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:
Oct. 24, 2000
Filed:
Apr. 21, 1997
Applicant:
Inventors:
Haruhiko H Asada, Concord, MA (US);
Stephen Mascaro, Somerville, MA (US);
Joseph Spano, Lodi, CA (US);
Assignee:
Massachusetts Institute of Technology, Cambridge, MA (US);
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
B62D / ;
U.S. Cl.
CPC ...
180204 ; 180-65 ; 180168 ;
Abstract
A hybrid personal vehicle capable of holonomic omni-directional self-locomotion. The vehicle may be programmed to navigate to a specified location in a crowded household environment. Additionally, sensors are provided for accurate docking and tight mating with fixtures such as a toilet or bed. A controller determines a docking trajectory to a specified fixture and behaves with arbitrary stiffness in each degree of freedom about a determined center of compliance.