Patent ID: 9045211
Filing Date: 2015-06-02
Classification: B63H,Y10S

Abstract:
1. An actively controlled curvature robotic propulsion and steering apparatus, the apparatus comprising: a fin rotation motor having a fin rotation shaft; a motor housing; a plurality of rib rotation motors, having a plurality of rib rotation motor shafts, residing in the motor housing; a plurality of ribs, mechanically movable and communicatively coupled to the plurality of rib rotation motors, wherein the plurality of ribs includes a plurality of rib spars connected between the plurality of ribs and the plurality of rib rotation motors, rotationally coupled to and actuated by the plurality of rib rotation motor shafts; a fin casing, within which the plurality of ribs reside, forming the actively controlled curvature robotic propulsion and steering apparatus, wherein the actively controlled curvature robotic propulsion and steering apparatus is a mechanical fin; a plurality of control electronics circuits communicatively connected to fin rotation motor and the plurality of rib rotation motors; and a computer processor, communicatively coupled to the plurality of control electronics, wherein the computer processor having actuation code, when executed by the computer processor, causes automated simultaneous actuation propulsion and steering maneuverability of the actively controlled curvature robotic mechanical fin.