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Integrated mobile manipulator robot — Boston Dynamics, Inc. (US20250178188A1)

Boston Dynamics, Inc. · Google Patents

Google Patents · Patents · License: Open Access

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bostondynamics

patent, google patents, intellectual property, US20250178188A1, Boston Dynamics, Inc., Michael Murphy, en, 2025

ABSTRACT

Abstract

A robot includes a mobile base, a turntable rotatably coupled to the mobile base, a robotic arm operatively coupled to the turntable, and at least one directional sensor. An orientation of the at least one directional sensor is independently controllable. A method of controlling a robotic arm includes controlling a state of a mobile base and controlling a state of a robotic arm coupled to the mobile base, based, at least in part, on the state of the mobile base.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority under 35 U.S.C. Â§ 119 (e) to U.S. Provisional Application Ser. No. 63/166,780, filed Mar. 26, 2021, titled, âAN INTEGRATED MOBILE MANIPULATOR ROBOT,â which is incorporated by reference in its entirety herein.

BACKGROUND

A robot is generally defined as a reprogrammable and multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for a performance of tasks. Robots may be manipulators that are physically anchored (e.g., industrial robotic arms), mobile robots that move throughout an environment (e.g., using legs, wheels, or traction-based mechanisms), or some combination of a manipulator and a mobile robot. Robots are utilized in a variety of industries including, for example, manufacturing, warehouse logistics, transportation, hazardous environments, exploration, and healthcare.

SUMMARY

Some embodiments relate to a robot comprising a mobile base, a turntable rotatably coupled to the mobile base, a robotic arm operatively coupled to the turntable, and at least one directional sensor. An orientation of the at least one directional sensor is independently controllable.

In one aspect, the robot further comprises a perception mast operatively coupled to the turntable, the perception mast comprising a plurality of sensors including the at least one directional sensor. In another aspect, the perception mast is rotatably coupled to the turntable. In another aspect, the turntable is configured to rotate relative to the mobile base about a first axis, and the perception mast is configured to rotate relative to the turntable about a second axis, wherein the first and second axes are parallel. In another aspect, the robotic arm is kinematically constrained to avoid collisions with the perception mast.

In one aspect, the robot further comprises a vacuum-based end effector operatively coupled to a distal portion of the robotic arm. In another aspect, the robot further comprises an on-board vacuum source operatively coupled to the vacuum-based end effector. In another aspect, the on-board vacuum source is configured to rotate with the turntable when the turntable rotates relative to the mobile base. In another aspect, the on-board vacuum source is disposed within the end effector.

In one aspect, the robotic arm is a six degree of freedom robotic arm. In another aspect, the robotic arm comprises three pitch joints and a spherical three degree of freedom wrist. In another aspect, the robotic arm comprises a first joint comprising a first actuator configured to rotate a first link of the robotic arm relative to the turntable about a first axis, a second joint comprising a second actuator configured to rotate a second link of the robotic arm relative to the first link about a second axis, and a third joint comprising a third actuator configured to rotate a third link of the robotic arm relative to the second link about a third axis, wherein the first, second, and third axes are parallel. In another aspect, the robotic arm comprises a link, an end effector, and a spherical wrist coupling the link and the end effector. The spherical wrist comprises a first actuator configured to rotate the end effector relative to the link about a first axis, a second actuator configured to rotate the end effector relative to the link about a second axis, and a third actuator configured to rotate the end effector relative to the link about a third axis, wherein the first, second, and third axes are mutually perpendicular, and wherein the first, second, and third axes intersect. In another aspect, a first rotation axis of the first actuator is offset from the first axis, a second rotation axis of the second actuator is offset from the second axis, and a third rotation axis of the third actuator is offset from the third axis. In another aspect, the end effector is a vacuum-based end effector, and the vacuum tubing coupled to the vacuum-based end effector is routed through the spherical wrist. In another aspect, the vacuum tubing is routed through the intersection of the first, second, and third axes of the spherical wrist. In another aspect, the spherical wrist comprises one or more vacuum slip rings.

In one aspect, the mobile base comprises a holonomic drive system. In another aspect, the mobile base comprises a plurality of distance sensors. In another aspect, the plurality of distance sensors comprise a plurality of LiDAR sensors. In another aspect, the mobile base is rectangular, and each side of the mobile base is associated with at least one of the plurality of distance sensors. In another aspect, the mobile base is square.

Some embodiments relate to a mobile base for a robotic manipulator. The mobile base comprises a platform configured to be coupled to the robotic manipulator, a drive system comprising a plurality of wheels, and a suspension system. The suspension system is configured to control distances between the platform and each wheel of the plurality of wheels. A first distance between the platform and a first wheel of the plurality of wheels depends, at least in part, on a second distance between the platform and a second wheel of the plurality of wheels.

In one aspect, the suspension system comprises a passive suspension system. In another aspect, the suspension system comprises a first rocker operatively coupling first and second wheels of the plurality of wheels, the first rocker configured to rotate about a first axis, and a second rocker operatively coupling third and fourth wheels of the plurality of wheels, the second rocker configured to rotate about a second axis, wherein the second axis is parallel to the first axis. In another aspect, the suspension system further comprises a linkage operatively coupling a first portion of the first rocker and a first portion of the second rocker, the linkage comprising a link configured to rotate about a third axis. In another aspect, the third axis is perpendicular to the first axis. In another aspect, the linkage further comprises a first strut operatively coupling a first portion of the link and the first portion of the first rocker, and a second strut operatively coupling a second portion of the link and the first portion of the second rocker.

In one aspect, the plurality of wheels comprise a first wheel configured to form a first contact with a flat surface when the mobile base rests on the flat surface, a second wheel configured to form a second contact with the flat surface when the mobile base rests on the flat surface, a third wheel configured to form a third contact with the flat surface when the mobile base rests on the flat surface, and a fourth wheel configured to form a fourth contact with the flat surface when the mobile base rests on the flat surface, wherein the first, second, third, and fourth contacts define a quadrilateral. In another aspect, the suspension system is configured such that a primary support polygon is defined by first, second, third, and fourth vertices, wherein the first vertex is disposed on a first line connecting the first and second contacts, the second vertex is disposed on a second line connecting the second and third contacts, the third vertex is disposed on a third line connecting the third and fourth contacts, and the fourth vertex is disposed on a fourth line connecting the fourth and first contacts. In another aspect, the mobile base in combination with the robotic manipulator further comprises a controller configured to maintain a center of pressure of the mobile base, the robotic manipulator, and a payload within the primary support polygon when the robotic manipulator manipulates the payload. In another aspect, the controller is configured to maintain the center of pressure of the mobile base, the robotic manipulator, and a payload within a circular region inscribed within the primary support polygon. In another aspect, the suspension system is configured such that a secondary support polygon is defined by three of the four contact points. In another aspect, the mobile base in combination with the robotic manipulator, further comprises a controller, the suspension system is configured such that a secondary support polygon is defined by three of the four contact points, and the controller is configured to maintain a center of pressure of the mobile base, the robotic manipulator, and a payload within the secondary support polygon when the robotic manipulator manipulates the payload such that the center of pressure falls outside of the primary support polygon. In another aspect, each wheel of the plurality of wheels is kinematically coupled to each other wheel of the plurality of wheels. In another aspect, the suspension system further comprises a differential gear set coupling the first and second rockers.

Some embodiments relate to a mobile base for a robotic manipulator. The mobile base comprises a platform configured to be coupled to the robotic manipulator, a suspension system, and a drive system. The drive system comprises a plurality of wheels. When at least some of the plurality of wheels contact a surface, the drive system is configured to translate the mobile base in a first direction along a first axis relative to the surface, translate the mobile base in a second direction along a second axis relative to the surface, and rotate the mobile base about a third axis. The second axis is perpendicular to the first axis, and the third axis is perpendicular to both the first and second axes.

In one aspect, each wheel of the plurality of wheels is independently steerable. In another aspect, each wheel of the plurality of wheels is independently drivable. In another aspect, each wheel of the plurality of wheels is independently drivable. In another aspect, each wheel of the plurality of wheels is associated with two actuated degrees of freedom. In another aspect, the drive system is associated with three actuated degrees of freedom. In another aspect, the drive system comprises a first wheel of the plurality of wheels, wherein the first wheel is associated with a first drive actuator and a first steering actuator, a second wheel of the plurality of wheels, wherein the second wheel is associated with a second drive actuator and a second steering actuator, a third wheel of the plurality of wheels, wherein the third wheel is associated with a third drive actuator and a third steering actuator, and a fourth wheel of the plurality of wheels, wherein the fourth wheel is associated with a fourth drive actuator and a fourth steering actuator.

Some embodiments relate to a robot comprising a turntable, a robotic arm operatively coupled to the turntable, and a perception mast operatively coupled to the turntable. The perception mast comprises a plurality of sensors.

In one aspect, the perception mast is rotatably coupled to the turntable. In another aspect, the turntable is configured to rotate about a first axis, the perception mast is configured to rotate relative to the turntable about a second axis, and the first and second axes are parallel. In another aspect, the perception mast is disposed on the turntable at a maximum radial extent of the turntable relative to an axis of rotation of the turntable. In another aspect, the robotic arm is kinematically constrained to avoid collisions with the perception mast. In another aspect, the robotic arm comprises a wrist, a portion of the robotic arm proximal to the wrist is kinematically constrained to move within a vertical plane defined within a coordinate system of the turntable, and the perception mast does not intersect the vertical plane. In another aspect, the perception mast is rotatably coupled to the turntable. In another aspect, the robotic arm is a six degree of freedom robotic arm. In another aspect, the robotic arm comprises three pitch joints and a three degree of freedom wrist. In another aspect, the perception mast is rotatably coupled to the turntable, and wherein the perception mast is configured to rotate about a yaw axis. In another aspect, the turntable is operatively coupled to a mobile base.

Some embodiments relate to a method of controlling a robotic arm. The method comprises controlling a state of a mobile base and controlling a state of a robotic arm coupled to the mobile base, based, at least in part, on the state of the mobile base.

In one aspect, controlling the state of the robotic arm comprises controlling a state of a payload coupled to a distal portion of the robotic arm. In another aspect, controlling the state of the mobile base comprises performing one or more of translating the mobile base in a first direction, translating the mobile base in a second direction perpendicular to the first direction, and rotating the mobile base. In another aspect, controlling the state of the mobile base comprises actuating a holonomic drive system of the mobile base. In another aspect, the method further comprises computing safety constraints based, at least in part, on both the state of the mobile base and the state of the robotic arm. In another aspect, the method further comprises controlling a state of a perception mast coupled to the mobile base, based, at least in part, on the state of the mobile base and the state of the robotic arm. In another aspect, controlling the state of the perception mast comprises controlling a rotation of a turntable to which the perception mast is coupled, wherein the turntable is coupled to the mobile base. In another aspect, controlling the state of the perception mast comprises controlling a rotation of the perception mast relative to a turntable to which the perception mast is coupled, wherein the turntable is coupled to the mobile base. In another aspect, controlling the state of the robotic arm based, at least in part, on the state of the mobile base comprises controlling one or more joint angles and/or one or more joint velocities of the robotic arm based, at least in part, on a velocity of the mobile base.

It should be appreciated that the foregoing concepts, and additional concepts discussed below, may be arranged in any suitable combination, as the present disclosure is not limited in this respect. Further, other advantages and novel features of the present disclosure will become apparent from the following detailed description of various non-limiting embodiments when considered in conjunction with the accompanying figures.

BRIEF DESCRIPTION OF DRAWINGS

The accompanying drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. In the drawings:

FIG. 1 A is a perspective view of one embodiment of a robot;

FIG. 1 B is another perspective view of the robot of FIG. 1 A ;

FIG. 2 A depicts robots performing tasks in a warehouse environment;

FIG. 2 B depicts a robot unloading boxes from a truck;

FIG. 2 C depicts a robot building a pallet in a warehouse aisle;

FIG. 3 A is a perspective view of one embodiment of a mobile base of a robot;

FIG. 3 B is another perspective view of the mobile base of FIG. 3 A ;

FIG. 4 is a top schematic view of one embodiment of a turntable of a robot;

FIG. 5 is a perspective view of one embodiment of a robot;

CROSS-REFERENCE TO RELATED APPLICATIONS

BACKGROUND

SUMMARY

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 A is a perspective view of one embodiment of a robot;

FIG. 1 B is another perspective view of the robot of FIG. 1 A ;

FIG. 2 A depicts robots performing tasks in a warehouse environment;

FIG. 2 B depicts a robot unloading boxes from a truck;

FIG. 2 C depicts a robot building a pallet in a warehouse aisle;

FIG. 3 A is a perspective view of one embodiment of a mobile base of a robot;

FIG. 3 B is another perspective view of the mobile base of FIG. 3 A ;

FIG. 4 is a top schematic view of one embodiment of a turntable of a robot;

FIG. 5 is a perspective view of one embodiment of a robot;

FIG. 6 A is a cross-sectional front view of one embodiment of a vacuum assembly in a retracted configuration; and

FIG. 6 B is a cross-sectional front view of the vacuum assembly of FIG. 6 A in an extended configuration.

DETAILED DESCRIPTION

Robots are typically configured to perform various tasks in an environment in which they are placed. Generally, these tasks include interacting with objects and/or the elements of the environment. Notably, robots are becoming popular in warehouse and logistics operations. Before the introduction of robots to such spaces, many operations were performed manually. For example, a person might manually unload boxes from a truck onto one end of a conveyor belt, and a second person at the opposite end of the conveyor belt might organize those boxes onto a pallet. The pallet may then be picked up by a forklift operated by a third person, who might drive to a storage area of the warehouse and drop the pallet for a fourth person to remove the individual boxes from the pallet and place them on shelves in the storage area. More recently, robotic solutions have been developed to automate many of these functions. Such robots may either be specialist robots (i.e., designed to perform a single task, or a small number of closely related tasks) or generalist robots (i.e., designed to perform a wide variety of tasks). To date, both specialist and generalist warehouse robots have been associated with significant limitations, as explained below.

A specialist robot may be designed to perform a single task, such as unloading boxes from a truck onto a conveyor belt. While such specialized robots may be efficient at performing their designated task, they may be unable to perform other, tangentially related tasks in any capacity. As such, either a person or a separate robot (e.g., another specialist robot designed for a different task) may be needed to perform the next task(s) in the sequence. As such, a warehouse may need to invest in multiple specialized robots to perform a sequence of tasks, or may need to rely on a hybrid operation in which there are frequent robot-to-human or human-to-robot handoffs of objects.

In contrast, a generalist robot may be designed to perform a wide variety of tasks, and may be able to take a box through a large portion of the box's life cycle from the truck to the shelf (e.g., unloading, palletizing, transporting, depalletizing, storing). While such generalist robots may perform a variety of tasks, they may be unable to perform individual tasks with high enough efficiency or accuracy to warrant introduction into a highly streamlined warehouse operation. For example, while mounting an off-the-shelf robotic manipulator onto an off-the-shelf mobile robot might yield a system that could, in theory, accomplish many warehouse tasks, such a loosely integrated system may be incapable of performing complex or dynamic motions that require coordination between the manipulator and the mobile base, resulting in a combined system that is inefficient and inflexible. Typical operation of such a system within a warehouse environment may include the mobile base and the manipulator operating sequentially and (partially or entirely) independently of each other. For example, the mobile base may first drive toward a stack of boxes with the manipulator powered down. Upon reaching the stack of boxes, the mobile base may come to a stop, and the manipulator may power up and begin manipulating the boxes as the base remains stationary. After the manipulation task is completed, the manipulator may again power down, and the mobile base may drive to another destination to perform the next task. As should be appreciated from the foregoing, the mobile base and the manipulator in such systems are effectively two separate robots that have been joined together; accordingly, a controller associated with the manipulator may not be configured to share information with, pass commands to, or receive commands from a separate controller associated with the mobile base. As such, such a poorly integrated mobile manipulator robot may be forced to operate both its manipulator and its base at suboptimal speeds or through suboptimal trajectories, as the two separate controllers struggle to work together. Additionally, while there are limitations that arise from a purely engineering perspective, there are additional limitations that must be imposed to comply with safety regulations. For instance, if a safety regulation requires that a mobile manipulator must be able to be completely shut down within a certain period of time when a human enters a region within a certain distance of the robot, a loosely integrated mobile manipulator robot may not be able to act sufficiently quickly to ensure that both the manipulator and the mobile base (individually and in aggregate) do not a pose a threat to the human. To ensure that such loosely integrated systems operate within required safety constraints, such systems are forced to operate at even slower speeds or to execute even more conservative trajectories than those limited speeds and trajectories as already imposed by the engineering problem. As such, the speed and efficiency of generalist robots performing tasks in warehouse environments to date have been limited.

In view of the above, the inventors have recognized and appreciated that a highly integrated mobile manipulator robot with system-level mechanical design and holistic control strategies between the manipulator and the mobile base may be associated with certain benefits in warehouse and/or logistics operations. Such an integrated mobile manipulator robot may be able to perform complex and/or dynamic motions that are unable to be achieved by conventional, loosely integrated mobile manipulator systems. As a result, this type of robot may be well suited to perform a variety of different tasks (e.g., within a warehouse environment) with speed, agility, and efficiency.

EXAMPLE ROBOT OVERVIEW

In this section, an overview of some components of one embodiment of a highly integrated mobile manipulator robot configured to perform a variety of tasks is provided to explain the interactions and interdependencies of various subsystems of the robot. Each of the various subsystems, as well as control strategies for operating the subsystems, are described in further detail in the following sections.

FIGS. 1 A and 1 B are perspective views of one embodiment of a robot 100 . The robot 100 includes a mobile base 110 and a robotic arm 130 . The mobile base 110 includes an omnidirectional drive system that enables the mobile base to translate in any direction within a horizontal plane as well as rotate about a vertical axis perpendicular to the plane. Each wheel 112 of the mobile base 110 is independently steerable and independently drivable. The mobile base 110 additionally includes a number of distance sensors 116 that assist the robot 100 in safely moving about its environment. The robotic arm 130 is a 6 degree of freedom (6-DOF) robotic arm including three pitch joints and a 3-DOF wrist. An end effector 150 is disposed at the distal end of the robotic arm 130 . The robotic arm 130 is operatively coupled to the mobile base 110 via a turntable 120 , which is configured to rotate relative to the mobile base 110 . In addition to the robotic arm 130 , a perception mast 140 is also coupled to the turntable 120 , such that rotation of the turntable 120 relative to the mobile base 110 rotates both the robotic arm 130 and the perception mast 140 . The robotic arm 130 is kinematically constrained to avoid collision with the perception mast 140 . The perception mast 140 is additionally configured to rotate relative to the turntable 120 , and includes a number of perception modules 142 configured to gather information about one or more objects in the robot's environment. The integrated structure and system-level design of the robot 100 enable fast and efficient operation in a number of different applications, some of which are provided below as examples.

FIG. 2 A depicts

robots

10 a, 10 b, and 10 c performing different tasks within a warehouse environment. A first robot 10 a is inside a truck (or a container), moving boxes 11 from a stack within the truck onto a conveyor belt 12 (this particular task will be discussed in greater detail below in reference to FIG. 2 B ). At the opposite end of the conveyor belt 12 , a second robot 10 b organizes the boxes 11 onto a pallet 13 . In a separate area of the warehouse, a third robot 10 c picks boxes from shelving to build an order on a pallet (this particular task will be discussed in greater detail below in reference to FIG. 2 C ). It should be appreciated that the

robots

10 a, 10 b, and 10 c are different instances of the same robot (or of highly similar robots). Accordingly, the robots described herein may be understood as specialized multi-purpose robots, in that they are designed to perform specific tasks accurately and efficiently, but are not limited to only one or a small number of specific tasks.

FIG. 2 B depicts a robot 20 a unloading boxes 21 from a truck 29 and placing them on a conveyor belt 22 . In this box picking application (as well as in other box picking applications), the robot 20 a will repetitiously pick a box, rotate, place the box, and rotate back to pick the next box. Although robot 20 a of FIG. 2 B is a different embodiment from robot 100 of FIGS. 1 A and 1 B , referring to the components of robot 100 identified in FIGS. 1 A and 1 B will case explanation of the operation of the robot 20 a in FIG. 2 B . During operation, the perception mast of robot 20 a (analogous to the perception mast 140 of robot 100 of FIGS. 1 A and 1 B ) may be configured to rotate independent of rotation of the turntable (analogous to the turntable 120 ) on which it is mounted to enable the perception modules (akin to perception modules 142 ) mounted on the perception mast to capture images of the environment that enable the robot 20 a to plan its next movement while simultaneously executing a current movement. For example, while the robot 20 a is picking a first box from the stack of boxes in the truck 29 , the perception modules on the perception mast may point at and gather information about the location where the first box is to be placed (e.g., the conveyor belt 22 ). Then, after the turntable rotates and while the robot 20 a is placing the first box on the conveyor belt, the perception mast may rotate (relative to the turntable) such that the perception modules on the perception mast point at the stack of boxes and gather information about the stack of boxes, which is used to determine the second box to be picked. As the turntable rotates back to allow the robot to pick the second box, the perception mast may gather updated information about the area surrounding the conveyor belt. In this way, the robot 20 a may parallelize tasks which may otherwise have been performed sequentially, thus enabling faster and more efficient operation.

Also of note in FIG. 2 B is that the robot 20 a is working alongside humans (e.g., workers

27 a and 27 b ). Given that the robot 20 a is configured to perform many tasks that have traditionally been performed by humans, the robot 20 a is designed to have a small footprint, both to enable access to areas designed to be accessed by humans, and to minimize the size of a safety zone around the robot into which humans are prevented from entering.

FIG. 2 C depicts a robot 30 a performing an order building task, in which the robot 30 a places boxes 31 onto a pallet 33 . In FIG. 2 C , the pallet 33 is disposed on top of an autonomous mobile robot (AMR) 34 , but it should be appreciated that the capabilities of the robot 30 a described in this example apply to building pallets not associated with an AMR. In this task, the robot 30 a picks boxes 31 disposed above, below, or within shelving 35 of the warehouse and places the boxes on the pallet 33 . Certain box positions and orientations relative to the shelving may suggest different box picking strategies. For example, a box located on a low shelf may simply be picked by the robot by grasping a top surface of the box with the end effector of the robotic arm (thereby executing a âtop pickâ). However, if the box to be picked is on top of a stack of boxes, and there is limited clearance between the top of the box and the bottom of a horizontal divider of the shelving, the robot may opt to pick the box by grasping a side surface (thereby executing a âface pickâ).

To pick some boxes within a constrained environment, the robot may need to carefully adjust the orientation of its arm to avoid contacting other boxes or the surrounding shelving. For example, in a typical âkeyhole problemâ, the robot may only be able to access a target box by navigating its arm through a small space or confined area (akin to a keyhole) defined by other boxes or the surrounding shelving. In such scenarios, coordination between the mobile base and the arm of the robot may be beneficial. For instance, being able to translate the base in any direction allows the robot to position itself as close as possible to the shelving, effectively extending the length of its arm (compared to conventional robots without omnidirectional drive which may be unable to navigate arbitrarily close to the shelving). Additionally, being able to translate the base backwards allows the robot to withdraw its arm from the shelving after picking the box without having to adjust joint angles (or minimizing the degree to which joint angles are adjusted), thereby enabling a simple solution to many keyhole problems.

Of course, it should be appreciated that the tasks depicted in FIGS. 2 A- 2 C are but a few examples of applications in which an integrated mobile manipulator robot may be used, and the present disclosure is not limited to robots configured to perform only these specific tasks. For example, the robots described herein may be suited to perform tasks including, but not limited to, removing objects from a truck or container, placing objects on a conveyor belt, removing objects from a conveyor belt, organizing objects into a stack, organizing objects on a pallet, placing objects on a shelf, organizing objects on a shelf, removing objects from a shelf, picking objects from the top (e.g., performing a âtop pickâ), picking objects from a side (e.g., performing a âface pickâ), coordinating with other mobile manipulator robots, coordinating with other warehouse robots (e.g., coordinating with AMRs), coordinating with humans, and many other tasks.

EXAMPLE MOBILE BASE

As described above, a highly integrated mobile manipulator robot includes a mobile base and a robotic arm. The mobile base is configured to move the robot to different locations to enable interactions between the robotic arm and different objects of interest. In some embodiments, the mobile base may include an omnidirectional drive system that allows the robot to translate in any direction within a plane. The mobile base may additionally allow the robot to rotate about a vertical axis (e.g., to yaw). In some embodiments, the mobile base may include a holonomic drive system, while in some embodiments the drive system may be approximated as holonomic. For example, a drive system that may translate in any direction but may not translate in any direction instantaneously (e.g., if time is needed to reorient one or more drive components) may be approximated as holonomic.

In some embodiments, a mobile base may include sensors to help the mobile base navigate its environment. In the embodiment shown in FIGS. 1 A and 1 B , the mobile base 110 of the robot 100 includes distance sensors 116 . The mobile base includes at least one distance sensor 116 on each side of the mobile base 110 . A distance sensor may include a camera, a time of flight sensor, a LiDAR sensor, or any other sensor configured to sense information about the environment from a distance. In embodiments of a mobile base that include distance sensors with an associated field of view (e.g., cameras, LiDAR sensors), the fields of view of the distance sensors may overlap to provide a full 360-degree view of the environment around the robot. For example, a mobile base may be rectangular, and each of the four sides may be associated with a distance sensor. The locations of the distance sensors and the associated fields of view may be arranged such that the field of view of each distance sensor at least partially overlaps the fields of view of the two neighboring distance sensors.

FIGS. 3 A and 3 B are perspective views of one embodiment of a mobile base 200 of a robot (e.g., which may be used to implement mobile base 110 of robot 100 described in connection with FIGS. 1 A and 1 B ). The mobile base 200 includes a drive system configured to adjust a position and/or orientation of the mobile base 200 relative to its environment. As shown, the drive system includes four wheels 204 a - 204 d, each of which is independently steerable and independently drivable (as described in greater detail below). It should be appreciated, however, that some embodiments may include more than or fewer than four wheels. The drive system is configured to translate the mobile base 200 in two perpendicular directions as well as rotate the mobile base about an axis perpendicular to the directions of translation. In terms of the coordinate system of FIGS. 3 A and 3 B , the mobile base 200 is able to translate along perpendicular X and Y axes (wherein the X and Y axes define a plane, which may be a horizontal plane), and yaw about a Z axis (wherein the Z axis is perpendicular to the plane defined by the X and Y axes, wherein the Z axis may be a vertical axis that may be aligned with the direction of gravity). Accordingly, the drive system of the mobile base 200 is associated with at least three actuated degrees of freedom (i.e., translation in X, translation in Y, and rotation about Z).

In some embodiments, each wheel of a mobile base may be independently steerable. A mobile base with independently steerable wheels may be desirable in that such an arrangement may be associated with an omnidirectional and/or holonomic mobile base. Each steerable wheel may be associated with a dedicated steering actuator. In the embodiment of FIGS. 3 A and 3 B , each steerable wheel 204 is associated with a steering actuator 206 . Specifically, a first steering actuator 206 a is configured to steer the first wheel 204 a, a second steering actuator 206 b is configured to steer the second wheel 204 b, a third steering actuator 206 c is configured to steer the third wheel 204 c, and a fourth steering actuator 206 d is configured to steer the fourth wheel 204 d. The steering actuators 206 are configured to adjust an angular position or angular speed of their respective wheels 204 about a vertical axis (e.g., about an axis parallel to the Z axis in the figure). Stated differently, the steering actuators 206 are configured to yaw their respective wheels 204 . A steering actuator may include a motor, such as a brushed DC motor, a brushless DC motor, or a stepper motor. However, other types of actuators are contemplated, and the disclosure is not limited in this regard.

In some embodiments, one or more wheels of a mobile base may not be independently steerable. A wheel may be entirely passive (e.g., a castor), or steering of one wheel may be coupled to the steering of one or more other wheels (e.g., through a linkage mechanism). It should be appreciated that the present disclosure is not limited to embodiments of highly integrated mobile manipulators in which each wheel of the mobile base is independently steerable.

In some embodiments, each wheel of a mobile base may be independently drivable. A mobile base with independently drivable wheels may be desirable in that such an arrangement may be associated with increased traction, improved acceleration and/or deceleration, improved stiffness between the mobile base and the ground, and little to no frictional losses through passive wheels (e.g., castors). Each drivable wheel may be associated with a dedicated driving actuator. In the embodiment of FIGS. 3 A and 3 B , each drivable wheel 204 is associated with a driving actuator 208 . Specifically, a first driving actuator 208 a is configured to drive the first wheel 204 a, a second driving actuator 208 b is configured to drive the second wheel 204 b, a third driving actuator 208 c is configured to drive the third wheel 204 c, and a fourth driving actuator 208 d is configured to drive the fourth wheel 204 d. The driving actuators 208 are configured to adjust an angular position or angular speed of their respective wheels 204 about a horizontal axis (e.g., an axis associated with the axle of the wheel). A driving actuator may include a motor, such as a brushed DC motor, a brushless DC motor, or a stepper motor. However, other types of actuators are contemplated, and the disclosure is not limited in this regard.

In some embodiments, one or more wheels of a mobile base may not be independently drivable. A wheel may be entirely passive (e.g., a castor), or the driving of one wheel may be coupled to the driving of one or more other wheels (e.g., through a transmission or drivetrain). It should be appreciated that the present disclosure is not limited to embodiments of highly integrated mobile manipulators in which each wheel of the mobile base is independently drivable.

In some embodiments, each wheel of a mobile base is independently steerable and independently drivable. In such embodiments, each wheel is associated with at least two actuated degrees of freedom (e.g., rotation about a drive axis, and rotation about a steering axis). In the embodiment of FIGS. 3 A and 3 B , each wheel 204 is associated with both a steering actuator 206 and a driving actuator 208 , as described in the preceding paragraphs. As such, the <figure-callout id="200" label="mobile base" filenames="US20250178188A1-20250605-D00006.png,US202

CLAIMS

Claims ( 20 )

1 . A robot comprising:

a mobile base; a turntable rotatably coupled to the mobile base; a robotic arm operatively coupled to the turntable; a vacuum-based gripper rotatably coupled to the robotic arm; and a perception system including a first perception module and a second perception module, each of the first perception module and the second perception module including at least one camera.

2 . The robot of claim 1 , wherein the perception system comprises a perception mast operatively coupled to the turntable.

3 . The robot of claim 2 , wherein the perception mast is rotatably coupled to the turntable.

4 . The robot of claim 3 , wherein the turntable is configured to rotate relative to the mobile base about a first axis, wherein the perception mast is configured to rotate relative to the turntable about a second axis, and wherein the first axis and the second axis are parallel.

5 . The robot of claim 2 , wherein the robotic arm is kinematically constrained to avoid collisions with the perception mast.

6 - 8 . (canceled)

9 . The robot of claim 1 , wherein the robotic arm is a six degree of freedom robotic arm.

10 . The robot of claim 9 , wherein the robotic arm comprises three pitch joints and a wrist, wherein the wrist is a spherical wrist.

11 . The robot of claim 9 , wherein the robotic arm comprises:

a first joint comprising a first actuator configured to rotate a first link of the robotic arm relative to the turntable about a first axis; a second joint comprising a second actuator configured to rotate a second link of the robotic arm relative to the first link about a second axis; and a third joint comprising a third actuator configured to rotate a third link of the robotic arm relative to the second link about a third axis; wherein the first axis, the second axis, and the third axis are parallel.

12 . The robot of claim 9 , wherein the robotic arm comprises:

a link; an end effector; and a spherical wrist coupling the link and the end effector, the spherical wrist comprising:

a first actuator configured to rotate the end effector relative to the link about a first axis;

a second actuator configured to rotate the end effector relative to the link about a second axis; and

a third actuator configured to rotate the end effector relative to the link about a third axis,

wherein the first axis, the second axis, and the third axis are mutually perpendicular, and wherein the first axis, the second axis, and the third axis intersect.

13 . The robot of claim 12 , wherein:

a first rotation axis of the first actuator is offset from the first axis; a second rotation axis of the second actuator is offset from the second axis; and a third rotation axis of the third actuator is offset from the third axis.

14 - 16 . (canceled)

17 . The robot of claim 1 , wherein the mobile base comprises a holonomic drive system.

18 . The robot of claim 1 , wherein the mobile base comprises a plurality of distance sensors.

19 . The robot of claim 18 , wherein the plurality of distance sensors comprise a plurality of LiDAR sensors.

20 . The robot of claim 18 , wherein the mobile base is rectangular, and wherein each side of the mobile base is associated with at least one of the plurality of distance sensors.

21 . The robot of claim 20 , wherein the mobile base is square.

22 - 31 . (canceled)

32 . The robot of claim 1 , further comprising:

at least one controller onboard the mobile base, wherein the at least one controller is configured to coordinate operation of the turntable, the robotic arm, the vacuum-based gripper, the first perception module, and the second perception module to perform an action.

33 . The robot of claim 32 , wherein the action comprises grasping one or more boxes and placing the one or more boxes, once grasped, on a conveyor.

US19/042,586

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2025-01-31

Integrated mobile manipulator robot

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Integrated mobile manipulator robot

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