Mobile robot with a flexible deployable tail

Abstract

A mobile robot includes a deployment mechanism and a flexible tail. The flexible tail is attached to the deployment mechanism and extends outwardly from the mobile robot in a deployment direction. Actuation of the deployment mechanism moves the flexible tail and changes the deployment direction of the flexible tail. Movement of the flexible deployable tail allows the used to change the centre of mass of the mobile robot. As well in use the flexible deployable tail can help to stabilize the mobile robot when it is climbing stairs. As well, the flexible deployable tail can help the robot to absorb energy if it contacts a solid object.

What is claimed is: 
     
         1 . A mobile robot comprising
 a deployment mechanism; and   a flexible tail attached to the deployment mechanism and extending outwardly from the mobile robot in a deployment direction;   wherein actuation of the deployment mechanism moves the flexible tail and changes the deployment direction of the flexible tail.   
     
     
         2 . The mobile robot according to  claim 1  wherein the deployment mechanism is a rotational deployment mechanism, and wherein actuation of the rotational deployment mechanism rotates the flexible tail. 
     
     
         3 . The mobile robot according to  claim 2  wherein the flexible tail rotates about an axis parallel to a lateral direction to the mobile robot. 
     
     
         4 . The mobile robot according to  claim 2  wherein the flexible tail rotates about an axis parallel to an upward direction from the mobile robot. 
     
     
         5 . The mobile robot according to  claim 4  further comprising an endless track, comprising:
 a belt having an inner surface and an outer surface; and 
 a plurality of chamfered cleats each having a contact surface, the chamfered cleats being attached to the outer surface defining an attachment area, and the contact surface shaped such that when the track is laid on a flat solid surface, each chamfered cleat contacts the flat solid surface with less area than the attachment area. 
 
     
     
         6 . The mobile robot according to  claim 5  further comprising a plurality of holes in the belt, disposed between the chamfered cleats and shaped to allow teeth of a drive sprocket to pass through and to engage the belt for transmitting force from the sprocket to the belt. 
     
     
         7 . The mobile robot according to  claim 6  further comprising a dual v-guide comprising two elongate, parallel protrusions which are spaced laterally from each other, and are attached to the inner surface.