics, Llc Mobile robot
WO2013106569A2 (en) 2012-01-10 2013-07-18 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical access and insertion
US9498292B2 (en) 2012-05-01 2016-11-22 Board Of Regents Of The University Of Nebraska Single site robotic device and related systems and methods
US8393422B1 (en) * 2012-05-25 2013-03-12 Raytheon Company Serpentine robotic crawler
JP6228196B2 (ja) 2012-06-22 2017-11-08 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ ローカル制御ロボット手術デバイス
US12295680B2 (en) 2012-08-08 2025-05-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
EP2882331A4 (en) 2012-08-08 2016-03-23 Univ Nebraska ROBOTIC SURGICAL DEVICES, SYSTEMS AND CORRESPONDING METHODS
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US9031698B2 (en) * 2012-10-31 2015-05-12 Sarcos Lc Serpentine robotic crawler
CA2906672C (en) 2013-03-14 2022-03-15 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
CA2905948C (en) 2013-03-14 2022-01-11 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
US10667883B2 (en) 2013-03-15 2020-06-02 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
JP6479790B2 (ja) 2013-07-17 2019-03-06 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ ロボット外科的デバイス、システムおよび関連する方法
US9409292B2 (en) 2013-09-13 2016-08-09 Sarcos Lc Serpentine robotic crawler for performing dexterous operations
US9566711B2 (en) 2014-03-04 2017-02-14 Sarcos Lc Coordinated robotic control
JP2014238403A (ja) * 2014-07-07 2014-12-18 日立Ｇｅニュークリア・エナジー株式会社 調査ビークル、容器内の調査装置及び画像の処理方法
JP6710199B2 (ja) 2014-09-12 2020-06-17 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ クイックリリースエンドエフェクターおよび関連するシステムおよび方法
JP6189272B2 (ja) * 2014-09-26 2017-08-30 日立Ｇｅニュークリア・エナジー株式会社 調査システム
EP3217890B1 (en) 2014-11-11 2020-04-08 Board of Regents of the University of Nebraska Robotic device with compact joint design
WO2016076875A1 (en) * 2014-11-13 2016-05-19 Halliburton Energy Services, Inc. Well monitoring with autonomous robotic diver
EP4555965A3 (en) 2015-08-03 2025-07-02 Virtual Incision Corporation Robotic surgical devices, systems and related methods
US10071303B2 (en) 2015-08-26 2018-09-11 Malibu Innovations, LLC Mobilized cooler device with fork hanger assembly
US10807659B2 (en) 2016-05-27 2020-10-20 Joseph L. Pikulski Motorized platforms
US10751136B2 (en) 2016-05-18 2020-08-25 Virtual Incision Corporation Robotic surgical devices, systems and related methods
US10023250B2 (en) * 2016-06-10 2018-07-17 The Boeing Company Multi-tread vehicles and methods of operating thereof
EP3503829A4 (en) 2016-08-25 2020-04-15 Board of Regents of the University of Nebraska QUICKLY RELEASABLE TOOL COUPLING AND RELATED SYSTEMS AND METHODS
EP4699745A3 (en) 2016-08-30 2026-04-29 Board of Regents of the University of Nebraska Robotic device with compact joint design and an additional degree of freedom
CN115337111B (zh) 2016-11-22 2025-04-25 内布拉斯加大学董事会 改进的粗定位装置及相关系统和方法
CN110462259B (zh) 2016-11-29 2022-10-28 虚拟切割有限公司 具有用户存在检测的用户控制器及相关系统和方法
WO2018112199A1 (en) 2016-12-14 2018-06-21 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
CN107139168B (zh) * 2017-06-29 2023-09-01 西安科技大学 一种煤矿救援蛇形机器人及其煤矿救援方法
JP6943900B2 (ja) * 2017-07-20 2021-10-06 日立Ｇｅニュークリア・エナジー株式会社 原子炉内の調査方法
JP6473197B2 (ja) * 2017-07-20 2019-02-20 日立Ｇｅニュークリア・エナジー株式会社 支援装置及び支援装置コントローラ
CN111417333B (zh) 2017-09-27 2023-08-29 虚拟切割有限公司 具有跟踪相机技术的机器人手术设备及相关系统和方法
GB2567898B (en) * 2017-10-31 2019-11-13 Crover Ltd Propulsion in granular media
CN108163069A (zh) * 2017-12-29 2018-06-15 湖南三快而居住宅工业有限公司 机器人、工作设备及机器人的工作方法
CN117140580A (zh) 2018-01-05 2023-12-01 内布拉斯加大学董事会 具有紧凑型关节设计的单臂机器人装置及相关系统和方法
US20200101804A1 (en) * 2018-09-28 2020-04-02 Beijing Jingdong Shangke Information Technology Co., Ltd. Connector for connecting trailers in mobile robotic device and method of controlling the same
CN109703639B (zh) * 2018-12-03 2020-10-13 北京建筑大学 一种可变结构机器人
CN111376227B (zh) * 2018-12-29 2023-08-22 中国科学院沈阳自动化研究所 一种管廊巡检机器人移动机构
CN121714364A (zh) 2019-01-07 2026-03-24 虚拟切割有限公司 机器人辅助手术系统以及相关装置和方法
CN109823427B (zh) * 2019-01-23 2021-06-25 天津大学 一种车-蛇复合式变结构移动机器人
CN109578746B (zh) * 2019-01-28 2024-11-22 西南大学 一种单体拼接式弹性管道机器人
CN110154007A (zh) * 2019-06-10 2019-08-23 天津大学 一种模块化蛇形机器人及其控制系统
CN110293543A (zh) * 2019-07-15 2019-10-01 北京工业大学 一种融合履带式行进机构和蛇脖关节的多步态蛇形机器人
CN113043256A (zh) * 2019-12-27 2021-06-29 沈阳新松机器人自动化股份有限公司 一种蛇形关节履带式复合机器人
CN110977923A (zh) * 2019-12-27 2020-04-10 浙江大学 一种专用于风力发电机叶片的四自由度履带机器人
CN111633637A (zh) * 2020-06-08 2020-09-08 阳泉煤业（集团）股份有限公司 一种具有纵向三段式结构的蛇形机器人
CN115843233A (zh) 2020-07-06 2023-03-24 虚拟切割有限公司 手术机器人定位系统及相关装置和方法
CN111890341B (zh) * 2020-08-22 2024-05-14 浙江工业大学 一种类蛇形爬动的机器人
CN112518707B (zh) * 2020-11-30 2022-03-08 国网重庆市电力公司电力科学研究院 防倾覆巡检机器人
US20220204100A1 (en) * 2020-12-31 2022-06-30 Sarcos Corp. Coupleable, Unmanned Ground Vehicles with Coordinated Control
US12311550B2 (en) 2020-12-31 2025-05-27 Sarcos Corp. Smart control system for a robotic device
US12296901B2 (en) * 2021-09-30 2025-05-13 Southwest Research Institute Elevated window passable autonomous self-driving assembly
CN113848962B (zh) * 2021-10-21 2023-07-14 西北工业大学深圳研究院 混合驱动水下机器人在曲面上攀爬的定深定向控制方法
US11841105B2 (en) 2022-02-01 2023-12-12 General Electric Company Systems and methods for maintaining structures
CN117184262A (zh) * 2022-05-31 2023-12-08 上海电气电站设备有限公司 一种微型检测机器人
US11867049B1 (en) * 2022-07-19 2024-01-09 Saudi Arabian Oil Company Downhole logging tool
CN115556082B (zh) * 2022-12-07 2023-03-24 中国科学院沈阳自动化研究所 一种具有移动给水功能的蛇形机械手
CN117021062A (zh) * 2023-07-27 2023-11-10 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) 可重构的移动机器人及其方法
GB2639229A (en) * 2024-03-12 2025-09-17 Meiban Int Pte Ltd Tubular snake-like all axis mechanical articulation
CN118751634A (zh) * 2024-07-26 2024-10-11 哈尔滨工程大学 一种用于铁路油罐车清刷机器人及使用方法
CN120156609B (zh) * 2025-04-24 2025-12-05 中山大学 一种履带式蛇形机器人自主爬楼梯方法

Family Cites Families (163)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US850147A (en) * 1906-04-10 1907-04-16 S S Piper Automatic ventilating-lock.
US1107874A (en) 1911-11-06 1914-08-18 Bullock Tractor Company Vehicle.
US1112460A (en) 1913-04-21 1914-10-06 Harry W Leavitt Tractor.
US1515756A (en) 1922-05-12 1924-11-18 Roy Irene Articulated coupling device for heavy loads
GB392392A (en) 1931-09-15 1933-05-18 Leon Martinage Improvements in and relating to endless track vehicles
US2025999A (en) 1932-01-25 1935-12-31 Edward C Myers Rubber covered flexible track
US2082920A (en) 1935-12-24 1937-06-08 Aulmont W Tye Trailer
US2312072A (en) 1940-03-07 1943-02-23 Tenger Victoria Endless track for vehicles
US2329582A (en) 1942-11-02 1943-09-14 Harold M Bishop Tread
US2850147A (en) 1954-08-20 1958-09-02 James M Hill Mobile curvable conveyor
US2933143A (en) 1957-06-25 1960-04-19 Canadair Ltd Articulated vehicle
US3060972A (en) 1957-08-22 1962-10-30 Bausch & Lomb Flexible tube structures
US3037571A (en) 1959-08-17 1962-06-05 Schield Bantam Company Wide base crawler
US2967737A (en) * 1959-11-30 1961-01-10 George V Moore Detachable traction units
US3166138A (en) 1961-10-26 1965-01-19 Jr Edward D Dunn Stair climbing conveyance
US3190286A (en) 1961-10-31 1965-06-22 Bausch & Lomb Flexible viewing probe for endoscopic use
US3223462A (en) 1963-04-25 1965-12-14 Boeing Co Endless track for a track laying vehicle
US3266059A (en) 1963-06-19 1966-08-16 North American Aviation Inc Prestressed flexible joint for mechanical arms and the like
US3215219A (en) 1963-07-22 1965-11-02 Lockheed Aircraft Corp Articulated vehicle
DE1505007B2 (de) 1965-02-11 1976-07-22 Eisen- Und Drahtwerk Erlau Ag, 7080 Aalen Gleitschutz- bzw. reifenschutzkette fuer hintereinander angeordnete raeder eines kraftfahrzeuges
US3284964A (en) 1964-03-26 1966-11-15 Saito Norio Flexible beam structures
US3311424A (en) * 1965-06-03 1967-03-28 Marval & O Farrell Tractive device comprising a belt driven soft roller
US3362492A (en) * 1966-02-14 1968-01-09 Darrell L. Hansen Snowbike attachment
US3565198A (en) * 1967-06-26 1971-02-23 Whiting Corp Steering, driving and single track support systems for vehicles
US3497083A (en) * 1968-05-10 1970-02-24 Us Navy Tensor arm manipulator
US3489236A (en) 1968-08-01 1970-01-13 Us Army Egressing device for military vehicles
US3572325A (en) * 1968-10-25 1971-03-23 Us Health Education & Welfare Flexible endoscope having fluid conduits and control
US3609804A (en) 1969-08-27 1971-10-05 Marvin Glass & Associates Vehicle
US3808078A (en) * 1970-01-05 1974-04-30 Norfin Glass fiber cable, method of making, and its use in the manufacture of track vehicles
US3650343A (en) 1970-03-12 1972-03-21 John B Helsell Ski slope traversing and conditioning vehicle
US3700115A (en) 1970-09-17 1972-10-24 Koehring Co Vehicle with variable width ground supports
US3757635A (en) 1971-03-23 1973-09-11 F Hickerson Multi-purpose munitions carrier
US3712481A (en) * 1971-12-23 1973-01-23 Mc Donnell Douglas Corp Actuator
US3841424A (en) 1971-12-27 1974-10-15 Caterpillar Tractor Co Triangular track resilient bogie suspension
US3820616A (en) 1972-02-03 1974-06-28 American Hoist & Derrick Co Crawler vehicle with dual extensible side frames
US3933214A (en) 1972-07-12 1976-01-20 Guibord Georges E All terrain pleasure vehicle
US3864983A (en) * 1972-09-15 1975-02-11 Stephen C Jacobsen Rotary-to-linear and linear-to-rotary motion converters
US3934664A (en) * 1973-02-01 1976-01-27 Pohjola Jorma Steering mechanism for track vehicles
US4059315A (en) 1976-01-02 1977-11-22 Jolliffe James D Cleat anchor for flexible vehicle track
BE845263A (nl) 1976-08-18 1976-12-16 Zelfbewegende trekkereenheind
US4589460A (en) * 1978-01-03 1986-05-20 Albee William H Off road vehicles
US4218101A (en) 1978-04-03 1980-08-19 De Lorean Manufacturing Company Low disturbance track cleat and ice calk structure for firm or icy snow
US4332424A (en) 1978-04-03 1982-06-01 De Lorean Manufacturing Company Low disturbance track cleat and ice calk structure for firm or icy snow
US4494417A (en) * 1979-03-16 1985-01-22 Robotgruppen Hb Flexible arm, particularly a robot arm
DE2926798C2 (de) * 1979-07-03 1986-05-28 Klöckner-Werke AG, 4100 Duisburg Kettenkratzerförderer
US4260053A (en) * 1979-10-09 1981-04-07 Hirosuke Onodera Flexible conveyor belt
US4453611A (en) * 1980-10-10 1984-06-12 Stacy Jr Jack C Terrain vehicle having a single, latterally bendable track
SE436175B (sv) * 1982-07-05 1984-11-19 Robotgruppen Hb Anordning for vridstyv forbindelse av i en robotarm eller liknande ingaende element
DE3236947A1 (de) * 1982-10-06 1984-04-12 Rainer 6074 Rödermark Hitzel Rohrmanipulator fuer das durchfahren von rohrleitungen
US4806066A (en) * 1982-11-01 1989-02-21 Microbot, Inc. Robotic arm
US4900218A (en) 1983-04-07 1990-02-13 Sutherland Ivan E Robot arm structure
JPS6015275A (ja) 1983-07-05 1985-01-25 Toshiba Corp クロ−ラ式走行車
JPS6047771A (ja) 1983-08-24 1985-03-15 Toshiba Corp クロ−ラ走行車
GB2145691B (en) * 1983-08-29 1987-06-03 Toshiba Kk Extendible and contractable arms
US4661039A (en) * 1983-10-20 1987-04-28 Donaldson Company Flexible-frame robot
CA1245510A (en) 1984-03-05 1988-11-29 Arktos Developments Ltd. All terrain vehicle and method of operating same
US4646906A (en) * 1984-09-06 1987-03-03 Fairchild Incorporated Apparatus for continuously conveying coal from a continuous miner to a remote floor conveyor
FI852478L (fi) * 1985-06-20 1986-12-21 Reta-Myynti Ky Foerfarande i fordon med svaengbar larvmatta foer att aostadkomma baettre koerstabiliteter.
US4752105A (en) 1985-10-24 1988-06-21 Barnard Jan H Vehicle traction
FR2589238B1 (fr) 1985-10-25 1987-11-20 Commissariat Energie Atomique Capteur de mesure d'efforts et de couples et applications d'un tel capteur a un palpeur et a un dispositif de prehension
GB8526602D0 (en) 1985-10-29 1986-11-05 Secr Defence Unmanned vehicle
US4765795A (en) 1986-06-10 1988-08-23 Lord Corporation Object manipulator
US4828339A (en) * 1986-09-30 1989-05-09 Joy Technologies Inc. Crawler chain
FR2609335B1 (fr) * 1987-01-05 1989-04-14 Protee Systeme de reperage du mouvement d'un vehicule a chenilles
GB8709125D0 (en) 1987-04-15 1987-05-20 Siren A O All-terrain hydrofoil train
US4796607A (en) * 1987-07-28 1989-01-10 Welch Allyn, Inc. Endoscope steering section
US5021798A (en) * 1988-02-16 1991-06-04 Trw Inc. Antenna with positionable reflector
DE3811795A1 (de) * 1988-04-08 1989-10-19 Roos Christa Maria Ferngesteuerte inspektions- und/oder bearbeitungsvorrichtung
US4862808A (en) 1988-08-29 1989-09-05 Gas Research Institute Robotic pipe crawling device
US4932831A (en) 1988-09-26 1990-06-12 Remotec, Inc. All terrain mobile robot
FR2638813B1 (fr) * 1988-11-09 1991-02-01 Nancy Ecole Sup Sciences Techn Vehicule autopropulse pour meulage de tuyauterie
US4932491A (en) 1989-03-21 1990-06-12 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Body steered rover
FR2651201B1 (fr) 1989-08-31 1991-10-25 Framatome Sa Vehicule a chenilles inclinables.
FR2660730B1 (fr) * 1990-04-09 1992-11-27 Gautheron Christophe Vehicule autopropulse franchisseur d'obstacles pour des missions a l'interieur de canalisations.
US5018591A (en) * 1990-04-24 1991-05-28 Caterpillar Inc. Track laying work vehicle
US5080000A (en) 1990-05-11 1992-01-14 Bubic Frank R Flexible robotic links and manipulator trunks made thereform
JPH0755654B2 (ja) * 1990-05-17 1995-06-14 東京都 クローラー式管路内走行装置
EP0465743A1 (en) 1990-07-12 1992-01-15 British Aerospace Public Limited Company Teach and report probe for a robot arm
US4997790A (en) * 1990-08-13 1991-03-05 Motorola, Inc. Process for forming a self-aligned contact structure
US5186526A (en) * 1990-08-31 1993-02-16 General Chemical Corporation One-piece crawler pad
US5252870A (en) * 1991-03-01 1993-10-12 Jacobsen Stephen C Magnetic eccentric motion motor
US5172639A (en) * 1991-03-26 1992-12-22 Gas Research Institute Cornering pipe traveler
US5317952A (en) * 1991-11-22 1994-06-07 Kinetic Sciences Inc. Tentacle-like manipulators with adjustable tension lines
US5428713A (en) * 1991-11-25 1995-06-27 Kabushiki Kaisha Toshiba Compound module type manipulator apparatus
US5562843A (en) 1991-12-28 1996-10-08 Joven Electric Co., Ltd. Industrial robot with contact sensor
US5199771A (en) 1992-03-02 1993-04-06 Logan Manufacturing Company Not retaining cleat for vehicle endless track
US5297443A (en) 1992-07-07 1994-03-29 Wentz John D Flexible positioning appendage
US5451135A (en) 1993-04-02 1995-09-19 Carnegie Mellon University Collapsible mobile vehicle
US5435405A (en) 1993-05-14 1995-07-25 Carnegie Mellon University Reconfigurable mobile vehicle with magnetic tracks
US5363935A (en) * 1993-05-14 1994-11-15 Carnegie Mellon University Reconfigurable mobile vehicle with magnetic tracks
US5386741A (en) * 1993-06-07 1995-02-07 Rennex; Brian G. Robotic snake
US5354124A (en) 1993-09-07 1994-10-11 Lmc Operating Corp. Water sealed, cable reinforced vehicle endless track and cleat assembly
JP2594880B2 (ja) 1993-12-29 1997-03-26 西松建設株式会社 自律走行型知能作業ロボット
US5516249A (en) * 1994-05-10 1996-05-14 Technical Research Associates, Inc. Exoskeleton with kinesthetic feedback and robotic control
JPH07329841A (ja) * 1994-06-10 1995-12-19 Railway Technical Res Inst 線形状・円筒形状物体検査用螺旋走行ロボット
US5770913A (en) * 1995-10-23 1998-06-23 Omnific International, Ltd. Actuators, motors and wheelless autonomous robots using vibratory transducer drivers
JPH09142347A (ja) * 1995-11-24 1997-06-03 Mitsubishi Heavy Ind Ltd 不整地移動装置
US5749828A (en) * 1995-12-22 1998-05-12 Hewlett-Packard Company Bending neck for use with invasive medical devices
CH690595A5 (de) * 1996-04-12 2000-10-31 Ka Te System Ag Steuereinrichtung für ein Fluidaggregate aufweisendes Gerät und Vorrichtung zum Sanieren von Rohren.
US6030057A (en) 1996-06-19 2000-02-29 Fikse; Tyman H. Tractor endless tread
US6186604B1 (en) 1996-06-19 2001-02-13 Tyman H. Fikse Tractor endless tread
US5902254A (en) * 1996-07-29 1999-05-11 The Nemours Foundation Cathether guidewire
IT1285533B1 (it) * 1996-10-22 1998-06-08 Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant Anna Robot endoscopico
US6331181B1 (en) * 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US5888235A (en) * 1997-01-07 1999-03-30 Sarcos, Inc. Body-powered prosthetic arm
US6016385A (en) * 1997-08-11 2000-01-18 Fanu America Corp Real time remotely controlled robot
DE19746510C2 (de) * 1997-10-22 2003-03-06 Pii Pipetronix Gmbh Vorrichtung zum Durchfahren von Rohrleitungen
JP3919040B2 (ja) * 1997-11-30 2007-05-23 ソニー株式会社 ロボツト装置
US6263989B1 (en) 1998-03-27 2001-07-24 Irobot Corporation Robotic platform
US5984032A (en) 1998-06-10 1999-11-16 Gremillion; Ernest J. Articulating marsh buggy
DE19857891A1 (de) 1998-12-15 2000-06-21 Macmoter Spa Raupenfahrzeug
US20020128714A1 (en) 1999-06-04 2002-09-12 Mark Manasas Orthopedic implant and method of making metal articles
US6523629B1 (en) 1999-06-07 2003-02-25 Sandia Corporation Tandem mobile robot system
DE10018075A1 (de) 1999-06-29 2001-01-18 Daimler Chrysler Ag Verfahren und Einrichtung zur Bekämpfung von Sprengkörpern,insbesondere Minen
JP2001038663A (ja) * 1999-07-28 2001-02-13 Yamaha Motor Co Ltd マシンの制御システム
NZ516970A (en) * 1999-08-12 2004-01-30 Nano Muscle Inc Shape-memory alloy actuators and control methods
JP3326472B2 (ja) * 1999-11-10 2002-09-24 独立行政法人 航空宇宙技術研究所 多関節ロボット
US20050085693A1 (en) * 2000-04-03 2005-04-21 Amir Belson Activated polymer articulated instruments and methods of insertion
EP1279081B1 (en) 2000-05-01 2012-01-04 iRobot Corporation Method and system for remote control of mobile robot
US6576406B1 (en) * 2000-06-29 2003-06-10 Sarcos Investments Lc Micro-lithographic method and apparatus using three-dimensional mask
GB0020461D0 (en) * 2000-08-18 2000-10-11 Oliver Crispin Consulting Ltd Improvements in and relating to the robotic positioning of a work tool to a sensor
EP1258419B1 (en) 2000-12-22 2008-01-23 Hitachi Construction Machinery Co., Ltd. Crawler belt
US6512345B2 (en) 2001-03-30 2003-01-28 The Regents Of The University Of Michigan Apparatus for obstacle traversion
US6774597B1 (en) 2001-03-30 2004-08-10 The Regents Of The University Of Michigan Apparatus for obstacle traversion
US6870343B2 (en) 2001-03-30 2005-03-22 The University Of Michigan Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness
JP2003001580A (ja) * 2001-06-22 2003-01-08 Sony Corp 脚式移動ロボットのための多関節湾曲機構、並びに脚式移動ロボット
US20040216932A1 (en) 2001-07-09 2004-11-04 United Defense, Lp Hybrid wheel and track vehicle drive system
US6563084B1 (en) 2001-08-10 2003-05-13 Lincoln Global, Inc. Probe for touch sensing
US6715575B2 (en) 2001-08-16 2004-04-06 Formula Fast Racing Track tensioning system for a tracked vehicle
CA2394454C (en) 2001-09-12 2009-12-08 The Goodyear Tire & Rubber Company Cold environment endless rubber track and vehicle containing such track
US6835173B2 (en) 2001-10-05 2004-12-28 Scimed Life Systems, Inc. Robotic endoscope
US6672344B1 (en) 2001-10-26 2004-01-06 Perseptive Biosystems, Inc. Robotic system having positionally adjustable multiple probes
JP4403571B2 (ja) 2001-11-22 2010-01-27 正喜 江刺 能動ガイドワイヤ及びその製造方法
US6772673B2 (en) 2001-12-13 2004-08-10 Seiko Epson Corporation Flexible actuator
US6595812B1 (en) 2002-02-15 2003-07-22 Harry Haney Amphibious vehicle
JP4112891B2 (ja) * 2002-04-22 2008-07-02 株式会社東芝 原子炉内移動装置
US20050235899A1 (en) 2002-04-30 2005-10-27 Ikuo Yamamoto Fish-shaped underwater navigating body, control system thereof, and aquarium
FR2839916B1 (fr) 2002-05-22 2004-10-15 Agence Spatiale Europeenne Exosquelette pour bras humain, notamment pour des applications spatiales
WO2003102706A1 (en) 2002-05-31 2003-12-11 Fujitsu Limited Remotely-operated robot, and robot self position identifying method
US7040426B1 (en) * 2002-06-04 2006-05-09 Polaris Industries, Inc. Suspension for a tracked vehicle
AU2003278994A1 (en) 2002-09-26 2004-04-19 Barrett Technology, Inc. Intelligent, self-contained robotic hand
US7303010B2 (en) 2002-10-11 2007-12-04 Intelligent Robotic Corporation Apparatus and method for an autonomous robotic system for performing activities in a well
US6936003B2 (en) 2002-10-29 2005-08-30 Given Imaging Ltd In-vivo extendable element device and system, and method of use
CA2412815A1 (fr) 2002-11-27 2004-05-27 Martin Deschambault Plate-forme robotique mobile et modulaire offrant plusieurs modes de locomotion pour effectuer des mouvements evolues en trois dimensions
FR2850350B1 (fr) 2003-01-29 2006-03-10 Bernard Coeuret Vehicule a chenilles a chassis muni d'un moyen de pivotement
JP4436257B2 (ja) 2003-01-31 2010-03-24 カール ツァイス インドゥストリーレ メステクニーク ゲーエムベーハー 座標測定機械用プローブヘッド
US6837318B1 (en) 2003-03-28 2005-01-04 Hanna Craig Rescue and exploration apparatus
EP1633534B1 (en) 2003-04-28 2018-09-12 Nikon Metrology NV Cmm arm with exoskeleton
US6974356B2 (en) 2003-05-19 2005-12-13 Nekton Research Llc Amphibious robot devices and related methods
US7044245B2 (en) * 2003-06-17 2006-05-16 Science Applications International Corporation Toroidal propulsion and steering system
WO2005032885A2 (en) 2003-09-18 2005-04-14 The Johns Hopkins University Mono-track vehicle
CN1603068A (zh) * 2003-09-29 2005-04-06 中国科学院自动化研究所 基于无线网络的多机器人搬运控制系统
JP4607442B2 (ja) 2003-10-07 2011-01-05 国立大学法人東京工業大学 クローラ型走行ロボット
US7188473B1 (en) * 2004-04-26 2007-03-13 Harry HaruRiko Asada Shape memory alloy actuator system using segmented binary control
US7865268B2 (en) 2004-06-24 2011-01-04 Massachusetts Institute Of Technology Mechanical fish robot exploiting vibration modes for locomotion
US20060156851A1 (en) 2004-12-02 2006-07-20 Jacobsen Stephen C Mechanical serpentine device
US7188568B2 (en) * 2005-06-29 2007-03-13 Arizona Public Service Company Self-propelled vehicle for movement within a tubular member
US7539557B2 (en) 2005-12-30 2009-05-26 Irobot Corporation Autonomous mobile robot
JP2007216936A (ja) * 2006-02-15 2007-08-30 Kenjiro Tadakuma 推進力発生装置連結機構
JP4635259B2 (ja) * 2006-03-10 2011-02-23 独立行政法人産業技術総合研究所 クローラロボット
US8224485B2 (en) * 2006-05-24 2012-07-17 Titan Medical Inc. Snaking robotic arm with movable shapers
EP2082159B1 (en) * 2006-11-13 2013-04-10 Raytheon Company Serpentine robotic crawler
US7707162B2 (en) 2007-01-08 2010-04-27 International Business Machines Corporation Method and apparatus for classifying multimedia artifacts using ontology selection and semantic classification

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018117530A (ja) * 2017-01-23 2018-08-02 坂下 恒明 農業機械

Also Published As

Publication number Publication date
CN102141181A (zh) 2011-08-03
EP2549165B1 (en) 2014-03-12
WO2008076194A2 (en) 2008-06-26
US20080164079A1 (en) 2008-07-10
EP2082159A2 (en) 2009-07-29
US7845440B2 (en) 2010-12-07
EP2082159B1 (en) 2013-04-10
JP2010509129A (ja) 2010-03-25
WO2008076194A3 (en) 2008-10-23
CN101583820A (zh) 2009-11-18
CN101583820B (zh) 2011-05-18
IL222705A0 (en) 2012-12-31
CN102141181B (zh) 2014-10-08
EP2549165A1 (en) 2013-01-23
IL198710A0 (en) 2010-02-17

Similar Documents

Publication Publication Date Title
JP5520048B2 (ja) 蛇行型ロボット式無限軌道車
US8042630B2 (en) Serpentine robotic crawler
US8393422B1 (en) Serpentine robotic crawler
JP5411702B2 (ja) 可動アームを有するロボット式無限軌道車
JP5285701B2 (ja) モジュール式ロボットクローラ
Schwarz et al. Hybrid driving-stepping locomotion with the wheeled-legged robot Momaro
Date et al. Adaptive locomotion of a snake like robot based on curvature derivatives
EP2915636B1 (en) Coordinated robotic control
US20040140786A1 (en) Apparatus for obstacle traversion
CN112873188B (zh) 自组装模块化机器人单元、机器人、组装及控制方法
Granosik Hypermobile robots–the survey
Singh et al. Design and motion analysis of compliant omnidirectional spherical modular snake robot (COSMOS)
Singh et al. Design and implementation of Omni-directional spherical modular snake robot (OSMOS)
Duan et al. MOBIT, a small wheel-track-leg mobile robot
Kang et al. ROBHAZ-DT2: Passive double-tracked mobile manipulator for explosive ordnance disposal
Granosik Hypermobile robots
Wang et al. Design and realization of a novel reconfigurable robot with serial and parallel mechanisms
Fukuoka et al. Rapid movement of a crawler robot over rough terrain having a human-like upper body with intuitive remote control
JP2006095661A (ja) ロボット装置並びにロボット用車輪装置

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20101115

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20101115

A711 Notification of change in applicant

Free format text: JAPANESE INTERMEDIATE CODE: A712

Effective date: 20110629

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20120924

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20121001

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20121226

A602 Written permission of extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A602

Effective date: 20130108

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20130121

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20130701

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20131001

A602 Written permission of extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A602

Effective date: 20131008

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20131031

A602 Written permission of extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A602

Effective date: 20131108

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20131225

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20140306

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20140404

R150 Certificate of patent or registration of utility model

Ref document number: 5520048

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313113

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

LAPS Cancellation because of no payment of annual fees