SELF-PROPELLED DEVICE WITH ACTIVELY ENGAGED DRIVE
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`SYSTEM
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`RELATED APPLICATIONS
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`[001]
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`This application claims priority to (i) U.S Provisional Patent
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`Application Serial No. 61/430,023, entitled “Method and System for
`
`Controlling a Robotic Device,” filed January 5, 2011; (ii) U.S Provisional
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`Patent Application Serial No. 61/430,083, entitled “Method and System for
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`Establishing 2-Way Communication for Controlling a Robotic Device,” filed
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`January 5, 2011; and (iii) U.S. Provisional Patent Application Serial No.
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`61/553,923, entitled "A Self-propelled Device and System and Method for
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`Controlling Same,” filed October 31, 2011; all of the aforementioned
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`priority applications are hereby incorporated by reference in their
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`respective entirety.
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`FIELD OF THE INVENTION
`
`[002]
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`Embodiments described herein generally relate to a self-
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`propelled device, and more specifically, a self-propelled device with an
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`actively engaged drive system.
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`BACKGROUND
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`[003]
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`Early in human history, the wheel was discovered and human
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`fascination with circular and spherical objects began. Humans were
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`intrigued by devices based on these shapes: as practical transportation
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`and propulsion, and as toys and amusements. Self-propelled spherical
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`objects were initially powered by inertia or mechanical energy storage in
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`devices such as coiled springs. As technology has evolved, new ways of
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`applying and controlling these devices have been invented.
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`Today, technology is available from robotics, high energy-density battery
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`systems, sophisticated wireless communication links, micro sensors for
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`magnetism, orientation and acceleration, and widely available
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`communication devices with displays and multiple sensors for input.
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`BRIEF DESCRIPTION OF THE DRAWINGS
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`[004]
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`FIG. 1 is a schematic depiction of a self-propelled device,
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`according to one or more embodiments.
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`[005]
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`FIG. 2A is a schematic depiction of an embodiment comprising
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`a self-propelled device and a computing device, under an embodiment.
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`[006]
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`FIG. ZB depicts a system comprising computing devices and
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`self-propelled devices, according to another embodiment.
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`[007]
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`FIG. 2C is a schematic that illustrates a system comprising a
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`computing device and multiple self-propelled devices, under another
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`embodiment.
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`[008]
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`FIG. 3 is a block diagram illustrating the components of a self-
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`propelled device that is in the form of a robotic, spherical ball, in
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`accordance with an embodiment.
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`[009]
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`FIG. 4A, 4B, and 4C illustrate a technique for causing
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`controlled movement of a spherical self-propelled device, in accordance
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`with one or more embodiments.
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`[010]
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`FIG. 5 further illustrates a technique for causing motion of a
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`self-propelled spherical device, according to an embodiment.
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`[011]
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`FIG. 6 is a block diagram depicting a sensor array and data
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`flow, according to an embodiment.
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`[012]
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`FIG. 7 illustrates a system including a self-propelled device,
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`and a controller computing device that controls and interacts with the self-
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`propelled device, according to one or more embodiments.
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`[013]
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`FIG. 8A illustrates a more detailed system architecture for a
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`self-propelled device and system, according to an embodiment.
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`[014]
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`FIG. BB illustrates the system architecture of a computing
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`device, according to an embodiment.
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`[015]
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`FIG. 8C illustrates a particular feature of code execution,
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`according to an embodiment.
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`[016]
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`FIG. 8D illustrates an embodiment in which a self—propelled
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`device 800 implements control using a three-dimensional reference frame
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`and control input that is received from another device that utilizes a two-
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`dimensional reference frame, under an embodiment.
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`[017]
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`FIG. 9 illustrates a method for operating a self-propelled
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`device using a computing device, according to one or more embodiments.
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`[018]
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`FIG. 10 illustrates a method for operating a computing device
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`in controlling a self-propelled device, according to one or more
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`embodiments.
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`[019]
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`FIG. 11A through FIG. 11C illustrate an embodiment in which
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`a user interface of a controller is oriented to adopt an orientation of a self-
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`propelled device, according to one or more embodiments.
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`[020]
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`FIG. 11D illustrates a method for calibrating a user-interface
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`for orientation based on an orientation of the self-propelled device,
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`according to an embodiment.
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`[021]
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`FIG. 12A and FIG. 128 illustrate different interfaces that can
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`be implemented on a controller computing device.
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`[022]
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`FIG. 13A through FIG. 13C illustrate a variety of inputs that
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`can be entered on a controller computing device to operate a self-
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`propelled device, according to an embodiment.
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`[023]
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`FIG. 14A illustrates a system in which a self-propelled device
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`is represented in a virtual environment while the self-propelled device
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`operates in a real-world environment, under an embodiment.
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`[024]
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`FIG. 14B and FIG. 14C illustrate an application in which a self—
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`propelled device acts as a fiducial marker, according to an embodiment.
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`[025]
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`FIG. 15 illustrates an interactive application that can be
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`implemented for use with multiple self-propelled devices, depicted as
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`spherical or robotic balls, under an embodiment.
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`[026]
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`FIG. 16A and 16B illustrate a method of collision detection,
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`according to an embodiment.
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`DETAILED DESCRIPTION
`
`[027]
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`In an embodiment, a self-propelled device is provided, which
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`includes a drive system, a spherical housing, and a biasing mechanism.
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`The drive system includes one or more motors that are contained within
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`the spherical housing. The biasing mechanism actively forces the drive
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`system to continuously engage an interior of the spherical housing in
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`order to cause the spherical housing to move.
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`[028]
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`According to another embodiment, a self-controlled device
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`maintains a frame of reference about an X-, Y- and Z-axis. The self—
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`controlled device processes an input to control the self-propelled device,
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`the input being based on the X- and Y- axis. The self-propelled device is
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`controlled in its movement, including about each of the X-, Y- and Z-axes,
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`based on the input.
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`[029]
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`Still further, another embodiment provides a system that
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`includes a controller device and a self-propelled device. The self-propelled
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`device is operable to move under control of the controller device, and
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`maintains a frame of reference about an X-, Y- and Z-axis. The controller
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`device provides an interface to enable a user to enter two-dimensional
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`control input about the X- and Y-axes. The self-propelled device processes
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`the control input from the controller device in order to maintain control
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`relative to the X-, Y- and Z- axes.
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`[030]
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`According to another embodiment, a self-propelled device
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`determines an orientation for its movement based on a pre-determined
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`reference frame. A controller device is operable by a user to control the
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`self-propelled device. The controller device includes a user interface for
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`controlling at least a direction of movement of the self-propelled device.
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`The self-propelled device is configured to signal the controller device
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`information that indicates the orientation of the self-propelled device. The
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`controller device is configured to orient the user interface, based on the
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`information signaled from the self-propelled device, to reflect the
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`orientation of the self-propelled device.
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`[031]
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`According to another embodiment, a controller device is
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`provided for a self-propelled device. The controller device includes one or
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`more processors, a display screen, a wireless communication port and a
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`memory. The processor operates to generate a user interface for
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`controlling at least a directional movement of the self-propelled device,
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`receive information from the self-propelled device over the wireless
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`communication port indicating an orientation of the self-propelled device,
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`and configure the user interface to reflect the orientation of the self-
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`propelled device.
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`[032]
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`In still another embodiment, a self-propelled device includes a
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`drive system, a wireless communication port, a memory and a processor.
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`The memory stores a first set of instructions for mapping individual inputs
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`from a first set of recognizable inputs to a corresponding command that
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`controls movement of the self-propelled device. The processor (or
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`processors) receive one or more inputs from the controller device over the
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`wireless communication port, map each of the one or more inputs to a
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`command based on the set of instructions, and control the drive system
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`using the command determined for each of the one or more inputs. While
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`the drive system is controlled, the processor processes one or more
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`instructions to alter the set of recognizable inputs and/or the
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`corresponding command that is mapped to the individual inputs in the set
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`of recognizable inputs.
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`[033]
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`Still further, embodiments enable a controller device to include
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`an object or virtual representation of the self-propelled device.
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`[034]
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`TERMS
`
`[035]
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`As used herein, the term “substantially” means at least almost
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`entirely. In quantitative terms, “substantially” means at least 80% of a
`
`stated reference (e.g., quantity of shape).
`
`[036]
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`In similar regard, “spherical” or “sphere” means “substantially
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`spherical.” An object is spherical if it appears as such as to an ordinary
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`user, recognizing that, for example, manufacturing processes may create
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`tolerances in the shape or design where the object is slightly elliptical or
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`not perfectly symmetrical, or that the object may include surface features
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`or mechanisms for which the exterior is not perfectly smooth or
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`symmetrical.
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`[037]
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`OVERVIEW
`
`[038]
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`Referring now to the drawings, FIG. 1 is a schematic depiction
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`of a self-propelled device, according to one or more embodiments. As
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`described by various embodiments, self-propelled device 100 can be
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`operated to move under control of another device, such as a computing
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`device operated by a user. In some embodiments, self-propelled device
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`100 is configured with resources that enable one or more of the following:
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`(i) maintain self-awareness of orientation and/or position relative to an
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`initial reference frame after the device initiates movement; (ii) process
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`control input programmatically, so as to enable a diverse range of
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`program-specific responses to different control inputs; (iii) enable another
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`device to control its movement using software or programming logic that
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`is communicative with programming logic on the self-propelled device;
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`and/or (iv) generate an output response for its movement and state that
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`it is software interpretable by the control device.
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`[039]
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`In an embodiment, self-propelled device 100 includes several
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`interconnected subsystems and modules. Processor 114 executes
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`programmatic instructions from program memory 104. The instructions
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`stored in program memory 104 can be changed, for example to add
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`features, correct flaws, or modify behavior. In some embodiments,
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`program memory 104 stores programming instructions that are
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`communicative or otherwise operable with software executing on a
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`computing device. The processor 114 is configured to execute different
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`programs of programming instructions, in order to alter the manner in
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`which the self—propelled device 100 interprets or otherwise responds to
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`control input from another computing device.
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`[040]
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`Wireless communication 110, in conjunction with
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`communication transducer 102, serves to exchange data between
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`processor 114 and other external devices. The data exchanges, for
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`example, provide communications, provide control, provide logical
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`instructions, state information, and/or provide updates for program
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`memory 104. In some embodiments, processor 114 generates output
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`corresponding to state and/or position information, that is communicated
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`to the controller device via the wireless communication port. The mobility
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`of the device makes wired connections undesirable;the term “connection”
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`should be understood to mean a logical connection made without a
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`physical attachment to self-propelled device 100.
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`[041]
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`In one embodiment, wireless communication 110 implements
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`the BLUETOOTH communications protocol and transducer 602 is an
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`antenna suitable for transmission and reception of BLUETOOTH radio
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`signals. Other wireless communication mediums and protocols may also
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`be used in alternative implementations.
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`[042]
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`Sensors 112 provide information about the surrounding
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`environment and condition to processor 114. In one embodiment, sensors
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`112 include inertial measurement devices, including a 3-axis gyroscope, a
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`3-axis accelerometer, and a 3-axis magnetometer. According to some
`
`embodiments, the sensors 114 provide input to enable processor 114 to
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`maintain awareness of the device’s orientation and/or position relative to
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`the initial reference frame after the device initiates movement. In various
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`embodiments, sensors 112 include instruments for detecting light,
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`temperature, humidity, or measuring chemical concentrations or
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`radioactivity.
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`[043]
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`State/variable memory 106 stores information about the
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`present state of the system, including, for example, position, orientation,
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`rates of rotation and translation in each axis. The state/variable memory
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`106 also stores information corresponding to an initial reference frame of
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`the device upon, for example, the device being put in use (e.g., the device
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`being switched on), as well as position and orientation information once
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`the device is in use. In this way, some embodiments provide for the
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`device 100 to utilize information of the state/variable memory 106 in
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`order to maintain position and orientation information of the device 100
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`once the device starts moving.
`
`[044]
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`Clock 108 provides timing information to processor 114. In
`
`one embodiment, clock 108 provides a timebase for measuring intervals
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`and rates of change. In another embodiment, clock 108 provides day,
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`date, year, time, and alarm functions. In one embodiment clock 108
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`allows device 100 to provide an alarm or alert at pre-set times.
`
`[045]
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`Expansion port 120 provides a connection for addition of
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`accessories or devices. Expansion port 120 provides for future expansion,
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`as well as flexibility to add options or enhancements. For example,
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`expansion port 120 is used to add peripherals, sensors, processing
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`hardware, storage, displays, or actuators to the basic self-propelled device
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`100.
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`[046]
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`In one embodiment, expansion port 120 provides an interface
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`capable of communicating with a suitably configured component using
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`analog or digital signals. In various embodiments, expansion port 120
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`provides electrical interfaces and protocols that are standard or well-
`
`known. In one embodiment, expansion port 120 implements an optical
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`interface. Exemplary interfaces appropriate for expansion port 120 include
`
`the Universal Serial Bus (USB), Inter-Integrated Circuit Bus (IZC), Serial
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`Peripheral Interface (SP1), or ETHERNET.
`
`[047]
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`Display 118 presents information to outside devices or
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`persons. Display 118 can present information in a variety of forms. In
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`various embodiments, display 118 can produce light in colors and
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`patterns, sound, vibration, music, or combinations of sensory stimuli. In
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`one embodiment, display 118 operates in conjunction with actuators 126
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`to communicate information by physical movements of device 100. For
`
`example, device 100 can be made to emulate a human head nod or shake
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`to communicate “yes” or “no.”
`
`[048]
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`In one embodiment, display 118 is an emitter of light, either
`
`in the visible or invisible range. Invisible light in the infrared or ultraviolet
`
`range is useful, for example to send information invisible to human senses
`
`but available to specialized detectors. In one embodiment, display 118
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`includes an array of Light Emitting Diodes (LEDs) emitting various light
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`frequencies, arranged such that their relative intensity is variable and the
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`light emitted is blended to form color mixtures.
`
`[049]
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`In one embodiment, display 118 includes an LED array
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`comprising several LEDs, each emitting a human—visible primary color.
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`Processor 114 varies the relative intensity of each of the LEDs to produce
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`a wide range of colors. Primary colors of light are those wherein a few
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`colors can be blended in different amounts to produce a wide gamut of
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`apparent colors. Many sets of primary colors of light are known, including
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`for example red/green/blue, red/green/blue/white, and
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`red/green/blue/amber. For example, red, green and blue LEDs together
`
`comprise a usable set of three available primary-color devices comprising
`
`a display 118 in one embodiment. In other embodiments, other sets of
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`primary colors and white LEDs are used.
`
`[050]
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`In one embodiment, display 118 includes an LED used to
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`indicate a reference point on device 100 for alignment.
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`[051]
`
`Power 124 stores energy for operating the electronics and
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`electromechanical components of device 100. In one embodiment, power
`
`124 is a rechargeable battery. Inductive charge port 128 allows for
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`recharging power 124 without a wired electrical connection. In one
`
`embodiment, inductive charge port 128 accepts magnetic energy and
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`converts it to electrical energy to recharge the batteries. In one
`
`embodiment, charge port 128 provides a wireless communication interface
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`with an external charging device.
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`[052]
`
`Deep sleep sensor 122 puts the self-propelled device 100 into
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`a verylow power or “deep sleep” mode where most of the electronic
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`devices use no battery power. This is useful for long-term storage or
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`shipping.
`
`[053]
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`In one embodiment,sensor 122 is non-contact in that it
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`senses through the enclosing envelope of device 100 without a wired
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`connection. In one embodiment, deep sleep sensor 122 is a Hall Effect
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`sensor mounted so that an external magnet can be applied at a pre-
`
`determined location on device 100 to activate deep sleep mode.
`
`[054]
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`Actuators 126 convert electrical energy into mechanical
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`energy for various uses. A primary use of actuators 126 is to propel and
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`steer self-propelled device 100. Movement and steering actuators are also
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`referred to as a drive system or traction system. The drive system moves
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`device 100 in rotation and translation, under control of processor 114.
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`Examples of actuators 126 include, without limitation, wheels, motors,
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`solenoids, propellers, paddle wheels and pendulums.
`
`[055]
`
`In one embodiment, drive system actuators 126 include two
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`parallel wheels, each mounted to an axle connected to an independently
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`variable-speed motor through a reduction gear system. In such an
`
`embodiment, the speeds of the two drive motors are controlled by
`
`processor 114.
`
`[056]
`
`However, it should be appreciated that actuators 126, in
`
`various embodiments, produce a variety of movements in addition to
`
`merely rotating and translating device 100. In one embodiment, actuators
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`126 cause device 100 to execute communicative or emotionally evocative
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`movements, including emulation of human gestures, for example, head
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`nodding, shaking, trembling, spinning or flipping. In some embodiments,
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`processor coordinates actuators 126 with display 118. For example, in one
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`embodiment, processor 114 provides signals to actuators 126 and display
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`118 to cause device 100 to spin or tremble and simultaneously emit
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`patterns of colored light. In one embodiment, device 100 emits light or
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`sound patterns synchronized with movements.
`
`[057]
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`In one embodiment, self-propelled device 100 is used as a
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`controller for other network-connected devices. Device 100 contains
`
`sensors and wireless communication capability, and so it can perform a
`
`controller role for other devices. For example, self-propelled device 100
`
`can be held in the hand and used to sense gestures, movements,
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`rotations, combination inputs and the like.
`
`[058]
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`FIG. 2A is a schematic depiction of an embodiment comprising
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`a self-propelled device and a computing device, under an embodiment.
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`More specifically, a self-propelled device 214 is controlled in its movement
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`by programming logic and/or controls that can originate from a controller
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`device 208. The self-propelled device 214 is capable of movement under
`
`control of the computing device 208, which can be operated by a user
`
`202. The computing device 208 can wirelessly communicate control data
`
`to the self-propelled device 214 using a standard or proprietary wireless
`
`communication protocol. In variations, the self-propelled device 214 may
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`be at least partially self-controlled, utilizing sensors and internal
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`programming logic to control the parameters of its movement (e.g.,
`
`velocity, direction, etc.). Still further, the self-propelled device 214 can
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`communicate data relating to the device's position and/or movement
`
`parameters for the purpose of generating or alternating content on the
`
`computing device 208. In additional variations, self—propelled device 214
`
`can control aspects of the computing device 208 by way of its movements
`
`and/or internal programming logic.
`
`[059]
`
`As described herein, the self-propelled device 214 may have
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`multiple modes of operation, including those of operation in which the
`
`device is controlled by the computing device 208, is a controller for
`
`another device (e.g., another self-propelled device or the computing
`
`device 208), and/or is partially or wholly self-autonomous.
`
`[060]
`
`Additionally, embodiments enable the self-propelled device
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`214 and the computing device 208 to share a computing platform on
`
`which programming logic is shared, in order to enable, among other
`
`features, functionality that includes: (i) enabling the user 202 to operate
`
`the computing device 208 to generate multiple kinds of input, including
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`simple directional input, command input, gesture input, motion or other
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`sensory input, voice input or combinations thereof; (ii) enabling the self—
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`propelled device 214 to interpret input received from the computing
`
`device 208 as a command or set of commands; and/or (iii) enabling the
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`self-propelled device 214 to communicate data regarding that device’s
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`position, movement and/or state in order to effect a state on the
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`computing device 208 (e.g., display state, such as content corresponding
`
`to a controller-user interface). Embodiments further provide that the self-
`
`propelled device 214 includes a programmatic interface that facilitates
`
`additional programming logic and/or instructions to use the device. The
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`computing device 208 can execute programming that is communicative
`
`with the programming logic on the self-propelled device 214.
`
`[061]
`
`According to embodiments, the self-propelled device 214
`
`includes an actuator or drive mechanism causing motion or directional
`
`movement. The self-propelled device 214 may be referred to by a number
`
`of related terms and phrases, including controlled device, robot, robotic
`
`device, remote device, autonomous device, and remote-controlled device.
`
`In some embodiments, the self-propelled device 214 can be structured to
`
`move and be controlled in various media. For example, self-propelled
`
`device 214 can be configured for movement in media such as on flat
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`surfaces, sandy surfaces or rocky surfaces.
`
`[062]
`
`The self-propelled device 214 may be implemented in various
`
`forms. As described below and with an embodiment of FIG. 3, the self-
`
`propelled device 214 may correspond to a spherical object that can roll
`
`and/or perform other movements such as spinning. In variations, device
`
`214 can correspond to a radio-controlled aircraft, such as an airplane,
`
`helicopter, hovercraft or balloon. In other variations, device 214 can
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`correspond to a radio controlled watercraft, such as a boat or submarine.
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`Numerous other variations may also be implemented, such as those in
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`which the device 214 is a robot.
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`[063]
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`In one embodiment, device 214 includes a sealed hollow
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`envelope, roughly spherical in shape, capable of directional movement by
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`action of actuators inside the enclosing envelope.
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`[064]
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`Continuing to refer to FIG. 2A, device 214 is configured to
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`communicate with computing device 208 using network communication
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`links 210 and 212. Link 210 transfers data from device 208 to device 214.
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`Link 212 transfers data from device 214 to device 208. Links 210 and 212
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`are shown as separate unidirectional links for illustration; in some
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`embodiments a single bi-directional communication link performs
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`communication in both directions. It should be appreciated that link 210
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`and link 212 are not necessarily identical in type, bandwidth or capability.
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`For example, communication link 210 from computing device 208 to elf-
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`propelled device 214 is often capable of a higher communication rate and
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`bandwidth compared to link 212. In some situations, only one link 210 or
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`212 is established. In such an embodiment, communication is
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`unidirectional.
`
`[065]
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`The computing device 208 can correspond to any device
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`comprising at least a processor and communication capability suitable for
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`establishing at least uni-directional communications with self—propelled
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`device 214. Examples of such devices include, without limitation: mobile
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`computing devices (e.g., multifunctional messaging/voice communication
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`devices such as smart phones), tablet computers, portable communication
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`devices and personal computers. In one embodiment, device 208 is an
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`IPHONE available from APPLE COMPUTER, INC. of Cupertino, California. In
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`another embodiment, device 208 is an IPAD tablet computer, also from
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`APPLE COMPUTER. In another embodiment, device 208 is any of the
`
`handheld computing and communication appliances executing the
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`ANDROID operating system from GOOGLE, INC.
`
`[066]
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`In another embodiment, device 208 is a personal computer, in
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`either a laptop or desktop configuration. For example, device 208 is a
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`multi-purpose computing platform running the MICROSOFT WINDOWS
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`operating system, or the LINUX operating system, or the APPLE OS/X
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`operating system, configured with an appropriate application program to
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`communicate with self—propelled device 214 .
`
`[067]
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`In variations, the computing device 208 can be a specialized
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`device, dedicated for enabling the user 202 to control and interact with
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`the self-propelled device 214.
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`[068]
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`In one embodiment, multiple types of computing device 208
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`can be used interchangeably to communicate with the self-propelled
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`device 214. In one embodiment, self-propelled device 214 is capable of
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`communicating and/or being controlled by multiple devices (e.g.,
`
`concurrently or one at a time). For example, device 214 can link with an
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`IPHONE in one session and with an ANDROID device in a later session,
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`without modification of device 214.
`
`[069]
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`According to embodiments, the user 202 can interact with the
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`self-propelled device 214 via the computing device 208, in order to control
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`the self-propelled device and/or to receive feedback or interaction on the
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`computing device 208 from the self-propelled device 214. According to
`
`embodiments, the user 202 is enabled to specify input 204 through
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`various mechanisms that are provided with the computing device 208.
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`Examples of such inputs include text entry, voice command, touching a
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`sensing surface or screen, physical manipulations, gestures, taps, shaking
`
`and combinations of the above.
`
`[070]
`
`The user 202 may interact with the computing device 208 in
`
`order to receive feedback 206. The feedback 206 may be generated on
`
`the computing device 208 in response to user input. As an alternative or
`
`addition, the feedback 206 may also be based on data communicated
`
`from the self—propelled device 214 to the computing device 208,
`
`regarding, for example, the self-propelled device’s position or state.
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`Without limitation, examples of feedback 206 include text display,
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`graphical display, sound, music, tonal patterns, modulation of color or
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`intensity of light, haptic, vibrational or tactile stimulation. The feedback
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`206 may be combined with input that is generated on the computing
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`device 208. For example, the computing device 208 may output content
`
`that is modified to reflect position or state information communicated from
`
`the self-propelled device 214.
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`[071]
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`In some embodiments, the computing device 208 and/or the
`
`self-propelled device 214 are configured such that user input 204 and
`
`feedback 206 maximize usability and accessibility for a user 202, who has
`
`limited sensing, thinking, perception, motor or other abilities. This allows
`
`users with handicaps or special needs to operate system 200 as described.
`
`[072]
`
`It should be appreciated that the configuration illustrated in
`
`the embodiment of FIG. 2A is only one of an almost unlimited number of
`
`possible configurations of networks including a self-propelled device with
`
`communication connections. Furthermore, while numerous embodiments
`
`described herein provide for a user to operate or otherwise directly
`
`interface with the computing device in order to control and/or interact
`
`with a self—propelled device, variations to embodiments described
`
`encompass enabling the user to directly control or interact with the self—
`
`propelled device 214 without use of an intermediary device such as
`
`computing device 208.
`
`[073]
`
`FIG. 2B depicts a system 218 comprising computing devices
`
`and self-propelled devices, according to another embodiment. In the
`
`example provided by FIG. 2B, system 218 includes two computing devices
`
`220 and 228, four self—propelled devices 224, 232, 236, and 238, and
`
`communication links 222, 226, 230, 234 and 239. The communication of
`
`computing device 220 with self—propelled device 224 using link 222 is
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`similar to the embodiment depicted in network 200 of FIG. 2A; however,
`
`embodiments such as those shown enable additional communication to be
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`established between two computing devices 220 and 228, via network link
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`226.
`
`[074]
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`According to an embodiment such as provided with system
`
`218, the computing devices 220, 228 may optionally control more than
`
`one self-propelled device. Furthermore, each self-propelled device 224,
`
`232, 236, 238 may be controlled by more than one computing device 220,
`
`228. For example, embodiments provide that computing device 228 can
`
`establish multiple communications links, including with self—propelled
`
`devices 232 and 236, and computing device 220.
`
`[075]
`
`In variations, the computing devices 220, 228 can also
`
`communicate with one or more self-propelled devices using a network
`
`such as the Internet, or a local wireless network (e.g., a home network).
`
`For example, the computing device 228 is shown to have a
`
`communications link 239, which can connect the computing device to an
`
`Internet server, a web site, or to another computing device at a remote
`
`location. In some embodiments, the computing device 228 can serve as
`
`an intermediary between the network source and a self-propelled device.
`
`For example, the computing device 228 may access programming from
`
`the Internet and communicate that programming to one of the self