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:
Jan. 13, 2015
Filed:
Feb. 22, 2011
Michael Rosenstein, S. Hadley, MA (US);
Steven V. Shamlian, Bedford, MA (US);
Chikyung Won, Tewksbury, MA (US);
Michael Halloran, Waltham, MA (US);
Mark Chiappetta, Chelmsford, MA (US);
Thomas P. Allen, Reading, MA (US);
Michael Rosenstein, S. Hadley, MA (US);
Steven V. Shamlian, Bedford, MA (US);
Chikyung Won, Tewksbury, MA (US);
Michael Halloran, Waltham, MA (US);
Mark Chiappetta, Chelmsford, MA (US);
Thomas P. Allen, Reading, MA (US);
iRobot Corporation, Bedford, MA (US);
Abstract
A method of operating a mobile robot to traverse a threshold includes detecting a threshold proximate the robot. The robot includes a holonomic drive system having first, second, and third drive elements configured to maneuver the robot omni-directionally. The method further includes moving the first drive element onto the threshold from a first side and moving the second drive element onto the threshold to place both the first and second drive elements on the threshold. The method includes moving the first drive element off a second side of the threshold, opposite to the first side of the threshold, and moving the third drive element onto the threshold, placing both the second and third drive elements on the threshold. The method includes moving both the second and third drive elements off the second side of the threshold.