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    MOBILE HUMAN INTERFACE ROBOT
    2.
    发明申请
    MOBILE HUMAN INTERFACE ROBOT 审中-公开
    移动人机界面机器人

    公开(公告)号：WO2011146256A3

    公开(公告)日：2013-08-01

    申请号：PCT/US2011035476

    申请日：2011-05-06

    Applicant: IROBOT CORP ,  ROSENSTEIN MICHAEL T ,  WON CHIKYUNG ,  LANSBERRY GEOFFREY ,  SHAMLIAN STEVEN V ,  HALLORAN MICHAEL ,  CHIAPPETTA MARK ,  ALLEN THOMAS P

    Inventor： ROSENSTEIN MICHAEL T ,  WON CHIKYUNG ,  LANSBERRY GEOFFREY ,  SHAMLIAN STEVEN V ,  HALLORAN MICHAEL ,  CHIAPPETTA MARK ,  ALLEN THOMAS P

    IPC: B25J5/00 ,  B25J13/08 ,  G05D1/02

    CPC classification number: B25J13/084 ,  B25J5/007 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211 ,  Y10S901/01

    Abstract: A mobile human interface robot (100) that includes a base (120) defining a vertical center axis (Z) and a forward drive direction (F) and a holonomic drive system (200) supported by the base. The drive system has first, second, and third driven drive wheels (210a, 210b, 210c), each trilaterally spaced about the vertical center axis and having a drive direction (Drive) perpendicular to a radial axis (Slip) with respect to the vertical center axis. The robot further includes a controller (500) in communication with the holonomic drive system, a torso (140) supported above the base, and a touch sensor system (480) in communication with the controller. The touch sensor system is responsive to human contact. The controller issues drive commands to the holonomic drive system based on a touch signal received from the touch sensor system.

    Abstract translation: 一种移动人机接口机器人（100），其包括限定垂直中心轴线（Z）和前进驱动方向（F）的基座（120）和由基座支撑的整体驱动系统（200）。 驱动系统具有第一，第二和第三从动驱动轮（210a，210b，210c），每个三维侧面围绕垂直中心轴线间隔开，并具有垂直于径向轴线（滑动）的驱动方向（驱动） 中心轴。 机器人还包括与整体驱动系统连通的控制器（500），支撑在基座上方的躯干（140）和与控制器通信的触摸传感器系统（480）。 触摸传感器系统响应人的接触。 控制器基于从触摸传感器系统接收的触摸信号向整体驱动系统发出驱动命令。

    OPERATING A MOBILE ROBOT
    6.
    发明申请
    OPERATING A MOBILE ROBOT 审中-公开
    操作移动机器人

    公开(公告)号：WO2012091804A3

    公开(公告)日：2013-07-18

    申请号：PCT/US2011059910

    申请日：2011-11-09

    Applicant: IROBOT CORP ,  ROSENSTEIN MICHAEL T ,  SHAMLIAN STEVEN V ,  WON CHIKYUNG ,  HALLORAN MICHAEL ,  CHIAPPETTA MARK ,  ALLEN THOMAS P ,  BASSETT MICHAEL ,  BENSON BRIAN C JR

    Inventor： ROSENSTEIN MICHAEL T ,  SHAMLIAN STEVEN V ,  WON CHIKYUNG ,  HALLORAN MICHAEL ,  CHIAPPETTA MARK ,  ALLEN THOMAS P ,  BASSETT MICHAEL ,  BENSON BRIAN C JR

    IPC: G05D1/02

    CPC classification number: B25J5/007 ,  B25J11/009 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  Y10S901/01

    Abstract: A method of operating a mobile robot (100) to traverse a threshold (T) includes detecting a threshold proximate the robot. The robot includes a holonomic drive system (200) having first, second, and third drive elements (210a-c) configured to maneuver the robot omni-directionally. The method further includes moving the first drive element (210a) onto the threshold from a first side and moving the second drive element (210b) onto the threshold to place both the first and second drive elements on the threshold. The method includes moving the first drive element off a second side of the threshold, opposite to the first side of the threshold, and moving the third drive element (210c) onto the threshold, placing both the second and third drive elements on the threshold. The method includes moving both the second and third drive elements off the second side of the threshold.

    Abstract translation: 操作移动机器人（100）横穿阈值（T）的方法包括检测机器人附近的阈值。 该机器人包括具有被配置成全方向地操纵机器人的第一，第二和第三驱动元件（210a-c）的整体驱动系统（200）。 该方法还包括将第一驱动元件（210a）从第一侧移动到阈值上并将第二驱动元件（210b）移动到阈值上以将第一和第二驱动元件都置于阈值上。 该方法包括将第一驱动元件移离阈值的第二侧，与阈值的第一侧相反，以及将第三驱动元件（210c）移动到阈值上，将第二和第三驱动元件都置于阈值上。 该方法包括将第二和第三驱动元件移动离开阈值的第二侧。

    Mobile human interface robot
    9.
    发明专利
    Mobile human interface robot 未知

    公开(公告)号：GB2527207A

    公开(公告)日：2015-12-16

    申请号：GB201510218

    申请日：2011-05-06

    Applicant: IROBOT CORP

    Inventor： ROSENSTEIN MICHAEL T ,  HALLORAN MICHAEL ,  WONG CHEUK WAH ,  SHAMLIAN STEVEN V ,  WON CHIKYUNG ,  CHIAPPETTA MARK ,  KEARNS JUSTIN H ,  TAKA ORJETA ,  PACK ROBERT TODD ,  FARLOW TIMOTHY S ,  VICENTI JASPER FOURWAYS

    IPC: B25J5/00 ,  B25J13/08 ,  B25J19/02 ,  G05D1/02

    Abstract: A mobile robot 100 comprises a drive system 200, a controller 500 in communication with the drive system 200 and a volumetric point cloud imaging device 450, 450a, 450b supported above the drive system 200 at a height of greater than about one foot (30cm) above the ground and directed to be capable of obtaining a point cloud (3320 fig. 33E) from a volume of space (10a fig. 33E) that includes a floor plane (3332 fig. 33E) in a direction of movement of the mobile robot 100. The controller 500 receives point cloud signals from the imaging device 450, 450a. 450b and issues drive commands to the drive system 200 based at least in part on the received point cloud signals. The imaging device 450, 450a, 450b comprises first and second portions 450a, 450b respectively arranged to emit light substantially onto the ground and into a scene 10 substantially above the ground and respectively to receive reflections of the emitted light from the ground and reflections of the emitted light from the scene 10 about the robot 100.

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