ELECTROMECHANICALLY COUNTERBALANCED HUMANOID ROBOTIC SYSTEM

摘要

Systems and methods related to construction, configuration, and utilization of humanoid robotic systems and aspects thereof are described. A system may include a mobile base, a spine structure, a body structure, and at least one robotic arm, each of which is movably configured to have significant human-scale capabilities in prescribed environments. The one or more robotic arms may be rotatably coupled to the body structure, which may be mechanically associated with the mobile base and spine such that it may be deflectably elevated and rolled relative to the base simultaneously and independently. Aspects of the one or more arms may be counterbalanced with one or more spring-based counterbalancing mechanisms which facilitate backdriveability and payload features.

主权项

1. A humanoid robotic system comprising:
a. a mobile base comprising a base frame and a plurality of wheels rotatably coupled to the base frame and configured to controllably navigate floors through contact with a generally planar floor surface; b. an elongate spine structure fixedly coupled to the mobile base and projecting from said mobile base along a longitudinal axis of the elongate spine structure that is substantially perpendicular from the plane of the generally planar floor surface; c. a body structure slidably and rotatably coupled to the elongate spine structure, the body structure having spine interface configured to facilitate rolling of the body structure about a roll axis substantially coincident with the longitudinal axis of the elongate spine structure, as well as simultaneous and independent axial defection of the body relative to the mobile base in a direction substantially parallel to the longitudinal axis of the elongate spine structure; and d. at least one robotic arm rotatably coupled to the body structure.