US 12,344,407 B2
Multi-modal mobility unmanned vehicle
Alireza Ramezani, Boston, MA (US); Morteza Gharib, Altadena, CA (US); Reza Nemovi, Oceanside, CA (US); and Eric Sihite, Pasadena, CA (US)
Assigned to California Institute of Technology, Pasadena, CA (US)
Filed by California Institute of Technology, Pasadena, CA (US)
Filed on Nov. 15, 2022, as Appl. No. 18/055,757.
Claims priority of provisional application 63/279,510, filed on Nov. 15, 2021.
Prior Publication US 2023/0150660 A1, May 18, 2023
Int. Cl. B64U 10/70 (2023.01); B64C 37/00 (2006.01); B64U 10/14 (2023.01); B64U 60/60 (2023.01); B64U 50/14 (2023.01)
CPC B64U 10/70 (2023.01) [B64C 37/00 (2013.01); B64U 10/14 (2023.01); B64U 60/60 (2023.01); B64U 50/14 (2023.01)] 17 Claims
OG exemplary drawing
 
1. A multi-modal robot capable of aerial mobility and ground mobility, the multi-modal robot comprising:
a chassis;
a leg attached to the chassis, the leg comprising:
a frontal hip joint, wherein:
the frontal hip joint is capable of rotating around a frontal hip axis of rotation, and
the frontal hip axis of rotation is parallel to a longitudinal axis of the chassis;
a first link having a first proximal end and a first distal end, where the first link is coupled at the first proximal end to the frontal hip joint;
a sagittal hip joint, wherein:
the sagittal hip joint is coupled to the first distal end of the first link,
the sagittal hip joint is capable of rotating around a sagittal hip axis of rotation, and
the sagittal hip axis of rotation is parallel to a first link longitudinal axis;
a second link, where the second link is coupled at a second proximal end to the sagittal hip joint;
a wheel, wherein:
the wheel is coupled to the second link at a first location, and
the wheel configured to rotate around a wheel axis of rotation; and
a propeller, wherein:
the propeller is co-axial with the wheel, and
the propeller configured to rotate around the wheel axis of rotation.