The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 25, 2026
Filed:
Sep. 19, 2023
Dusty Robotics, Inc., Mountain View, CA (US);
Sohum Misra, San Jose, CA (US);
Ryan Michael Dimick, Redwood City, CA (US);
William Charles Messner, Amesbury, MA (US);
Philipp Josef Herget, Sunnyvale, CA (US);
Dusty Robotics, Inc., Mountain View, CA (US);
Abstract
A controller design for a dual input single output (DISO) system is applied to a robot for printing layouts at construction sites. The differential drive robot has a separately controlled linear actuator that moves the print head perpendicularly to the fore-aft axis of the robot. The output is the lateral position of the print head; the sum of the position of the linear actuator (faster stage) relative to a reference point on the front of the robot, which is determined by the steering of the robot (slower stage). Both are measurable. The controller coordinates the action of the separately controlled linear actuator and the differential steering to achieve fast convergence and sub-millimeter tracking. Simulations and experimental results demonstrate the effectiveness of the approach.