Harvard College

Raphael Gerard Cherney

Zivthan Dubrovsky

Hani Sallum

Julian U Da Silva Gillig

Kathleen Elizabeth O'Donnell

Radhika Nagpal

Justin Keith Werfel

Michael Mogenson

Nils Napp

A vertically driving marking robot includes a robot body; at least one magnet constraining the robot to move parallel to a vertical, magnetically responsive surface; a drive configured to displace the robot relative to the surface while the robot is held to the surface; a holder configured to hold a marker; an accelerometer measuring a gravity vector; a computing device in communication with the optical sensors, the accelerometer, and the drive. The computing device includes a processor and computer-readable memory, wherein the computer-readable memory includes non-transitory program code for at least one of the following actions: (a) generating a drift correction to compensate for drive slippage drift in response to and as a function of the gravity vector and (b) commanding the drive to displace the robot along a desired trajectory in response to the drift correction.

Magnetic receptive sensor and optimized drawing and erasing for vertically driving robot

In a method for interactive marking by a mobile robot on a vertical surface, a mobile robot that includes a sensor and an actuated marker is displaced across a vertical surface. Features on, in or behind the vertical surface are detected with the sensor. Displacement of the mobile robot and actuation of the actuated marker is controlled in response to the detection of these features.

Color- or grayscale-sensing, magnetic, mobile, marking robot

Growing community of inventors

Cambridge, MA, United States of America

Raphael Gerard Cherney