Patent ID: 8316972
Filing Date: 2012-11-27
Classification: B25J,B60L,B62D,F41H,Y02T,Y10T

Abstract:
1. A method for transitioning a reconfigurable robot over an obstacle in its path, comprising: a. providing a reconfigurable robot, said reconfigurable robot including, b. providing said reconfigurable robot in a high center of mass configuration wherein said front wheel is lifted off the ground and said reconfigurable robot is balanced on said rear wheels; c. Detecting the presence of said obstacle in said path of said robot; d. applying torque to said shoulder joint in order to raise said arm to a height sufficient so that said front wheel clears the top of said obstacle; e. moving said robot forward so that said arm lies over said obstacle and said track system lies against said obstacle; and f. activating said track system to pull said body over the top of said obstacle.