ABSTRACT
Abstract
A robot in accordance with at least some embodiments of the present technology includes a torso having a superior portion, an inferior portion, and an intermediate portion therebetween. The robot further includes two legs connected to the torso via the inferior portion of the torso, two arms connected to the torso via the superior portion of the torso, and a protrusion also connected to the torso via the inferior portion of the torso and extending anteriorly from the torso. The robot is configured to move an object toward the torso at least partially via contact between the object and at least one of the arms. The robot is further configured to support a weight of the object at least partially via the protrusion while the robot ambulates via the legs.
Description
CROSS-REFERENCE TO RELATED APPLICATION
This claims the benefit of U.S. Provisional Application No. 63/384,319, filed Nov. 18, 2022. The foregoing application is incorporated herein by reference in its entirety. To the extent the foregoing application and/or any other material incorporated herein by reference conflicts with the present disclosure, the preset disclosure controls.
TECHNICAL FIELD
The present technology relates to robots that manipulate objects.
BACKGROUND
Many simple tasks that humans currently perform are amenable to automation using robotics. Among such tasks are those involving moving goods between locations within distribution centers. For example, after a trailer or pallet containing goods arrives at a distribution center, humans typically move the goods from the trailer or pallet onto a conveyor that carries the goods to other locations within the distribution center for further processing. Similarly, although a conveyor can be used to deliver outgoing goods to a loading dock or palletizing station, humans are still needed to move the goods from the conveyor to outgoing trailers or pallets. Despite the apparent simplicity of loading and unloading trailers and pallets, these tasks have conventionally been difficult or impossible to fully automate. As another example, humans at distribution centers that handle order fulfillment for electronic commerce are often tasked with picking and packing goods for last mile delivery. These distribution centers are massive in scale and handle a wide variety of goods. Even with the aid of sophisticated route optimization systems, locating and retrieving goods to fill orders as needed tends to be labor intensive.
In the forgoing examples and in other cases, the use of human labor to perform repetitive and time-consuming tasks is inefficient. Human labor would be far better applied to more complex tasks, particularly those involving creativity or advanced problem solving. Presently, however, the need for distribution centers and humans to operate them is large and increasing rapidly as consumers shift toward electronic commerce. Due to the importance of this field, even small improvements in efficiency can have major impacts on macroeconomic productivity. For these and/or other reasons, there is a significant and growing need for innovation that supports automating simple tasks that humans currently perform at distribution centers and elsewhere.
BRIEF DESCRIPTION OF THE DRAWINGS
Certain aspects of the present technology can be better understood with reference to the following drawings. The relative dimensions in the drawings may be to scale with respect to some embodiments of the present technology. With respect to other embodiments, the drawings may not be to scale. The drawings may also be enlarged arbitrarily. For clarity, reference-number labels for analogous components or features may be omitted when the appropriate reference-number labels for such analogous components or features are clear in the context of the specification and all of the drawings considered together. Furthermore, the same reference numbers may be used to identify analogous components or features in multiple described embodiments.
FIGS. 1 and 2 are different perspective views of a robot in accordance with at least some embodiments of the present technology with the robot being in a first state.
FIG. 3 is a front profile view of the robot in the first state shown in FIG. 1 .
FIGS. 4 - 7 are perspective views of a first arm, a second arm, a first leg, and a second leg, respectively, of the robot shown in FIG. 1 .
FIGS. 8 - 11 are silhouette views of the first arm, the second arm, the first leg, and the second leg of the robot shown in FIG. 1 .
FIGS. 12 - 15 are partially schematic diagrams showing kinematic chains corresponding to the first arm, the second arm, the first leg, and the second leg of the robot shown in FIG. 1 .
FIGS. 16 - 19 are partially transparent perspective views of the first arm, the second arm, the first leg, and the second leg, respectively, of the robot shown in FIG. 1 .
FIG. 20 is a side profile view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot.
FIG. 21 is a front profile view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 20 along the kinematic chain of FIG. 12 .
FIG. 22 is a top plan view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 21 along the kinematic chain of FIG. 12 .
FIG. 23 is a side profile view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 22 along the kinematic chain of FIG. 12 .
FIGS. 24 and 25 are perspective views of a portion of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 23 along the kinematic chain of FIG. 12 .
FIG. 26 is a side profile view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIGS. 24 and 25 along the kinematic chain of FIG. 12 .
FIG. 27 is a top plan view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 26 along the kinematic chain of FIG. 12 .
FIG. 28 is a front profile view of the first leg of the robot shown in FIG. 1 indicating isolated motion about a leg joint of the robot along the kinematic chain of FIG. 14 .
FIG. 29 is a top plan view of the first leg of the robot shown in FIG. 1 indicating isolated motion about a leg joint of the robot distal to the leg joint of FIG. 28 along the kinematic chain of FIG. 14 .
FIG. 30 is a side profile view of the first leg of the robot shown in FIG. 1 indicating isolated motion about a leg joint of the robot distal to the leg joint of FIG. 29 along the kinematic chain of FIG. 14 .
FIG. 31 is a side profile view of the first leg of the robot shown in FIG. 1 indicating isolated motion about two leg joints of the robot distal to the leg joint of FIG. 30 along the kinematic chain of FIG. 14 .
FIGS. 32 and 33 are side profile views of the first leg of the robot shown in FIG. 1 indicating isolated motion about a leg joint of the robot distal to the leg joints of FIG. 31 along the kinematic chain of FIG. 14 .
FIG. 34 is a block diagram illustrating an electrical and computer system of the robot shown in FIG. 1 .
FIGS. 35 - 38 are a partial perspective view, a partial front profile view, a partial side profile view, and a partial top plan view, respectively, of the robot shown in FIG. 1 .
FIG. 39 is a partial perspective view of a robot in accordance with at least some embodiments of the present technology.
FIGS. 40 and 41 are partial side profile views of the robot shown in FIG. 39 and a box-shaped object at different respective times during an object-manipulating method in accordance with at least some embodiments of the present technology.
FIG. 42 is a partial perspective view of a robot in accordance with at least some embodiments of the present technology.
FIGS. 43 and 44 are partial side profile views of the robot shown in FIG. 42 with a protrusion of the robot in different respective states.
FIG. 45 is a partial perspective view of a robot in accordance with at least some embodiments of the present technology.
FIGS. 46 and 47 are partial side profile views of the robot shown in FIG. 45 with a protrusion of the robot in different respective states.
FIGS. 48 and 49 are partial front profile views of the robot shown in FIG. 45 and associated structures at different respective times during an object-manipulating method in accordance with at least some embodiments of the present technology.
FIG. 50 is a partial perspective view of a robot in accordance with at least some embodiments of the present technology.
FIGS. 51 and 52 are partial side profile views of the robot shown in FIG. 50 with protrusions of the robot in different respective states.
FIGS. 53 and 54 are partial front profile views of the robot shown in FIG. 50 and associated structures at different respective times during an object-manipulating method in accordance with at least some embodiments of the present technology.
FIGS. 55 - 57 are partial perspective views of the robot shown in FIG. 1 and an object with the robot in different respective carrying poses.
FIGS. 58 - 73 are top plan views and corresponding side profile views of the robot shown in FIG. 1 and associated structures at different respective times during a method for robotically moving multiple objects in accordance with at least some embodiments of the present technology.
FIG. 74 is a block diagram corresponding to a method for robotically moving an object in accordance with at least some embodiments of the present technology.
FIG. 75 is a block diagram corresponding to a method for robotically moving multiple objects in accordance with at least some embodiments of the present technology.
DETAILED DESCRIPTION
Disclosed herein are robots and associated devices, systems, and methods. Robots in accordance with at least some embodiments of the present technology include innovative features that facilitate supporting and/or manipulating objects at least partially from below the objects rather than only from the top and/or sides of the objects. This can be useful, for example, to increase the reliability, precision, and/or versatility of supporting and/or manipulating objects, to reduce or prevent damage to the objects, and/or for other reasons. In contrast to supporting and/or manipulating an object at least partially from below, supporting and/or manipulating an object from only the top or one side of the object (e.g., by suction) is far more prone to failure. Moreover, in contrast to supporting and/or manipulating an object at least partially from below, supporting and/or manipulating an object from only two sides of the object (e.g., by squeezing) is far more prone to damaging the object.
In the context of humanoid robotics and in other contexts, a challenge of supporting and/or manipulating objects at least partially from below is a lack of suitable structures to serve this purpose. Furthermore, even when such structures are available, use of the structures for this purpose may be suboptimal. For example, an end effector of an arm of a humanoid robot may be capable of contacting the bottom surface of an object and of maintaining this contact to support the weight of the object. It may be time consuming and inefficient, however, to move the end effector from a working position above or beside the object to a position below the object. Supporting the weight of an object via an end effector also may call for sustained work from one or more actuators associated with the end effector, undesirably consuming energy and generating heat for prolonged periods. Furthermore, the size, shape, material, and/or other features of an end effector may be advantageous for certain functions of the end effector, but disadvantageous for supporting and/or manipulating objects from below. For example, a small end effector may be more maneuverable than a larger end effector and therefore advantageous for retrieving objects in tight spaces while being less suitable than a larger end effector for distributing the weight of heavy objects while supporting such objects from below. Furthermore, using an end effector to at least partially support and/or manipulate an object from below may unduly interfere with using the end effector for other purposes. For example, while positioned below an object, an end effector may be unavailable to interact with the environment, such as to retrieve another object, to open a door, to remove an obstruction, etc. Robots in accordance with at least some embodi
CROSS-REFERENCE TO RELATED APPLICATION
This claims the benefit of U.S. Provisional Application No. 63/384,319, filed Nov. 18, 2022. The foregoing application is incorporated herein by reference in its entirety. To the extent the foregoing application and/or any other material incorporated herein by reference conflicts with the present disclosure, the preset disclosure controls.
TECHNICAL FIELD
The present technology relates to robots that manipulate objects.
BACKGROUND
Many simple tasks that humans currently perform are amenable to automation using robotics. Among such tasks are those involving moving goods between locations within distribution centers. For example, after a trailer or pallet containing goods arrives at a distribution center, humans typically move the goods from the trailer or pallet onto a conveyor that carries the goods to other locations within the distribution center for further processing. Similarly, although a conveyor can be used to deliver outgoing goods to a loading dock or palletizing station, humans are still needed to move the goods from the conveyor to outgoing trailers or pallets. Despite the apparent simplicity of loading and unloading trailers and pallets, these tasks have conventionally been difficult or impossible to fully automate. As another example, humans at distribution centers that handle order fulfillment for electronic commerce are often tasked with picking and packing goods for last mile delivery. These distribution centers are massive in scale and handle a wide variety of goods. Even with the aid of sophisticated route optimization systems, locating and retrieving goods to fill orders as needed tends to be labor intensive.
In the forgoing examples and in other cases, the use of human labor to perform repetitive and time-consuming tasks is inefficient. Human labor would be far better applied to more complex tasks, particularly those involving creativity or advanced problem solving. Presently, however, the need for distribution centers and humans to operate them is large and increasing rapidly as consumers shift toward electronic commerce. Due to the importance of this field, even small improvements in efficiency can have major impacts on macroeconomic productivity. For these and/or other reasons, there is a significant and growing need for innovation that supports automating simple tasks that humans currently perform at distribution centers and elsewhere.
BRIEF DESCRIPTION OF THE DRAWINGS
Certain aspects of the present technology can be better understood with reference to the following drawings. The relative dimensions in the drawings may be to scale with respect to some embodiments of the present technology. With respect to other embodiments, the drawings may not be to scale. The drawings may also be enlarged arbitrarily. For clarity, reference-number labels for analogous components or features may be omitted when the appropriate reference-number labels for such analogous components or features are clear in the context of the specification and all of the drawings considered together. Furthermore, the same reference numbers may be used to identify analogous components or features in multiple described embodiments.
FIGS. 1 and 2 are different perspective views of a robot in accordance with at least some embodiments of the present technology with the robot being in a first state.
FIG. 3 is a front profile view of the robot in the first state shown in FIG. 1 .
FIGS. 4 - 7 are perspective views of a first arm, a second arm, a first leg, and a second leg, respectively, of the robot shown in FIG. 1 .
FIGS. 8 - 11 are silhouette views of the first arm, the second arm, the first leg, and the second leg of the robot shown in FIG. 1 .
FIGS. 12 - 15 are partially schematic diagrams showing kinematic chains corresponding to the first arm, the second arm, the first leg, and the second leg of the robot shown in FIG. 1 .
FIGS. 16 - 19 are partially transparent perspective views of the first arm, the second arm, the first leg, and the second leg, respectively, of the robot shown in FIG. 1 .
FIG. 20 is a side profile view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot.
FIG. 21 is a front profile view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 20 along the kinematic chain of FIG. 12 .
FIG. 22 is a top plan view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 21 along the kinematic chain of FIG. 12 .
FIG. 23 is a side profile view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 22 along the kinematic chain of FIG. 12 .
FIGS. 24 and 25 are perspective views of a portion of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 23 along the kinematic chain of FIG. 12 .
FIG. 26 is a side profile view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIGS. 24 and 25 along the kinematic chain of FIG. 12 .
FIG. 27 is a top plan view of the first arm of the robot shown in FIG. 1 indicating isolated motion about an arm joint of the robot distal to the arm joint of FIG. 26 along the kinematic chain of FIG. 12 .
FIG. 28 is a front profile view of the first leg of the robot shown in FIG. 1 indicating isolated motion about a leg joint of the robot along the kinematic chain of FIG. 14 .
FIG. 29 is a top plan view of the first leg of the robot shown in FIG. 1 indicating isolated motion about a leg joint of the robot distal to the leg joint of FIG. 28 along the kinematic chain of FIG. 14 .
FIG. 30 is a side profile view of the first leg of the robot shown in FIG. 1 indicating isolated motion about a leg joint of the robot distal to the leg joint of FIG. 29 along the kinematic chain of FIG. 14 .
FIG. 31 is a side profile view of the first leg of the robot shown in FIG. 1 indicating isolated motion about two leg joints of the robot distal to the leg joint of FIG. 30 along the kinematic chain of FIG. 14 .
FIGS. 32 and 33 are side profile views of the first leg of the robot shown in FIG. 1 indicating isolated motion about a leg joint of the robot distal to the leg joints of FIG. 31 along the kinematic chain of FIG. 14 .
FIG. 34 is a block diagram illustrating an electrical and computer system of the robot shown in FIG. 1 .
FIGS. 35 - 38 are a partial perspective view, a partial front profile view, a partial side profile view, and a partial top plan view, respectively, of the robot shown in FIG. 1 .
FIG. 39 is a partial perspective view of a robot in accordance with at least some embodiments of the present technology.
FIGS. 40 and 41 are partial side profile views of the robot shown in FIG. 39 and a box-shaped object at different respective times during an object-manipulating method in accordance with at least some embodiments of the present technology.
FIG. 42 is a partial perspective view of a robot in accordance with at least some embodiments of the present technology.
FIGS. 43 and 44 are partial side profile views of the robot shown in FIG. 42 with a protrusion of the robot in different respective states.
FIG. 45 is a partial perspective view of a robot in accordance with at least some embodiments of the present technology.
FIGS. 46 and 47 are partial side profile views of the robot shown in FIG. 45 with a protrusion of the robot in different respective states.
FIGS. 48 and 49 are partial front profile views of the robot shown in FIG. 45 and associated structures at different respective times during an object-manipulating method in accordance with at least some embodiments of the present technology.
FIG. 50 is a partial perspective view of a robot in accordance with at least some embodiments of the present technology.
FIGS. 51 and 52 are partial side profile views of the robot shown in FIG. 50 with protrusions of the robot in different respective states.
FIGS. 53 and 54 are partial front profile views of the robot shown in FIG. 50 and associated structures at different respective times during an object-manipulating method in accordance with at least some embodiments of the present technology.
FIGS. 55 - 57 are partial perspective views of the robot shown in FIG. 1 and an object with the robot in different respective carrying poses.
FIGS. 58 - 73 are top plan views and corresponding side profile views of the robot shown in FIG. 1 and associated structures at different respective times during a method for robotically moving multiple objects in accordance with at least some embodiments of the present technology.
FIG. 74 is a block diagram corresponding to a method for robotically moving an object in accordance with at least some embodiments of the present technology.
FIG. 75 is a block diagram corresponding to a method for robotically moving multiple objects in accordance with at least some embodiments of the present technology.
DETAILED DESCRIPTION
Disclosed herein are robots and associated devices, systems, and methods. Robots in accordance with at least some embodiments of the present technology include innovative features that facilitate supporting and/or manipulating objects at least partially from below the objects rather than only from the top and/or sides of the objects. This can be useful, for example, to increase the reliability, precision, and/or versatility of supporting and/or manipulating objects, to reduce or prevent damage to the objects, and/or for other reasons. In contrast to supporting and/or manipulating an object at least partially from below, supporting and/or manipulating an object from only the top or one side of the object (e.g., by suction) is far more prone to failure. Moreover, in contrast to supporting and/or manipulating an object at least partially from below, supporting and/or manipulating an object from only two sides of the object (e.g., by squeezing) is far more prone to damaging the object.
In the context of humanoid robotics and in other contexts, a challenge of supporting and/or manipulating objects at least partially from below is a lack of suitable structures to serve this purpose. Furthermore, even when such structures are available, use of the structures for this purpose may be suboptimal. For example, an end effector of an arm of a humanoid robot may be capable of contacting the bottom surface of an object and of maintaining this contact to support the weight of the object. It may be time consuming and inefficient, however, to move the end effector from a working position above or beside the object to a position below the object. Supporting the weight of an object via an end effector also may call for sustained work from one or more actuators associated with the end effector, undesirably consuming energy and generating heat for prolonged periods. Furthermore, the size, shape, material, and/or other features of an end effector may be advantageous for certain functions of the end effector, but disadvantageous for supporting and/or manipulating objects from below. For example, a small end effector may be more maneuverable than a larger end effector and therefore advantageous for retrieving objects in tight spaces while being less suitable than a larger end effector for distributing the weight of heavy objects while supporting such objects from below. Furthermore, using an end effector to at least partially support and/or manipulate an object from below may unduly interfere with using the end effector for other purposes. For example, while positioned below an object, an end effector may be unavailable to interact with the environment, such as to retrieve another object, to open a door, to remove an obstruction, etc. Robots in accordance with at least some embodiments of the present technology include features that at least partially address the foregoing and/or other problems.
A robot in accordance with at least some embodiments of the present technology includes a torso, two arms extending laterally from a superior portion of the torso, and a protrusion extending anteriorly from an inferior portion of the torso. Due to its position, shape, size, and/or for one or more other reasons, the protrusion can be well suited to supporting an object from below. While the protrusion provides this support, at least one of the arms can serve another useful purpose. For example, while the protrusion at least partially supports a weight of an object from below, an arm that would otherwise provide this support can contact a side of the object to at least partially inhibit lateral displacement of the object relative to the torso, contact a front of the object to at least partially inhibit forward displacement of the object relative to the torso, be occupied with a task unrelated to the object (e.g., retrieving a different object), and/or serve one or more other useful purposes. In this or another way, the protrusion can allow object-manipulation via the arms faster, more efficient, more reliable, etc. In addition or alternatively, the protrusion can provide other useful functions. For example, the protrusion can be movable relative to the torso to facilitate dispensing an object. These and other features of robots and associated devices, systems, and methods in accordance with various embodiments of the present technology are further described below with reference to FIGS. 1 - 75 .
Although devices, systems, and methods may be described herein primarily or entirely in the context of robotic manipulation of boxes, other contexts are within the scope of the present technology. For example, suitable features of described devices, systems, and methods can be implemented in the context of robotically manipulating boxes using only one or more than two robotic arms. As another example, suitable features of described devices, systems, and methods can be implemented in the context of robotically manipulating objects other than boxes, such as totes, crates, non-packaged hard goods, irregularly shaped objects, etc. Furthermore, it should be understood, in general, that other devices, systems, and methods in addition to those disclosed herein are within the scope of the present disclosure. For example, devices, systems, and methods in accordance with embodiments of the present technology can have different and/or additional configurations, components, procedures, etc. than those disclosed herein. Moreover, devices, systems, and methods in accordance with embodiments of the present disclosure can be without one or more of the configurations, components, procedures, etc. disclosed herein without deviating from the present technology.
Robot Systems
FIGS. 1 and 2 are different perspective views of a robot 100 in accordance with at least some embodiments of the present technology. FIG. 3 is a front profile view of the robot 100 . As shown in FIGS. 1 - 3 , the robot 100 can have a humanoid form. The robot 100 can include structures resembling human anatomy with respect to the features, positions, and/or other characteristics of such structures. In at least some cases, the robot 100 defines a midsagittal plane 102 about which the robot 100 is bilaterally symmetrical. In these and other cases, the robot 100 can be configured for bipedal locomotion similar to that of a human. Counterparts of the robot 100 can have other suitable forms and features. For example, a counterpart of the robot 100 can have a non-humanoid form, such as a canine form, an insectoid form, an arachnoid form, or a form with no animal analog. Furthermore a counterpart of the robot 100 can be asymmetrical or have symmetry other than bilateral. Still further, a counterpart of the robot 100 can be configured for non-bipedal locomotion. For example, a counterpart of the robot 100 can be configured for another type of legged locomotion (e.g., quadrupedal locomotion, octopedal locomotion, etc.) and/or non-legged locomotion (e.g., wheeled locomotion, continuous-track locomotion, etc.).
With reference again to FIGS. 1 - 3 , the robot 100 can include a centrally disposed body 103 through which other structures of the robot 100 are interconnected. As all or a portion of the body 103 , the robot 100 can include a torso 104 having a superior portion 106 , an inferior portion 108 , and an intermediate portion 109 therebetween. The robot 100 can define a transverse plane 110 from which the superior and inferior portions
106 , 108 of the torso 104 are respectively superiorly and inferiorly spaced apart. The robot 100 can further include a head 111 superiorly spaced apart from the torso 104 . The robot 100 can also include a neck 112 through which the head 111 is connected to the torso 104 via the superior portion 106 of the torso 104 . The head 111 can have an anteriorly directed display 113 including light-emitting diodes selectively controllable to create a composite, pixelated image evocative of human facial expression. The robot 100 can further include an anteriorly directed audio transmissive window 114 at the intermediate portion 109 of the torso 104 , a posteriorly directed exhaust vent 115 at the inferior portion 108 of the torso 104 , and handles 116 a , 116 b extending, respectively, posteriorly from the superior portion 106 of the torso 104 and posteriorly from the inferior portion 108 of the torso 104 . The robot 100 can still further include sensor arrays 117 (individually identified as sensor arrays 117 a - 117 d ) carried by the torso 104 and the head 111 . The sensor arrays
117 a , 117 b can be at the superior portion 106 of the torso 104 and anteriorly and posteriorly directed, respectively. The sensor arrays
117 c , 117 d can be at opposite respective sides of the head 111 and can be directed in opposite respective lateral directions.
The robot 100 can further include a protrusion 118 extending anteriorly from the torso 104 . In at least some cases, the robot 100 is configured to support a weight of an object at least partially via the protrusion 118 . The robot 100 can further include articulated appendages carried by the torso 104 . Among these articulated appendages, the robot 100 can include arms
119 a , 119 b and legs
120 a , 120 b . In at least some cases, the robot 100 is configured to manipulate objects via the arms
119 a , 119 b , such as bimanually. In these and other cases, the robot 100 can be configured to ambulate via the legs
120 a , 120 b , such as bipedally. FIGS. 4 - 15 show selected features of the arms
119 a , 119 b and legs
120 a , 120 b in greater detail. In particular, FIGS. 4 - 7 are perspective views of the arms
119 a , 119 b and legs
120 a , 120 b , respectively. FIGS. 8 - 11 are silhouette views of the arms
119 a , 119 b and legs
120 a , 120 b , respectively. Finally, FIGS. 12 - 15 are partially schematic diagrams showing kinematic chains corresponding to the arms
119 a , 119 b and legs
120 a , 120 b , respectively. In FIGS. 12 - 15 , lines represent links, filled circles represent active joints, and open circles represent inactive joints.
With reference to FIGS. 1 - 15 together, the arms
119 a , 119 b can define respective arm lengths 122 a , 122 b extending from the torso 104 . For clarity of illustration, the arm lengths 122 a , 122 b are only indicated in FIGS. 8 and 9 , respectively. The arms
119 a , 119 b can have respective proximal end portions
124 a , 124 b and respective distal end portions
126 a , 126 b at opposite ends of the respective arm lengths 122 a , 122 b . The arms
119 a , 119 b can be connected to the torso 104 via the respective proximal end portions
124 a , 124 b thereof and the superior portion 106 of the torso 104 . Similar to the arms
119 a , 119 b , the legs
120 a , 120 b can define respective leg lengths
128 a , 128 b extending from the torso 104 . For clarity of illustration, the leg lengths
128 a , 128 b are only indicated in FIGS. 10 and 11 , respectively. The legs
120 a , 120 b can have respective proximal end portions
130 a , 130 b and respective distal end portions
132 a , 132 b at opposite ends of the respective leg lengths
128 a , 128 b . The legs
120 a , 120 b can be connected to the torso 104 via the respective proximal end portions
130 a , 130 b thereof and the inferior portion 108 of the torso 104 .
The arms
119 a , 119 b and the legs
120 a , 120 b can define kinematic chains. In at least some cases, the kinematic chains corresponding to the arms
119 a , 119 b provide at least five degrees of freedom, such as exactly five or exactly six degrees of freedom. In these and other cases, the kinematic chains corresponding to the legs
120 a , 120 b can provide at least four degrees of freedom, such as exactly four, exactly five, or exactly six degrees of freedom. The robot 100 can include links at progressively more distal (i.e., lower) levels within the kinematic chains corresponding to the arms
119 a , 119 b and the legs
120 a , 120 b and at progressively more distal (i.e., farther) positions along the arm lengths 122 a , 122 b and the leg lengths
128 a , 128 b . As parts of the arms
119 a , 119 b , the robot 100 can include proximal shoulder links
134 a , 134 b , distal shoulder links
136 a , 136 b , upper arm links 138 a , 138 b , elbow links
140 a , 140 b , lower arm links
142 a , 142 b , and wrist links
144 a , 144 b . Similarly, as parts of the legs
120 a , 120 b , the robot 100 can include proximal hip links
146 a , 146 b , distal hip links
148 a , 148 b , proximal thigh links
150 a , 150 b , distal thigh links
152 a , 152 b , and calf links
154 a , 154 b.
As further parts of the arms
119 a , 119 b , the robot 100 can include end effectors
156 a , 156 b opposite to the proximal end portions
124 a , 124 b along the arm lengths 122 a , 122 b and distal to the wrist links 144 a , 144 b . As further parts of the legs
120 a , 120 b , the robot 100 can include feet
158 a , 158 b opposite to the proximal end portions
130 a , 130 b along the leg lengths
128 a , 128 b and distal to the calf links 154 a , 154 b . The end effectors
156 a , 156 b can be at distalmost positions along the arm lengths 122 a , 122 b . Similarly, the feet
158 a , 158 b can be at distalmost positions along the <figure-ca
CLAIMS
Claims ( 20 )
We claim:
1. A robot, comprising:
a torso having a superior portion, an inferior portion, and an intermediate portion therebetween;
two legs connected to the torso via the inferior portion of the torso, wherein the robot is configured to ambulate via the legs:
two arms connected to the torso, wherein the robot is configured to move an object toward the torso at least partially via contact between the object and at least one of the arms; and
a protrusion extending anteriorly from the torso, wherein the robot is configured to support a weight of the object at least partially via the protrusion while the robot ambulates via the legs, wherein the protrusion is configured to move superiorly relative to the torso while the robot supports the weight of the object at least partially via the protrusion.
2. The robot of claim 1 , wherein the arms are connected to the torso via the superior portion of the torso.
3. The robot of claim 1 , wherein the robot is configured to at least partially inhibit lateral displacement of the object relative to the torso via at least one of the arms while supporting the weight of the object at least partially via the protrusion.
4. The robot of claim 1 , wherein a maximum distance between the protrusion and a superiormost portion of the torso is at least 50% greater than a maximum distance between the protrusion and an inferiormost portion of the torso.
5. The robot of claim 1 , wherein:
the robot defines a midsagittal plane extending through the torso and the protrusion; and
the protrusion defines a convex anterior profile at the midsagittal plane.
6. The robot of claim 1 , wherein:
the robot defines a midsagittal plane extending through the torso and the protrusion; and
the protrusion is substantially symmetrical about the midsagittal plane.
7. The robot of claim 1 , wherein the protrusion is configured to deflect the object superiorly relative to the torso while the robot moves the object toward the torso at least partially via contact between the object and at least one of the arms.
8. The robot of claim 1 , wherein the protrusion is configured to move relative to the torso to at least partially cause the object to move downward relative to the torso in response to gravity.
9. The robot of claim 1 , wherein the protrusion is configured to move relative to the torso to at least partially cause the object to move laterally relative to the torso in response to gravity.
10. The robot of claim 1 , wherein the protrusion is connected to the torso via the inferior portion of the torso.
11. A robot, comprising:
a torso having a superior portion, an inferior portion, and an intermediate portion therebetween:
two legs connected to the torso via the inferior portion of the torso, wherein the robot is configured to ambulate via the legs;
two arms connected to the torso, wherein the robot is configured to move an object toward the torso at least partially via contact between the object and at least one of the arms; and
a protrusion extending anteriorly from the torso, wherein the robot is configured to support a weight of the object at least partially via the protrusion while the robot ambulates via the legs, and, wherein the protrusion is configured to retract posteriorly at least partially into the torso.
12. The robot of claim 11 , wherein:
the protrusion is a first protrusion;
the robot further comprises a second protrusion extending anteriorly from the torso;
the first and second protrusions are laterally spaced apart from one another; and
the robot is configured to support the weight of the object at least partially via the first and second protrusions while the robot ambulates via the legs.
13. The robot of claim 11 , wherein:
the arms individually define an arm length extending from the torso;
the arms individually include:
a proximal end portion through which the arm is connected to the torso, and
an end effector opposite to the proximal end portion along the arm length; and
the robot is configured to at least partially inhibit forward displacement of the object relative to the torso via contact between the object and at least one of the end effectors while the robot ambulates via the legs.
14. The robot of claim 11 , wherein the protrusion is connected to the torso via the inferior portion of the torso.
15. The robot of claim 14 , wherein the arms extend laterally from the superior portion of the torso.
16. The robot of claim 15 , wherein:
the robot defines a midsagittal plane extending through the torso; and
the arms are connected to the torso at opposite respective sides of the midsagittal plane.
17. A robot, comprising:
a torso having a superior portion, an inferior portion, and an intermediate portion therebetween, wherein the the robot defines a midsagittal plane extending through the torso;
two legs connected to the torso via the inferior portion of the torso, wherein the robot is configured to ambulate via the legs;
two arms connected to the torso, wherein the robot is configured to move an object toward the torso at least partially via contact between the object and at least one of the arms;
a protrusion including a shelf extending anteriorly from the torso; and
a track through which the shelf is connected to the torso,
wherein:
the shelf is configured to move superiorly relative to the torso via the track,
the shelf defines a shelf width perpendicular to the midsagittal plane,
the shelf defines a shelf depth parallel to the midsagittal plane and perpendicular to the shelf width,
the shelf defines a shelf thickness perpendicular to the shelf width and perpendicular to the shelf depth,
the shelf includes a superior major surface and an inferior major surface spaced apart from one another along the shelf thickness, and
the robot is configured to support a weight of the object at least partially via an interface between the object and the superior major surface of the shelf while the robot ambulates via the legs.
18. The robot of claim 17 , further comprising a joint through which the shelf is connected to the torso, wherein the shelf is configured to rotate relative to the torso via the joint about an axis within 10 degrees of perpendicular to the midsagittal plane.
19. The robot of claim 17 , further comprising a joint through which the shelf is connected to the torso, wherein the shelf is configured to rotate relative to the torso via the joint about an axis within 10 degrees of parallel to the midsagittal plane.
20. The robot of claim 16 , wherein a maximum distance between the protrusion and a superiormost portion of the torso is at least 50% greater than a maximum distance between the protrusion and an inferiormost portion of the torso.
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