US 11,685,491 B2
Hetero-stiffness robotic device
Yajing Shen, Hong Kong (HK); Jiahai Shi, Hong Kong (HK); Panbing Wang, Hong Kong (HK); and Xiong Yang, Hong Kong (HK)
Assigned to City University of Hong Kong, Hong Kong (HK)
Filed by City University of Hong Kong, Hong Kong (HK)
Filed on Nov. 3, 2021, as Appl. No. 17/518,579.
Claims priority of provisional application 63/119,810, filed on Dec. 1, 2020.
Prior Publication US 2022/0169351 A1, Jun. 2, 2022
Int. Cl. B63H 1/14 (2006.01); B63H 5/07 (2006.01); B63H 1/12 (2006.01)
CPC B63H 1/14 (2013.01) [B63H 5/07 (2013.01); B63H 2001/125 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A hetero-stiffness robotic device comprising:
a central body portion having a head end and a tail end;
a rigid rotatable head propeller extending from the head end;
a flexible rotatable tail propeller extending from the tail end;
a head motor positioned in the central body portion mechanically communicating with the rigid rotatable head propeller for rotating the rigid rotatable head propeller;
a tail motor positioned in the central body portion mechanically communicating with the flexible rotatable tail propeller for rotating the flexible rotatable tail propeller;
a controller electrically communicating with the head motor and the tail motor for independently controller a rotational speed of the head motor and the tail motor.