Jonathan M Lutz

US Patent:

20150083509, Mar 26, 2015

Filed:

Sep 20, 2013

Appl. No.:

14/032473

Inventors:

- Washington DC, US
- Detroit MI, US
Chunhao J. Lee - Troy MI, US
Robert O. Ambrose - Houston TX, US
William J. Bluethmann - Houston TX, US
Lucien Q. Junkin - Houston TX, US
Jonathan J. Lutz - League City TX, US
Raymond Guo - Seabrook TX, US
Anthony Joseph Lapp - Houston TX, US
Justin S. Ridley - Houston TX, US

Assignee:

The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration - Washington DC
GM GLOBAL TECHNOLOGY OPERATIONS LLC - Detroit MI

International Classification:

B60W 30/18
B60T 13/74
B60W 10/192
B60W 10/08
B60W 10/20
B60K 7/00
B62D 5/04

US Classification:

180204

Abstract:

A modular robotic vehicle includes a chassis, driver input devices, an energy storage system (ESS), a power electronics module (PEM), modular electronic assemblies (eModules) connected to the ESS via the PEM, one or more master controllers, and various embedded controllers. Each eModule includes a drive wheel containing a propulsion-braking module, and a housing containing propulsion and braking control assemblies with respective embedded propulsion and brake controllers, and a mounting bracket covering a steering control assembly with embedded steering controllers. The master controller, which is in communication with each eModule and with the driver input devices, communicates with and independently controls each eModule, by-wire, via the embedded controllers to establish a desired operating mode. Modes may include a two-wheel, four-wheel, diamond, and omni-directional steering modes as well as a park mode. A bumper may enable docking with another vehicle, with shared control over the eModules of the vehicles.