Mobile platform

Abstract

A mobile platform intended for civilian, industrial, research or other use. An ambulation system or mobile platform such as for traveling over uneven terrain includes one or more leg arrangements attached to a main body or chassis. In an embodiment, a leg arrangement comprises one or more legs, such as legs that rotate in the same and singular direction around their respective rotary joints when the vehicle is moving in a single direction. The rotational axis for both legs is located near each other and preferably coaxially and allows ground contact of two or more legs at all times.

1 . A mobile platform, comprising:
 a main body having a first side and a second side which together define a lateral direction with respect to the main body;   a first leg mounted for 360 degree rotation in a first plane on the main body at a first rotary joint on the first side of the mobile platform, the first leg connected to be driven by a first actuator controlled by a processor and the first rotary joint having a first rotation axis;   a second leg mounted for 360 degree rotation in a second plane on the main body at a second rotary joint on the main body, the second leg connected to be driven by a second actuator controlled by the processor and the second rotary joint having a second rotation axis;   the processor being configured to instruct the first actuator to rotate the first leg at higher speed when the first leg is not in contact with the ground surface than when the first leg is in contact with the ground surface; and   the processor being configured to instruct the second actuator to rotate the second leg at higher speed when the second leg is not in contact with the ground surface than when the second leg is in contact with the ground surface.   
     
     
         2 . (canceled) 
     
     
         3 . The mobile platform of  claim 1  further comprising a sensor arrangement for determining when the first leg is in contact with a ground surface and when the second leg is in contact with the ground surface and the processor is responsive to the sensor arrangement to control the first actuator and the second actuator. 
     
     
         4 . The mobile platform of  claim 1 , in which the processor is configured to instruct the first actuator and the second actuator to follow stored leg rotation algorithms. 
     
     
         5 . (canceled) 
     
     
         6 . The mobile platform of  claim 1  in which the first leg is more flexible in the lateral direction than in the first plane and the second leg is more flexible in the lateral direction than in the second plane. 
     
     
         7 . The mobile platform of  claim 1  in which the processor is configured to rotate the first leg and the second leg so that at least one of the first leg and the other leg is in contact with the ground at all times. 
     
     
         8 . The mobile platform of  claim 1  in which the processor is configured to rotate the first leg and the second leg so that the rotational speed of each of the first leg and the second leg is lower at an initial and a final ground contact positions and higher at a vertical leg position to maintain a generally constant horizontal speed of the respective first rotary joint and second rotary joint. 
     
     
         9 - 10 . (canceled) 
     
     
         11 . The mobile platform of  claim 1  further comprising:
 a third leg mounted for 360 degree rotation in a third plane on the main body at a third rotary joint on the second side of the mobile platform, the third leg connected to be driven by a third actuator controlled by the processor and the third rotary joint having a third rotation axis; 
 a fourth leg mounted for 360 degree rotation in a fourth plane on the main body at a fourth rotary joint on the second side of the mobile platform, the fourth leg connected to be driven by a fourth actuator controlled by the processor and the fourth rotary joint having a fourth rotation axis; 
 the processor being configured to instruct the third actuator to rotate the third leg at higher speed for more than 180 degrees of rotation when the third leg is generally expected to not be in contact with the ground surface and when the third leg is generally expected to be in contact with the ground surface; and 
 the processor being configured to instruct the fourth actuator to rotate the fourth leg at higher speed when the fourth leg is expected to be generally not in contact with the ground surface and when the fourth leg is expected to be generally in contact with the ground surface. 
 
     
     
         12 . The mobile platform of  claim 11  in which the sensor arrangement is arranged to determine when the third leg is in contact with a ground surface and when the fourth leg is in contact with the ground surface. 
     
     
         13 . (canceled) 
     
     
         14 . The mobile platform of  claim 1  in which the second rotary joint is located on the second side of the main body. 
     
     
         15 . A mobile platform, comprising:
 a main body having a first side and a second side which together define a lateral direction with respect to the main body;   a first leg mounted for 360 degree rotation in a first plane on the main body at a first rotary joint on the first side of the mobile platform, the first leg connected to be driven by a first actuator controlled by a processor and the first rotary joint having a first rotation axis;   a second leg mounted for 360 degree rotation in a second plane on the main body at a second rotary joint on the first side of the mobile platform, the second leg connected to be driven by a second actuator controlled by the processor and the second rotary joint having a second rotation axis;   the first leg being more flexible in the lateral direction than in the first plane and the second leg being more flexible in the lateral direction than in the second plane; and   the processor being configured to instruct the first leg and second leg at different rotational speeds to effect a turning movement when required.   
     
     
         16 . The mobile platform of  claim 15  in which each of the first leg and the second leg are variable in length and exert an increased extension force as the respective first leg and the second leg are compressed allowing a terminal point on each of the first leg and the second leg to travel in a generally circular path for greater than 180 degrees, and a generally straight and horizontal path for less than 180 degrees as a result of ground contact forces shortening the leg length progressively toward a vertical leg angle. 
     
     
         17 . The mobile platform of  claim 15  in which the processor is configured to rotate the first leg and the second leg at variable speeds relative to each other so that at least one of the first leg and the other leg is in contact with the ground at all times while in a low speed mode of operation. 
     
     
         18 . The mobile platform of  claim 15  in which the processor is configured to rotate the first leg and the second leg so that the rotational speed of each of the first leg and the second leg is lower at an initial and a final ground contact positions and higher at a vertical leg position to maintain a generally constant horizontal speed of the respective first rotary joint and second rotary joint. 
     
     
         19 . The mobile platform of  claim 15  in which, in each of the first leg and the second leg, two or more feet are rotational attached to a generally vertically movable suspension member. 
     
     
         20 . The mobile platform of  claim 15  in which the first leg and the second leg are mounted co-axially. 
     
     
         21 - 34 . (canceled) 
     
     
         35 . A mobile platform, comprising:
 a main body having a first side and a second side which together define a lateral direction with respect to the main body;   a first leg mounted for 360 degree rotation in a first plane on the main body at a first rotary joint on the first side of the mobile platform, the first leg connected to be driven by a first actuator controlled by a processor and the first rotary joint having a first rotation axis;   a second leg mounted for 360 degree rotation in a second plane on the main body at a second rotary joint on the main body, the second leg connected to be driven by a second actuator controlled by the processor and the second rotary joint having a second rotation axis;   the processor being configured to instruct the first actuator and the second actuator to follow stored leg rotation algorithms where the leg rotation speed is non-uniform.