| US 7,600,593 B2 | ||
| Robotic vehicle with dynamic range actuators | ||
| Mikhail Filippov, Arlington, Mass. (US); John P. O'Brien, Newton, Mass. (US); and Adam P. Couture, Allston, Mass. (US) | ||
| Assigned to iRobot Corporation, Bedford, Mass. (US) | ||
| Filed on Jun. 13, 2007, as Appl. No. 11/762,458. | ||
| Claims priority of provisional application 60/878877, filed on Jan. 05, 2007. | ||
| Claims priority of provisional application 60/908782, filed on Mar. 29, 2007. | ||
| Prior Publication US 2008/0196946 A1, Aug. 21, 2008 | ||
| Int. Cl. B62D 55/00 (2006.01) | ||
| U.S. Cl. 180—9.1 [180/9.32; 180/9.4; 180/65.8; 180/9.62; 901/1; 701/22; 305/127; 305/199; 305/12; 305/126; 305/165] | 32 Claims |
| 1. A robotic vehicle comprising:
a chassis having front and rear ends;
an electric power source supported by the chassis; and
multiple drive assemblies supporting the chassis, each drive assembly comprising:
a track trained about a corresponding drive wheel; and
a drive control module comprising:
a drive control housing;
a drive motor carried by the drive control housing and operable to drive the track; and
a drive motor controller in communication with the drive motor and comprising:
a signal processor; and
an amplifier commutator in communication with the drive motor and the signal processor and capable of delivering both amplified
and reduced power to the drive motor from the power source;
wherein the amplifier commutator comprises:
a commutator in communication with the drive motor;
a DC/DC converter capable of delivering both amplified and reduced power to the commutator; and
a programmable logic circuit in communication with the signal processor, DC/DC converter, and commutator.
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