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:
Mar. 22, 2005
Filed:
Sep. 26, 2003
Applicants:
Johann Borenstein, Ann Arbor, MI (US);
Grzegorz Granosik, Ann Arbor, MI (US);
Inventors:
Johann Borenstein, Ann Arbor, MI (US);
Grzegorz Granosik, Ann Arbor, MI (US);
Assignee:
The University of Michigan, Ann Arbor, MI (US);
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B25J019/02 ;
U.S. Cl.
CPC ...
Abstract
An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of segments interconnected by an integrated joint actuator assembly. The integrated joint actuator assembly includes a plurality of bellows-type actuators individually coupling adjacent segments to permit pivotal actuation of the apparatus therebetween. A controller is employed to maintain proper positional control and stiffness control while minimize air flow.