The invention relates to artificial intelligence technology, namely an autonomous hybrid leg
wheel track ground mobile robot built on artificial intelligence.
DISCUSSION OF THE PRIOR ART:
Over the last decade, the global demand for service robotics has expanded rapidly, surpassing the
market for industrial robotics. Ground mobile robots are the most popular type of support robot,
with significant application areas such as precision agriculture, planetary discovery, national
defense, monitoring, surveillance, and interference in the event of terroristic threats or nuclear or
chemical pollution.
A substantial amount of research work has been invested in building novel locomotion
mechanisms for land mobile robots, independent of the device payload, which is based on the
particular application. Although wheels (W) with high speed and energy efficiency can quickly
and efficiently conduct locomotion on flat and even ground, in unstructured conditions, the use of
tracks (T) and legs (L) is still a practical choice.
Since their touch surface with the earth is far greater than that of wheeled robots, tracked robots
may drive on rough and yielding terrains. They, on the other hand, usually run at a slower and less
efficient pace. Furthermore, they are more susceptible to vibrations than wheeled robots.
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Legged locomotion, which is biologically inspired as compared to wheeled and tracked movement,
is the most successful solution in case of uneven terrains and obstacles, but it is usually slower and
less energetically productive on a flat ground; the critical impediment to the diffusion of legged
robots is their cost and difficulty, especially for those with dynamic gait; the higher the complexity,
the higher the price. To address this problem, at least for small mobile robots with restricted
structural stresses due to inertial effects, the leg architecture's complexity can be reduced: Robots
with revolving and compatible legs are examples, such as hybrid leg–wheel leg–wheel robots with
stepping triple wheels.
There are numerous ways to incorporate legs and tracks in LT hybrid robots.
Aside from the obvious method of having them in tandem, peripheral tracks may be mounted on
the leg links; this approach is often utilized by the Kylin robot, which uses LWT hybrid
locomotion.
HYBRID MOBILE ROBOT
Publication number: 20080277172
Abstract: A hybrid mobile robot includes a base link and a second link. The base link has a drive
system adapted to function as a traction device and a turret. The second link is attached to the base
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link at the first joint. The second link has a drive system and is adapted to function as a traction
device and deployed for manipulation. In another embodiment, an invertible robot includes at least
one base link and a second link. In another embodiment, a mobile robot consists of a chassis and
a track drive pulley system, including a tension and suspension mechanism. In another
embodiment, a mobile robot includes a wireless communication system.
Type: Application
Filed: October 31, 2007
Publication date: November 13, 2008
Inventors: Pinhas Ben-Tzvi, Andrew A. Goldenberg, Jean W. Zu
HYBRID SUSPENSION AND TENSION MECHANISM FOR MOBILE ROBOTS
Publication number: 20120292120
Abstract: A hybrid mobile robot includes a base link and a second link. The base link has a drive system
adapted to function as a traction device and a turret. The second link is attached to the base link at the first
joint. The second link has a drive system and is adapted to function as a traction device and deployed for
manipulation. In another embodiment, an invertible robot includes at least one base link and a second link.
In another embodiment, a mobile robot consists of a chassis and a track drive pulley system, including a
tension and suspension mechanism. In another embodiment, a mobile robot includes a wireless
communication system.
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Type: Application
Filed: June 12, 2012
Publication date: November 22, 2012
Inventor: Pinhas Ben-Tzvi
MOBILE ROBOT HYBRID COMMUNICATION LINK
Publication number: 20050004708
Abstract: A mobile robot communication system includes a remote unit, a repeater module, and a control
station. A cable connects the repeater module to the control station. The small company has a wireless
receiver/transmitter for sending and receiving commands. The repeater module has a wireless
receiver/transmitter for sending and receiving orders from the mobile unit. The control station is operable
in communication with the repeater module for remotely sending and receiving signals. The cable is attached
between the repeater module and control station for transmitting signals therebetween.
Type: Application
Filed: May 5, 2004
Publication date: January 6, 2005
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Inventors: Andrew Goldenberg, Pawel Kuzan, Lawrence Gryniewski, Gordon Scott
MOBILE ROBOT WITH HYBRID TRACTION AND MOBILITY MECHANISM
Patent number: 9004200
Abstract: A robot has a track assembly having tracks configured to move the robot in a first direction and
a wheel assembly having wheels configured to move the robot in a second direction orthogonal to the first
direction—a toggling assembly switches between the track assembly and the wheel assembly. The robot
modules can mate with each other. The robot module has an elongated shaft with a head and a narrow neck.
The shaft extends outward from the side of the robot module. A mating robot module has a clamping
mechanism with opposing clamps which in an opened position receive the rod. In a closed position, the
clamps define an opening that matches and engages the cross-section of the elongated shaft's neck. The
clamping mechanism has a drive mode to drive the module, a clamping method for docking, and a neutral
approach for alignment before clamping.
Type: Grant
Filed: September 8, 2012
Date of Patent: April 14, 2015
Inventors: Pinhas Ben-Tzvi, Paul Marie Moubarak
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MODULAR HYBRID SNAKE ARM
Publication number: 20140090506
Abstract: An intelligent modular hybrid robot arm system is usable with mobile robots and applies to
stationary industrial arms. The intelligent modular hybrid robot arm system provides a large work envelope
and a controlled and directed rotational movement for a flexible snake robot arm. The smart modular hybrid
robot arm system can change end effector tools and sensors. The platform computers can interact with other
subsystems for coordinated as well as independent tasks. The flexible snake robot arm can be covered with
an adjustable sensor network or "skin." The intelligent modular hybrid robot arm system can manage its
energy use, stores the component in a compact shape, and uses a central support tube offering unobstructed
arm access to all sectors of its working envelope.
Type: Application
Filed: March 11, 2013
Publication date: April 3, 2014
Applicant: CYCOGS, LLC
Inventor: Wayland E. Tobey
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ROBOT AND DRONE ARRAY
Publication number: 20190369641
Abstract: A mobile robot and drone device configured to dynamically allocate one or more task
objectives and handling objectives, the mobile robot and drone device systematically couples to
one another, creating a hybrid robot-drone. The robot and drone array is utilized to work and obtain
target objects in an environment, wherein the mobile robot and drone device comprise robotic arms
and legs containing propulsion drive wheels managed accordingly by AI system components,
including; an adaptive robot control system, an autonomous coupling system and an independent
charging system configured with processors, and subsystems including; user interface, CloudBased Analysis and Data Usage Network, a sensor I/O devices including; LIDAR, RADAR,
altitude gyroscope sensors and cameras for scanning surrounding objects in an environment, and
an identifier scanning system configured for identifying users, mobile robots, drone devices and
target objects in a work environment and a game environment.
Type: Application
Filed: May 31, 2018
Publication date: December 5, 2019
Inventor: Carla R. Gillett
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HYBRID HYDRAULIC AND ELECTRICALLY ACTUATED MOBILE ROBOT
Publication number: 20160023647
Abstract: Example embodiments may relate to a robotic system that includes a hydraulic actuator
and an electric actuator, both coupled to a joint of the automated system. Operation of the actuators
may be based on various factors, such as based on desired standard parameters. For instance, such
desired joint parameters may include a desired output torque/force of the joint, a desired output
velocity of the joint, a desired acceleration of the joint, and a desired joint angle, among other
possibilities. Given a model of power consumption and a model of the actuators, the robotic system
may determine operating parameters such as hydraulic and electric operating parameters and
power system parameters, among others. The automated system may then control the actuators'
operation, using the determined operating parameters, to obtain the desired joint parameters such
that power dissipation in the system is minimized (i.e., maximizing actuation efficiency).
Type: Application
Filed: August 1, 2014
Publication date: January 28, 2016
Inventors: John Aaron Saunders, Alex Khripin, Steven Potter, Michael Patrick Murphy,
Christopher Everett Thorne
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While the present invention is described herein by example using embodiments and illustrative
drawings, those skilled in the art will recognize that the invention is not limited to the images of
drawing or drawings described and are not intended to represent the scale of the various
components. Further, some features that may form a part of the invention may not be illustrated in
specific figures for ease of illustration, and such omissions do not limit the embodiments outlined
in any way. It should be understood that the drawings and detailed descriptions to it are not
intended to limit the invention to the particular form disclosed. Still, on the contrary, the story is
to cover all modifications, equivalents, and alternatives falling within the scope of the present
invention as defined by the appended claims. As used throughout
this description, the word "may" is used in a permissive sense (i.e., meaning having the potential
to) rather than the mandatory sense (i.e., meaning must).
Further, the words "a" or "an" mean "at least one," and the word "plurality" means "one or more"
unless otherwise mentioned. Furthermore, the terminology and phraseology used herein are solely
used for descriptive purposes and should not be construed as limiting in scope. Language such as
"including," "comprising," "having," "containing," or "involving," and variations thereof, is
intended to be broad and encompass the subject matter listed after that, equivalents, and additional
subject matter not recited, and is not intended to exclude other additives, components, integers or
steps. Likewise, the term "comprising" is considered synonymous with the words "including" or
"containing" for applicable legal purposes. Any discussion of documents, acts, materials, devices,
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articles, and the like are included in the specification solely to provide a context for the present
invention. It is not suggested or represented that any or all of these matters form part of the prior
art base or were common general knowledge in the field relevant to the present invention.
In this disclosure, whenever a composition or an element or a group of elements is preceded with
the transitional phrase "comprising," it is understood that we also contemplate the same design,
component or group of elements with transitional words "consisting of," "consisting," "selected
from the group of consisting of, "including," or "is" preceding the recitation of the composition,
element or group of elements and vice versa.
The present invention is described from various embodiments concerning the accompanying
drawings, wherein reference numerals used in the accompanying drawing correspond to the like
elements throughout the description. However, this invention may be embodied in many different
forms and should not be construed as limited to the embodiment set forth herein. Instead, the image
is provided so that this disclosure will be thorough and complete and fully convey the invention's
scope to those skilled in the art. In the following detailed description, numeric values and ranges
are provided for various aspects of the implementations described. These values and ranges are to
be treated as examples only and are not intended to limit the claims' scope. Also, several materials
are identified as suitable for various facets of the implementations. These materials are to be treated
as exemplary and are not intended to limit the invention's scope.
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SUMMARY OF THE PRESENT INVENTION:
The motor control robot's architecture's main aim is to mix soft and wheeled pathways on flat or
rough terrain. It can be attained in numerous forms. The architecture shown in Figure 1 enriches
HELI in different ways:
 Instead of a single wheel on the front of the car, it uses two wheels on pivoted arms that
are individually operated.
 One wheel in the legs (Figure 1, W) is neither rotating nor powered by engines, but the two
wheels at the end (Figure 1, WM) do have different characteristics.
 The general axis of the two equal revolute robots (Figure 1, A) is located on the body, and
the rotation of the legs happens simultaneously along both revolute axes;
 An OW is connected to both rear seats of the robot tracks, thereby avoiding collision with
the ground while the robot is assisted on two wheels or one.
 It is right- and left-handed ( Fig. 1) mirror copies of each other concerning the x and y axes.
Also, here all the movements work with different data set with the help of NLP.
BRIEF DESCRIPTION OF THE DRAWINGS
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To clarify various aspects of some example embodiments of the present invention, a more
particular description of the invention will be rendered by reference to specific embodiments
illustrated in the appended drawings. It is appreciated that these drawings depict only illustrated
embodiments of the story and are therefore not considered limiting its scope. The invention will
be described and explained with additional specificity and detail through the accompanying
drawings.
So that the advantages of the present invention will be readily understood, a detailed description
of the story is discussed below in conjunction with the appended drawings, which, however, should
not be considered to limit the scope of the invention to the accompanying drawings, in which
Figure 1 shows the design of the hybrid leg-wheel-track robot Wheel-Track-Leg Hybrid
Locomotion.
Further another user interface can also be used with the relevant modification to provide the
aforesaid concluded results with the same modules, its principal, and protocols for the present
invention.
It is to be understood that the above description is intended to be illustrative and not restrictive.
For example, the above-discussed embodiments may be used in combination with each other.
Many other embodiments will be apparent to those of skill in the art upon reviewing the above
description.
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The benefits and advantages which the present invention may provide have been described above
about specific embodiments. These benefits and advantages and any elements or limitations that
may cause them to occur or become more pronounced are not construed as critical, required, or
essential features of any or all of the embodiments.
While the present invention has been described concerning particular embodiments, it should be
understood that the images are illustrative and that the invention's scope is not limited to these
embodiments. Many variations, modifications, additions, and improvements to the embodiments
described above are possible. It is contemplated that these variations, changes, additions, and
improvements fall within the invention's scope.

We Claim:
1. An articulated leg with a connected upper and lower leg and a movable foot where each of
which is positioned relative to the other in a walking motion and which rotates around its
axis concerning one another.
2. The unit, as claim 1, has the following components: it has semi-circular segments that
cooperate to shape a round surface that allows the members to touch a support surface for
an utterly rotational move.
3. According to claim 2, it controls the motherboard, charger, power control mechanism, and
wireless communications module.
4. one of the components is fixed to the axis, and the remaining members are placed
sequentially around the wheel in a separate arrangement according to claim 1
5. According to claim1, at least one of the components stretches transversely with the wheel
reconfiguration.