Inventors:
Haruhiko H. Asada - Concord MA
Stephen Mascaro - Somerville MA
Joseph Spano - Lodi CA
Assignee:
Massachusetts Institute of Technology - Cambridge MA
International Classification:
B62D 122
Abstract:
A hybrid personal vehicle capable of holonomic omni-directional self-locomotion. The vehicle may be programmed to navigate to a specified location in a crowded household environment. Additionally, sensors are provided for accurate docking and tight mating with fixtures such as a toilet or bed. A controller determines a docking trajectory to a specified fixture and behaves with arbitrary stiffness in each degree of freedom about a determined center of compliance.