A spherical modular autonomous robotic traveler (SMART) is provided for rolling along a surface from a first position to a second position. The SMART includes an outer spherical shell; an inner spherical chamber disposed within the outer shell; a plurality of weight-shifters arranged within the inner chamber; and a controller therein. The chamber maintains its orientation relative to the surface by a gyroscopically homing stabilizer. Each weight-shifter includes a mass disposed in a default position, and movable to an active position in response to activation. The controller selectively activates a weight-shifter among the plurality to shift the mass from the default position to the active position. The outer shell rolls in a direction that corresponds to the weight-shifter activated by the controller. The weight-shifters for the SMART employ pneumatic actuation as a spherical pneumatic actuated robotic commuter (SPARC). Each weight-shifter in the SPARC includes a conduit containing a liquid armature and a pressure source with valves activated by the controller, with the conduits arranged in a cruciform configuration.

A spherical modular autonomous robotic traveler (SMART) is provided for rolling along a surface from a first position to a second position. The SMART includes an outer spherical shell; an inner spherical chamber disposed within the outer shell; a plurality of weight-shifters arranged within the inner chamber; and a controller therein. The chamber maintains its orientation relative to the surface by a gyroscopically homing stabilizer. Each weight-shifter includes a mass disposed in a default position, and movable to an active position in response to activation. The controller selectively activates a weight-shifter among the plurality to shift the mass from the default position to the active position. The outer shell rolls in a direction that corresponds to the weight-shifter activated by the controller. The weight-shifters for the SMART employ pneumatic actuation as a spherical pneumatic actuated robotic commuter (SPARC). Each weight-shifter in the SPARC includes a conduit containing a liquid armature and a pressure source with valves activated by the controller, with the conduits arranged in a cruciform configuration.

A multi-body self-propelled device can include a drive body and a coupled head. The drive body can include a spherical housing, an internal drive system within the spherical housing to propel the multi-body self-propelled device, and a magnet holder coupled to the internal drive system to hold a first set of magnetic elements. The drive body can further include a first power source within the spherical housing to power the internal drive system and a first inductive interface. The coupled head can include second set of magnetic elements to establish a magnetic interaction with the first set of magnetic elements through the spherical housing. The coupled head can also include a second power source, and a second inductive interface. The multi-body self-propelled device can transfer power between the coupled head and the drive body via the first and the second inductive interfaces.

A multi-body self-propelled device can include a drive body and a coupled head. The drive body can include a spherical housing, an internal drive system within the spherical housing to propel the multi-body self-propelled device, and a magnet holder coupled to the internal drive system to hold a first set of magnetic elements. The drive body can further include a first power source within the spherical housing to power the internal drive system and a first inductive interface. The coupled head can include second set of magnetic elements to establish a magnetic interaction with the first set of magnetic elements through the spherical housing. The coupled head can also include a second power source, and a second inductive interface. The multi-body self-propelled device can transfer power between the coupled head and the drive body via the first and the second inductive interfaces.

A soft robot includes a main body configured as a tube inverted back inside itself to define a pressure channel, such that when the channel is pressurized, the main body everts, and inverted material everts and passes out of a tip at a distal end of the main body. A fluidization tube for passing air or other fluid through a core of the main body in the fluidization tube, wherein the fluidization tube engages the main body such that the fluidization tube is ejected as the distal end as the main body everts and joins part of the side of the main body as the main body everts and extends its distal tip.

A vehicle including a plurality of truck assemblies is provided. Each truck assembly includes a truck axle, a first wheel fixed to the truck axle, a second wheel selectively coupled to the truck axle, a motor configured to rotate the truck axle, and a clutch operatively coupled to the second wheel. The clutch is positionable between a coupled position and a decoupled position. When the clutch is in the coupled position, the second wheel rotates with the truck axle, and when the clutch is in the decoupled position, the second wheel is free to rotate relative to the truck axle.

A vehicle including a plurality of truck assemblies is provided. Each truck assembly includes a truck axle, a first wheel fixed to the truck axle, a second wheel selectively coupled to the truck axle, a motor configured to rotate the truck axle, and a clutch operatively coupled to the second wheel. The clutch is positionable between a coupled position and a decoupled position. When the clutch is in the coupled position, the second wheel rotates with the truck axle, and when the clutch is in the decoupled position, the second wheel is free to rotate relative to the truck axle.

A surveillance system includes a robot and an operator control unit (OCU) for controlling the robot. The robot includes a light-weight frame housing, wheels, motor compartments positioned within the light-weight frame housing, wheel motors positioned within the motor compartments and attached to the wheels, a camera for capturing surveillance images and an electronic controller that is electrically or wirelessly connected to the wheel motors and the camera and that is wirelessly connected to the OCU. The light-weight frame is made of light-weight foam that substantially surrounds, structurally supports and protects the robot wheel motors, camera and electronic controller from mechanical shock during intended use.

The present invention relates to the construction of Mecanum wheels for a robot-operated painting system. The wheels have special characteristics given the difficulties and obstacles where they will be used. They were designed to facilitate the movement of the painting system on vertical and horizontal walls and to avoid coating losses. The Mecanum wheels consist of a set of wheel covers that are used to secure the rollers. The rollers, arranged at 45° and in a cylindrical-convex shape, contain bearings passing through their central axis, and have rollers at the ends of the bearings. The magnetic base is placed between the two wheels, being at an optimal height to exert magnetic force against the surface and to be able to pass over obstacles. Mecanum wheel geometries and materials are designed to be inert to the coating.

Systems and methods for securing a remotely operated vehicle (ROV) to a subsea structure during cleaning, maintenance, or inspection of the structure surface are provided. In one or more embodiments, an attachment mechanism includes a pair of grasping hooks that are raised and lowered when driven by a motorized drive. In one or more embodiments, an attachment mechanism includes a rigid holder having a mechanical stop and connected to a swing arm, the swing arm configured to rotate inward, but not outward beyond the mechanical stop. In one or more embodiments, an attachment mechanism includes a plurality of linked segments in series, each connected at a plurality of pivot points. A pair of wires passes through the plurality of linked segments and connects to a pair of pulleys that extend or retract the wires, thereby rotating the plurality of linked segments.