SYSTEM AND METHOD FOR STAIR CLIMBING IN A CLUSTER-WHEEL VEHICLE

A system and method for operating a device in ascending or descending stairs. The device has a plurality of wheels ro-tatable about axes that are fixed with re-spect to a cluster arm, where the clus-ter arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and clus...

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Bibliographische Detailangaben
Hauptverfasser:	MORRELL, JOHN B, AMBROGI, ROBERT, KEY, BRIAN R, HEINZMANN, RICHARD K, KERWIN, JOHN M, KAMEN, DEAN L, DUGGAN, ROBERT J
Format:	Patent
Sprache:	eng ; fre
Schlagworte:	ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS INVEHICLES ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OFTRANSMISSIONS IN VEHICLES ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GASEXHAUST OR FUEL SUPPLY OF PROPULSION UNITS, IN VEHICLES AUXILIARY DRIVES FOR VEHICLES CHAIRS FOR DENTISTRY CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS FUNERAL DEVICES HAND-PROPELLED VEHICLES, e.g. HAND CARTS, PERAMBULATORS HUMAN NECESSITIES HYGIENE INSTRUMENTATION OR DASHBOARDS FOR VEHICLES LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS MEDICAL OR VETERINARY SCIENCE MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS MOTOR VEHICLES OPERATING TABLES OR CHAIRS PERFORMING OPERATIONS PHYSICS REGULATING SLEDGES SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TRAILERS TRANSPORT OR ACCOMODATION FOR PATIENTS TRANSPORTING VEHICLES IN GENERAL
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Beschreibung
Zusammenfassung:	A system and method for operating a device in ascending or descending stairs. The device has a plurality of wheels ro-tatable about axes that are fixed with re-spect to a cluster arm, where the clus-ter arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and cluster arms are controlled ac-cording to separate control laws by a con-troller. Whether the device ascends or de-scends the stairs is governed by the pitch of the device relative to specified front and rear angles. Shifting the center of gravity of the combination of device and payload governs the direction of motion of the de-vice.