Rolling and jumping robot with an increased obstacle passing ability

Abstract

This robot includes a body with a carriage ( 12 ) and a pair of wheels ( 14 ), as well as a sliding part ( 16 ) supporting a contact pad ( 36 ) allowing, through abrupt liberation of the energy stored in a spring, to cause a leap of the robot above the ground. It further includes a tail stand ( 50 ), fastened to the robot body at a fixation point located remote from the sliding part and in a region ( 24 ) at the opposite from the ground according to the main direction (Δ) of the carriage. The tail stand forms at its distal end ( 56 ) an alternative ground-bearing point (A 3 ), in a region located beyond the circumference of the wheels ( 14 ). The tail stand is at least partially elastically deformable by bending so as to allow under stress a moving of its distal end ( 56 ) closer to or away from the point ( 58 ) of fixation to the robot body.

1 . A rolling and jumping robot resting on the ground, including:
 a body ( 22 ) comprising a carriage ( 12 ) and a pair of wheels ( 14 ) arranged on either side of the carriage, the wheels being rotationally mounted with respect to the carriage about a common axis (D) perpendicular to the main direction (A) of the carriage;   a sliding part ( 16 ), mobile in guided translation along the carriage between two extreme positions, respectively extended and contracted;   releasable means for locking the sliding part at the contracted position;   first motor means, adapted to drive the wheels in rotation with respect to the carriage;   second motor means, adapted to move the sliding part in translation with respect to the carriage, up to the contracted position;   a spring element stressed between the carriage and the sliding part; and   means for controlling the spring member, adapted i) to progressively store a mechanical energy in the spring member by moving the sliding part towards the contracted position under the action of the second motor means, and ii) to liberate the thus-stored energy, hence driving the sliding part towards the extended position following the releasing of the locking means, so as to cause a leap of the robot above the ground under the effect of the sliding part expansion,   
       said robot being characterized in that:
 the sliding part ( 16 ) includes a protruding distal end supporting a contact pad ( 36 ); 
 in the contracted position, the contact pad is located near the perimeter of the wheels; 
 the expansion of the sliding part is transmitted by the contact pad ( 36 ); 
 the robot further includes a tail stand ( 50 ) extending in a vertical plan and fastened to the robot body ( 22 ) at a fixation point ( 58 ) located remote from the sliding part and in a region ( 24 ) at the opposite from the ground according to the main direction (A) of the carriage; 
 the tail stand forms at its distal end ( 56 ) an alternative ground-bearing point (A 3 ), in a region located beyond the circumference of the wheels ( 14 ); and 
 the tail stand is at least partially elastically deformable by bending so as to allow under stress a moving of the contact pad ( 36 ) closer to or away from the surface of contact with the ground. 
 
     
     
         2 . The robot of  claim 1 , wherein the wheels ( 14 ) are wheels that are notched ( 48 ) at their periphery. 
     
     
         3 . The robot of  claim 1 , further comprising jump-control means, adapted to modify the configuration of the robot, successively between:
 a) said extended position, where the robot rests in stable equilibrium on the two wheels ( 14 , A 1 ) and the contact pad ( 36 , A 2 );   b) said contracted position, where the robot rests in stable equilibrium on the two wheels ( 14 , A 1 ) and the alternative bearing point (A 3 ) at the distal end of the tail stand ( 50 ), this tail stand being not under bending stress;   c) a jump-preparation position, where, after stressing of the first motor means towards the tilting rearward of the carriage, the pad ( 36 ) comes into contact (A 4 ) with the ground, the tail stand being then under bending stress; and   d) a jumping position, where the robot takes off from the ground after releasing of the locking means.   
     
     
         4 . The robot of  claim 3 , wherein the alternative bearing point (A 3 ) is configured with respect to tail stand ( 50 ) so that the passage from the extended position to the contracted position is made with no change of inclination of the main direction (Δ) of the carriage with respect to the ground. 
     
     
         5 . The robot of  claim 1 , wherein the fixation point ( 58 ) of the tail stand ( 50 ) to the robot body ( 22 ) is located, in the radial direction, in the inner vicinity of the periphery of the wheels ( 14 ). 
     
     
         6 . The robot of  claim 1 , wherein the length of the tail stand ( 50 ) is comprised between 1 and 3 times the diameter of the wheels ( 14 ). 
     
     
         7 . The robot of  claim 1 , wherein the tail stand comprises an elongated, rigid distal portion ( 52 ), linked to the robot body by an elastically deformable member ( 54 ). 
     
     
         8 . The robot of  claim 7 , wherein the rigid distal portion ( 52 ) is a curved portion whose concavity is turned towards the ground. 
     
     
         9 . The robot of  claim 1 , wherein the contact face of the pad ( 36 ) turned towards the ground is a convex rounded face. 
     
     
         10 . The robot of  claim 1 , wherein the distal end ( 56 ) of the tail stand further comprises means for mounting an accessory providing the robot with an additional functionality. 
     
     
         11 . The robot of  claim 7 , wherein the tail stand ( 50 ) is a stand whose rigid portion ( 52 ) is removable and replaceable by an accessory providing the robot with an additional functionality.