Inventors:
Michael Rosenstein - S. Hadley MA, US
Chikyung Won - Tewksbury MA, US
Geoffrey B. Lansberry - Andover MA, US
Steven V. Shamlian - Bedford MA, US
Michael Halloran - Waltham MA, US
Mark Chiappetta - Chelmsford MA, US
Thomas P. Allen - Reading MA, US
Assignee:
iRobot Corporation - Bedford MA
International Classification:
B25J 13/08, G05B 15/00, B25J 19/02, B25J 19/04
US Classification:
700259, 700264, 700258, 901 1, 901 2, 901 46, 901 47
Abstract:
A mobile human interface robot that includes a base defining a vertical center axis and a forward drive direction and a holonomic drive system supported by the base. The drive system has first, second, and third driven drive wheels, each trilaterally spaced about the vertical center axis and having a drive direction perpendicular to a radial axis with respect to the vertical center axis. The robot further includes a controller in communication with the holonomic drive system, a torso supported above the base, and a touch sensor system in communication with the controller. The touch sensor system is responsive to human contact. The controller issues drive commands to the holonomic drive system based on a touch signal received from the touch sensor system.