Patent ID: 6308791
Filing Date: 2001-10-30
Classification: B62D

Abstract:
A steerable energy transducer for a mobile robot, comprising:a) a force generator, generating force along an actuation axis and having a member mobile along the actuation axis with respect to the force generator;b) a foot mounted with the mobile member and shaped so that as the mobile member moves toward the support surface the foot contacts the support surface at a point off the actuation axis before any contact along the actuation axis between the support surface and either the foot or the mobile member;c) an actuator adapted to mount with said robot for rotating said foot about an axis substantially parallel to the actuation axis relative to said robot;wherein said foot has a substantially uniform cross section extending along the actuation axis, and wherein said foot is mounted substantially coaxial with said actuation axis, and wherein the end of said foot distal said mobile member has a shape truncated at its perimeter by a plane inclined relative to the actuation axis.