Versatile endless track for lightweight mobile robots

Abstract

A versatile endless track system for a lightweight robotic vehicle is disclosed. The versatile endless track system includes a flexible track configured for threading about a plurality of track supports of the lightweight robotic vehicle. A plurality of traction pads including at least two different types of traction pads is disposed along the endless track. The different types of traction pads provide different ground-interfacing profiles designed to provide traction with respect to ground surfaces having different traction properties. Optionally, traction pads can be removable, allowing the versatile endless track to be reconfigured. A method of configuring a versatile endless track is also disclosed.

1 . A versatile endless track usable by a lightweight mobile robot, the track comprising:
 a flexible track configured for threading about a plurality of track supports, a changing ground-engaging portion of the flexible track exposed for engagement with a ground surface as the flexible track is rotated around the plurality of track supports; and   a plurality of traction pads disposed along the flexible track,
 wherein at least two different types of traction pad are included, each type of traction pad having a different ground-interfacing profile designed to provide traction with respect to ground surfaces having different traction properties, and 
 wherein sufficient traction pads of each type are included so that at least one traction pad of each type is present on the ground-engaging portion of the flexible track at all times. 
   
   
   
       2 . The track of  claim 1 , wherein the flexible track comprises an elastic belt to which the plurality of traction pads are affixed. 
   
   
       3 . The track of  claim 1 , wherein the flexible track comprises a plurality of cables on which the plurality of traction pads are threaded. 
   
   
       4 . The track of  claim 1 , wherein the flexible track is configured to provide a friction drive interface to at least one of the plurality of track supports. 
   
   
       5 . The track of  claim 1 , wherein the plurality of traction pads are removably attached to a corresponding plurality of receptacles disposed on the flexible track. 
   
   
       6 . The track of  claim 5 , wherein the traction pads snap into the corresponding receptacles. 
   
   
       7 . The track of  claim 1 , wherein at least three different traction pad types are included. 
   
   
       8 . The track of  claim 1 , wherein each traction pad type is optimized to provide traction with respect to a ground surface having different traction properties. 
   
   
       9 . The track of  claim 8 , wherein the traction pad types are optimized to provide traction when loaded by a lightweight mobile robot weighing less than 100 pounds. 
   
   
       10 . The track of  claim 1 , wherein a first traction pad type is designed to provide traction on a soft, friable surface and a second traction pad type is designed to provide traction on a hard, slippery surface. 
   
   
       11 . The track of  claim 1 , wherein a first traction pad type is designed to provide traction on a firm surface and a second traction pad type is designed to provide traction on a soft surface. 
   
   
       12 . The track of  claim 1 , wherein a first traction pad type is designed to provide traction on a solid surface and a second traction pad type is designed to provide traction on a liquid surface. 
   
   
       13 . The track of  claim 1 , wherein at least one traction pad type comprises a substantially flat ground-interfacing portion having a high coefficient of friction and a second traction pad type comprises a projecting cleat. 
   
   
       14 . The track of  claim 1 , wherein at least one traction pad type comprises a projecting cleat and a second traction pad type comprises a water paddle. 
   
   
       15 . The track of  claim 1 , wherein each of the traction pad types are chosen from the group of traction pad types consisting of: a sticky pad, a bar cleat, a spike, a suction cup, and a water paddle. 
   
   
       16 . A method of configuring an endless track with traction pads comprising
 providing an endless track suitable for mounting on a lightweight robotic vehicle;   mounting the endless track on the lightweight robotic vehicle so that a portion of the endless track is exposed for interfacing to a ground surface; and   attaching a plurality of traction pads to the endless track in an alternating sequence of at least two different traction pad types so that at least one of each type of traction pad is within the exposed portion of the endless track when the lightweight robotic vehicle is operated.   
   
   
       17 . The method of  claim 16  further comprising selecting the at least two different traction pad types from a predefined assortment of traction pad types, wherein the at least two traction pad types are selected to correspond to a planned operating environment. 
   
   
       18 . The method of  claim 16  further comprising replacing at least one of the plurality of traction pads with a traction pad of a different type.