Humanoid robot and special moving chair thereof

Abstract

The invention provides a humanoid robot and a special moving chair thereof, aiming at solving the problem that the humanoid robot is difficult to realize high simulation of a human body. The humanoid robot is characterized in that the humanoid robot is provided with a highly-simulated meat body and has humanoid activity capabilities of four limbs, the head, the neck, the waist and the abdomen in a lying and sitting state and rich facial expressions; the special movable chair is provided with a mechanical arm which can do simple work and is provided with a manipulator. The system has visual and hearing functions, can provide limb emotion accompanying, depends on the Ai technology, and can also provide language communication like a real person. When the humanoid robot is held up by a person and placed in the movable chair, a combined robot which can provide emotion accompanying and can be used for simple labor service is formed. As autonomous walking is not needed, a driving mechanism and a control system in the limbs are remarkably simplified, the weight and the occupied space of mechanical parts are remarkably reduced, and skin and skeleton structures are more easily and highly personified. The method is expected to accelerate and propel humanoid robot products to enter the market on a large scale.

Description

Technical Field

[0001] This invention belongs to the field of robotics, and particularly relates to a humanoid robot. Background Technology

[0002] Currently, highly realistic humanoid robots are at a critical inflection point, transitioning from laboratory technology demonstrations to large-scale commercialization. However, the requirements for "simulation" differ fundamentally across different scenarios:

[0003] 1. Industrial Manufacturing Scenarios (Dehumanization): In industrial fields such as automobile manufacturing and logistics, the core requirements are production efficiency and load capacity. These scenarios do not require highly human-like robots. Standardized robotic arms or industrial-grade humanoid robots can meet the needs due to their robustness, durability, and high efficiency. "Human-likeness" is not their core indicator.

[0004] 2. Family Emotional Scenarios (Highly Realistic): Upon entering the home environment, robots need to evolve from cold, impersonal "tools" into "emotional companions and domestic helpers capable of performing simple chores," providing emotional value and basic practicality. To overcome the "uncanny valley" effect and truly integrate into family life, highly realistic humanoid robots must achieve full-sensory interaction. This not only requires them to closely resemble real people in appearance and posture but also to achieve a level of realism in skin touch, body temperature, and micro-expression feedback, enabling them to perform basic human movements and thus build emotional trust and acceptance from users.

[0005] Despite the promising commercial prospects of emotional companion robots, current technology struggles to support an "extremely human-like" experience, with core technologies hampered by the insurmountable physical barrier. The main challenges lie in the following four technological and physical bottlenecks:

[0006] 1. The "Skin-Wrapped-in-Iron" Dilemma of Limb Structure

[0007] 1) Current situation: Although current humanoid robots have smooth gait (such as walking "cat walk") and complex limb movements, their internal structure is still based on heavy and space-consuming rigid metal joints and motors.

[0008] 2) Bottleneck: Existing highly realistic humanoid robots with walking capabilities only have a single layer of simulated skin, failing to replicate the deep structure of human subcutaneous fat and muscle fibers. When users come into contact with the limbs of these robots that closely resemble humans, their fingertips directly touch the hard outer shell or mechanical skeletal structure, producing a cold, robotic feel that is completely unlike the sensation of touching real human skin. This lack of natural elasticity and deep tactile sensation instantly shatters the sense of immersion, causing users to experience psychological resistance and exacerbating the "uncanny valley effect," severely limiting their market prospects for integration into the home environment.

[0009] 2. The "handshake" barrier of dexterous hands

[0010] 1) Current status: Dexterity hand technology is quite mature, enabling complex anthropomorphic actions such as fine grasping and playing the piano.

[0011] 2) Bottleneck: Limited by the size and shape of the actuators inside the fingers, robotic hands struggle to simulate the complex skeletal and muscular distribution of a human hand. Current dexterous hands are mostly made of rigid materials or simple flexible wrapping, lacking the warmth, muscle deformation, and softness of a real hand when shaking hands. This tactile feedback of "shaking hands with a machine" makes the most basic physical contact in emotional communication stiff and lacking in warmth, easily leading to the "uncanny valley effect" in users.

[0012] 3. Sensory fragmentation of "head and body separation"

[0013] 1) Current situation: Bionic face technology is developing rapidly, and flexible facial skin, real-time eye tracking, and rich micro-expressions are already highly realistic.

[0014] 2) Bottleneck: The industry suffers from a clear "strong head, weak body" phenomenon. Highly realistic heads can only be connected to highly mechanized robot torsos, lacking a matching humanoid tactile body. This stark contrast between the "hyper-realistic head" and the "industrialized body" exacerbates the disharmony between vision and touch, making it difficult to form a unified perception of a "humanoid" life form.

[0015] 4. The Discontinuity Between Static Simulation and Dynamic Intelligence

[0016] 1) Current situation: Silicone sex dolls in the adult product market are extremely close to real people in terms of appearance and touch, and even have bionic skeletons.

[0017] 2) Bottleneck: These products are essentially static "expensive toys," lacking a "brain" and "soul." They cannot engage in voice interaction, autonomous activity, or emotional feedback through embodied intelligence like humanoid robots. Current technology struggles to perfectly integrate the "ultimate tactile sensation of a sex doll" with the "dynamic intelligence of a robot," resulting in a lack of perfect products on the market that can provide both deep emotional communication and realistic physical comfort.

[0018] In conclusion, the current industry of highly realistic humanoid robots for home use faces the awkward situation of "having ample intelligence but lacking in physical capabilities." Whether it's the "hard-hitting" physicality of an Iron Man-like robot torso or the "motion imitation" of laboratory robots, the core challenges of artificial muscles and skin have not yet been solved.

[0019] Until breakthroughs are made in artificial muscle technology (such as dielectric elastomers and pneumatic artificial muscles) that can truly simulate the structure and deep tactile sensation of real human skin, it will be difficult for highly realistic humanoid robots that truly meet human emotional needs to be produced on the market. This is not only a challenge in algorithms, but also the ultimate test for materials science and bioengineering. Summary of the Invention

[0020] To overcome the aforementioned bottlenecks in the field of highly realistic humanoid robot technology and to effectively promote the entry of highly realistic humanoid robot products into the home environment, this invention proposes a humanoid robot and its dedicated mobile chair, characterized by:

[0021] Its components include a humanoid robot and a movable, electrically powered chair that can carry this humanoid robot.

[0022] Humanoid robots and mobile chairs receive and execute instructions from the intelligent control system;

[0023] Humanoid robots possess physical characteristics that mimic the human body's surface and major organs;

[0024] The humanoid robot's body surface has the elasticity and deep structure of human skin;

[0025] The humanoid robot has drive devices in its torso, head, neck and limbs that can receive instructions from the intelligent control system. These drive devices can at least drive the humanoid robot to perform the movements of its limbs, head, neck, waist and abdomen and hands and feet, as well as the movements of its eyebrows, eyes and mouth, in the manner that a normal human can perform when in a sitting or lying position.

[0026] Humanoid robots should at least have basic visual perception, voice interaction, limb movement in sitting or lying positions, and emotional expression capabilities.

[0027] At least part of the humanoid robot's body surface and simulated organs have force sensing systems;

[0028] The temperature of at least a portion of the humanoid robot's body surface is controlled by a body temperature system;

[0029] The structure of a mobile chair includes at least a seat cushion, backrest, armrests, footrest, and base;

[0030] The portable chair contains batteries;

[0031] The intelligent control system can drive the movable chair to move, turn, rotate, and stay in place;

[0032] The mobile chair has an automatic charging function that finds a preset charging port.

[0033] Once the humanoid robot sits in the mobile chair, the chair can charge the battery inside the humanoid robot using a pre-set contactless charging system.

[0034] Based on the aforementioned technical features, this invention limits the humanoid robot's physical activity capabilities to the following: when in a sitting or lying position, its limbs, torso, abdomen, head, and neck can perform human-like combined movements. For example, the limbs, abdomen, head, and neck can naturally extend, swing, and bend within a human-like range of motion. However, it does not require the robot to have the ability to stand up independently without external assistance, maintain a standing position, or walk independently. It also does not require its hands and fingers to be as flexible as human fingers, capable of performing complex tasks, or that these human-like movements necessarily possess great strength. It allows for a degree of weakness, even to the point of being "too weak to even kill a chicken," and allows for hands that cannot perform simple operations even a child could do.

[0035] Providing extremely light-load, low-precision motion capabilities for the limbs, head, neck, and waist of humanoid robots that do not require autonomous walking can already be achieved using existing technologies. Examples include rope-wheel drive systems, fluid drive systems, electromagnetic actuator drive systems, dielectric elastomer linear actuators, and pneumatic artificial muscles.

[0036] Since this humanoid robot's hands do not need to perform manual labor such as picking up various objects or organizing items, they do not need to meet the functional requirements of current dexterous hand products. Even if the functional requirements are increased, it is only necessary for its thumb and other four fingers to be able to perform simple light gripping functions and make simple human-like gestures in combination with the wrist.

[0037] Based on the above conditions, the internal transmission and execution mechanisms of this humanoid robot are significantly simplified, the volume and weight of each component are significantly reduced, and the transmission system is more easily integrated with the simulated skeleton. The main drive components can be arranged as much as possible in the simulated chest cavity, pelvic cavity, and cranial cavity, and power can be output to each joint through tendons and guide wheels or other transmission means. These internal components occupy very little space and fit snugly against the simulated skeleton, so they will not be touched by fingers touching, pressing, or stroking the skin. In this way, not only can ample space be left for the humanoid skin with deep simulated muscle structure, but the overall weight of the humanoid robot can also be greatly reduced. In addition, with the option of choosing composite multi-layer simulated muscle materials with a lower overall specific gravity, the weight of the entire body can be controlled at a level that an average adult can easily lift, such as below 30kg.

[0038] Since the humanoid robot does not need to have the ability to walk autonomously using its own legs, the performance requirements of the joint actuators are greatly reduced, resulting in smaller size and weight, lower energy consumption, and fewer degrees of freedom. It can be expected that, based on existing transmission technologies, a variety of new linear or rotary actuators highly suitable for this type of humanoid robot will soon emerge. These new actuators may have lower load capacity and power density, but they are slim and compact, require little installation space, operate with minimal noise, have high response speed, sufficient extension speed, high reliability, and low cost, making them sufficient to support the light-load limb movements of this humanoid robot.

[0039] This new type of humanoid robot, which does not require autonomous walking, no longer needs to be equipped with the dynamic autonomous balancing hardware and software system required by existing autonomous walking robots, thus significantly reducing system complexity and component costs.

[0040] The present invention proposes a mobile chair with armrests and backrest that can move autonomously for such humanoid robots, providing them with relatively autonomous movement, the ability to maintain a sitting posture, and contactless charging capabilities.

[0041] Because there is no rigid connection between the mobile chair and the humanoid robot, the lightweight humanoid robot can be picked up or placed into the mobile chair by the user. This humanoid robot is like an "extremely lazy" person who is healthy, has all four limbs, and can talk, but only wants to be carried, never gets up to walk, and doesn't want to do any work.

[0042] Clearly, depending on the need, users can place this highly realistic humanoid robot with a physical body into an ordinary wheelchair, take it out of the house, push it outdoors, or carry it into a car.

[0043] In order to make this humanoid robot at least "appear" capable of doing some housework, a further feature of the present invention is:

[0044] The mobile chair is equipped with a robotic arm;

[0045] The base of the robotic arm is located on the side of the mobile chair;

[0046] The robotic arm consists of an upper arm, a forearm, and a gripper connected by joints;

[0047] The robotic arm can rotate around a vertical axis located on the base;

[0048] The robotic arm operates according to the instructions of the intelligent control system.

[0049] Although the robotic arm mounted on the mobile chair can move autonomously and perform tasks suited to its capabilities, when the humanoid robot sits inside the chair, it appears to those around it as if the humanoid robot is "remotely controlling" the robotic arm. Of course, an intelligent control system that can uniformly control both the humanoid robot and the robotic arm can also utilize the humanoid robot's visual perception system to observe the work object and guide and control the robotic arm's movements.

[0050] Clearly, relying on existing intelligent robot and robotic arm technologies, the robotic arm function proposed in this invention, capable of performing household chores, can be easily realized. Furthermore, the cost is relatively low, the technology is mature, and a wide range of compatible product models are available. Customized robotic arms that match the appearance and function can be tailored to the structure of the movable chair.

[0051] In order to allow the humanoid robot to maintain a standing posture for a short period of time in front of the movable chair after the position is locked,

[0052] Furthermore,

[0053] The humanoid robot has controllable magnetic devices that can attract each other to the back of its knee joints and the front of its seat cushion.

[0054] To enable the humanoid robot sitting in the mobile chair to more reliably maintain a stable posture when the chair moves and tilts, and to move its limbs stably and reliably while keeping its body in contact with the back of the mobile chair,

[0055] Furthermore,

[0056] The back of the humanoid robot and the back of the mobile chair are equipped with controllable magnetic devices that can attract each other.

[0057] In order to allow the humanoid robot to lie in a relaxed posture inside the mobile chair for hibernation and charging

[0058] Furthermore,

[0059] The movable chair has a headrest at the top of the backrest, and the backrest can be tilted back.

[0060] In order for the mobile chair carrying the humanoid robot to move on uneven ground with slight undulations and obstacles...

[0061] Furthermore,

[0062] The mobile chair is equipped with mechanical legs that assist it in moving on uneven ground.

[0063] Furthermore,

[0064] The mechanical leg is equipped with electric casters at its bottom.

[0065] More specific technical features and beneficial effects of the present invention will be described in further detail in the following embodiments with reference to the accompanying drawings. Attached Figure Description

[0066] Figure 1 This is a perspective view of the humanoid robot and the mobile chair with a robotic arm in use, as described in Example 1.

[0067] Figure 2 This is a perspective view of the mobile chair with a robotic arm in Embodiment 1;

[0068] Figures 3 to 5 This is a perspective view of the right robotic arm of the mobile chair carrying the humanoid robot in Embodiment 1 when it is performing an operation.

[0069] Figure 6 This is a perspective view of the mobile chair carrying a humanoid robot in Example 1, showing its usage state when the two robotic arms work together to perform operational actions.

[0070] Figure 7 This is a perspective view of the use state of the mobile chair with headrest carrying the humanoid robot in Embodiment 2 when the backrest is reclined;

[0071] Figure 8 This is a perspective view of the mobile chair with footrests and headrest carrying the humanoid robot in Example 3 when it is in a reclining position.

[0072] Figure 9 , Figure 10 This is a perspective view of the right robotic arm of the humanoid robot in Example 4 when it is performing an operation.

[0073] Figure 11 This is a perspective view of the mobile chair with mechanical legs carrying a humanoid robot in the usage state of Example 5;

[0074] Figure 12 This is a perspective view of the use state of the movable chair in Example 5 when the mechanical leg of the chair makes a crossing motion;

[0075] Figure 13 This is a perspective view of the use state of the movable chair in Example 5 when the mechanical leg makes a turning motion;

[0076] Figure 14 It is a 3D diagram showing the usage state of a humanoid robot placed inside a regular wheelchair;

[0077] Figure 15 It is a 3D image showing a humanoid robot being placed inside a specialized outdoor electric wheelchair.

[0078] Figure label:

[0079] 1. Humanoid robot; 2. Movable chair; 21. Armrests; 22. Backrest; 23. Base; 24. Headrest; 25. Footrest.

[0080] 26_robotic arm base slide column, 27_seat cushion, 3_robotic arm, 31_robotic hand, 32_robotic arm lifting slide,

[0081] 33 - Robotic arm shoulder joint, 34 - Robotic arm elbow joint, 35 - Robotic arm wrist joint, 36 - Robotic arm upper arm.

[0082] 37 - Robotic arm forearm, 38 - Robotic arm base, 4 - Robotic leg, 41 - Robotic leg electric casters, 42 - Robotic leg thigh.

[0083] 43_Mechanical leg lower leg, 44_Mechanical leg top axle, 51_Non-powered wheelchair, 52_Electric wheelchair. Detailed Implementation

[0084] Embodiment 1 of the present invention is as follows Figures 1 to 6 As shown.

[0085] See Figure 1 The configuration of this embodiment includes a humanoid robot 1 and a movable, electrically powered mobile chair 2 that can carry the humanoid robot 1.

[0086] The humanoid robot 1's body is based on mature silicone doll technology. Its appearance, body shape, skin, internal skeleton, body hair, and major organs are highly similar to those of a real person. Its entire body has skin elasticity and deep structure that mimic the human body.

[0087] The humanoid robot 1 is equipped with drive devices in its torso, head, neck, and limbs that can receive commands from an intelligent control system. When the humanoid robot 1 is in a sitting or lying position, these drive devices can drive the humanoid robot 1's limbs, head, neck, waist, abdomen, hands, and feet to perform human-like movements according to commands, including swinging, bending, and extending the limbs, flexing and extending the waist and abdomen, twisting and swinging the head and neck, and performing simple grasping movements with the wrists and fingers. Through the intelligent control system, the humanoid robot 1 can autonomously turn over, straighten its back, and kneel when in a sitting or lying position.

[0088] This humanoid robot 1 possesses highly realistic body features that mimic the shape and dynamic characteristics of the human body, including facial muscles capable of expressing a wide range of expressions, eyes with a machine vision system that can follow the target's rotation, and a mouth that can open and close. It also has human-like hair, a highly realistic speech generation system, and a hearing system, enabling it to communicate with humans through language.

[0089] The drive mechanism inside the humanoid robot 1 and the moving mechanism of the mobile chair 2 receive and execute various control commands from the intelligent control system that is capable of communicating with each other, which is located inside the humanoid robot 1 and the base 23 of the mobile chair.

[0090] The humanoid robot 1 does not have the ability to stand up and walk independently. When picked up, the humanoid robot 1's limbs will cooperate with the picking action, making natural, humanoid movements of clinging and hugging.

[0091] The aforementioned limb movements of the humanoid robot 1 can all be achieved using existing joint drive technology, actuator products, control technology, transmission technology, and human motion algorithms used in humanoid robot products, and there are no major technical challenges to overcome. For example, the limbs can complete light-load movements using various lightweight and small rotary and linear actuators with low torque and low thrust in existing technologies and product lines, without the need for high-power actuators with high torque and thrust, but also large weight and size, required to support the robot in heavy physical work and autonomous walking and running.

[0092] Relying on existing humanoid robot skin sensing technology, the main areas of the humanoid robot 1 are equipped with skin sensing surfaces, which can sense and report the contact and pressure values ​​of external forces to the system.

[0093] The humanoid robot 1's body surface can be maintained at around 37 degrees Celsius for a period of time under the control of the body temperature system. Even when in a dormant state, it can quickly restore its body surface temperature when it is woken up or touched.

[0094] When the humanoid robot 1 is lying in the mobile chair 2 in a "resting with its eyes closed" state and charging at the same time, its internal transmission mechanism can be set to continuously drive parts such as the chest and abdomen to make rhythmic breathing movements, so as to give people around it the feeling that it is sleeping and maintain its sense of closeness with people.

[0095] While the above description only pertains to the functional description of the humanoid robot 1, for those skilled in the art, there are various and easily implementable alternatives for functions such as temperature control and skin pressure sensing, without relying on inventive methods. However, it is also foreseeable that after the publication of this invention, new humanoid robot joint drive technologies and other necessary technologies more suitable for this invention will emerge.

[0096] The movable chair 2 in this embodiment includes a seat cushion 27 with automatically adjustable height, a backrest 22 connected to the seat cushion 27, armrests 21 located on both sides of the seat cushion 27 and backrest 22, a footrest 25, and a base 23. The base 23 houses an intelligent control system and a battery pack, and is equipped with a non-contact power receiving device and an environmental sensing system. The base 23 has self-moving casters at its bottom. The intelligent control system can drive the movable chair 2 to move, turn, rotate, and stop on flat ground. The movable chair 2 has the function of automatically finding and charging at a preset charging port in a specific location within the room.

[0097] When the humanoid robot 1 sits in the mobile chair 2, the non-contact charging system located in the backrest 22 or seat cushion 27 of the mobile chair 2 can non-contactly charge the battery inside the humanoid robot 1 for the power receiving device placed in the skin on the back of the humanoid robot 1.

[0098] The mobile chair 2 is an intelligent device that can move autonomously and be controlled by an intelligent control system. Even if the humanoid robot 1 is not sitting in the mobile chair 2, the mobile chair 2 can operate independently and can move to the current location of the humanoid robot 1 at any time according to the instructions, so that the user can put the humanoid robot 1 into the mobile chair 2 as close as possible.

[0099] Although the mobile chair 2 itself does not necessarily have the functions of a service robot that can do simple housework, in order to make the humanoid robot "look" like it can do some housework rather than being an "idle person", the mobile chair 2 in this embodiment is equipped with a robotic arm 3 with an intelligent control system.

[0100] See Figures 1 to 6 The robotic arm base 38 is installed in the vertical groove of the robotic arm base slide column 26 at the front of the armrest 21 of the movable chair 2, and can be raised and lowered and slid.

[0101] The robotic arm shoulder joint 33 is connected to the upper part of the robotic arm base 38 via a vertical axis; the robotic arm upper arm 36 is hinged to the robotic arm shoulder joint 33, and the robotic arm forearm 37 is hinged to the robotic arm upper arm 36 via the robotic arm elbow joint 34; the robotic hand 31 is hinged to the robotic arm forearm 37 via the robotic arm wrist joint 35.

[0102] See Figure 4 , Figure 5 , Figure 6 Through the drive system built into the robotic arm 3, one or both robotic arms 3 can perform extension, flexion, and rotation movements at any time according to the instructions of the intelligent control system, and the robotic hand 31 can pick up, move, and place items that meet the preset shape and weight requirements. Based on the current technological development of various service robotic arms that have entered the market, existing intelligent robotic arm products can be selected, slightly modified and customized, and directly used as supporting components for the product in this embodiment.

[0103] The vision system of humanoid robot 1 can be shared with the control system of mobile chair 2 through the intelligent control system. In addition, independent vision and spatial perception systems are also installed in appropriate locations on mobile chair 2 or robotic arm 3, such as the front of the headrest, the outside of the shoulder joint of robotic arm 3, and the front of the armrest of mobile chair. These systems can also be remotely shared with humanoid robot 1 through the intelligent control system.

[0104] When the humanoid robot 1 sits inside the mobile chair 2, the movements of the robotic arm 3 on the chair 2 appear to onlookers as if the humanoid robot 1 is remotely controlling the robotic arm 3, creating the image of a "combined service robot." However, in reality, even when the mobile chair 2 is idle, the intelligent control system can still allow it to move autonomously and its robotic arm 3 to function normally. In other words, the mobile chair 2 with its robotic arm 3 is actually a fully functional, independent service robot.

[0105] In this embodiment, the humanoid robot 1 has controllable magnetic devices installed inside the skin behind its knee joints and inside the front covering of the seat cushion 27 of the mobile chair 2. These devices can attract each other. When the humanoid robot stands up from the mobile chair 2 using its own power or external force, the magnetic devices behind its knee joints attract each other with the magnetic devices in front of the seat cushion, making it easier to maintain a standing posture. This controllable magnetic attraction can be released in a timely manner according to system commands.

[0106] To enhance the stability of the humanoid robot 1, which has insufficient balance, when it sits in the moving chair 2 and moves with the moving chair 2, the back of the humanoid robot 1 and the backrest 22 of the moving chair are equipped with controllable magnetic devices that can attract each other.

[0107] Example 2 Figure 7 As shown.

[0108] In addition to the robotic arm 2 of Embodiment 1, the structure of the mobile chair 2 of this embodiment includes a seat cushion 27 that can be automatically raised and lowered to adjust its height, a backrest 22 with a headrest 24 that can recline at a large angle together with the seat cushion 27, armrests 21 located on both sides of the seat cushion 27 and the backrest 22, a footrest 25, and a base 23.

[0109] Example 3 Figure 8 As shown.

[0110] Based on the movable chair 2 of Embodiment 2, the movable chair 2 of this embodiment adds a footrest 25 that can be tilted and raised with the seat cushion.

[0111] The reclining backrest provides a safe and stable body posture for humanoid robots in hibernation, standby, or charging states. Furthermore, the "sleeping" posture with eyes closed and backrested makes people feel closer and more harmonious.

[0112] Example 4 Figure 9 Figure 10 As shown.

[0113] In this embodiment, the robotic arm 2 is designed to be folded and retracted onto the outside of the handrail. Clearly, there are multiple options for the installation method and position of the robotic arm 2, as long as it facilitates the unfolding and retraction of the robotic arm and maintains a pleasing aesthetic appearance.

[0114] Example 5 Figures 11 to 13 As shown.

[0115] This embodiment proposes an application scheme for a mobile chair 2 equipped with four mechanical legs 4 with electric casters 41. Since the mechanical legs 4 are equipped with electric casters 41 at their bottom ends, the mobile chair 2 can not only move smoothly on flat ground, but also assist the mobile chair 2 in moving, walking, crossing thresholds, and over certain obstacles on uneven ground.

[0116] The mechanical leg thigh 42 is hinged to the top shaft seat 44, which can rotate along the vertical axis, and is hinged to the mechanical leg calf 43 through a joint component.

[0117] This embodiment also includes a headrest 24 and a footrest 25.

[0118] Obviously, if the specific application scenario requires it, only mechanical legs without casters can be installed.

[0119] See Figure 14 The humanoid robot 1 of the present invention can be carried into a foldable ordinary wheelchair 51 when it has sufficient power, and can be pushed to an outdoor environment. It can also be pushed to a car, and then the humanoid robot 1 can be carried into the car seat. The wheelchair 51 can then be folded and put into the trunk and taken away with the car.

[0120] See Figure 15 Alternatively, a specially designed electric wheelchair 52, which looks very similar to a regular electric wheelchair, can be fitted to the humanoid robot 1. The operation of this specially designed electric wheelchair 52 is also controlled by the intelligent control system of the humanoid robot 1. With the help of this electric wheelchair 52, the humanoid robot 1 can move around independently outdoors like a "disabled person" with a leg disability who uses a wheelchair.

[0121] Compared to humanoid robots that can be highly realistically imitated but still have minor flaws and are prone to stumbling and falling, the humanoid robot proposed in this invention, which moves slowly while sitting in a mobile chair and is less likely to fall, poses less of a sense of oppression and subconscious threat to those around it and is more easily accepted by people psychologically and emotionally.

[0122] This invention has numerous suitable applications, including companionship and care for lonely elderly people at home, emotional comfort for adults, close care for infants and toddlers, tutoring for school-aged children, continuous companionship for hospitalized patients, health and wellness therapy in sanatoriums, food delivery services in restaurants, guest service in hotels and guesthouses, simulated human teaching services in medical colleges, online anchors with unlimited working hours, all-around secretarial assistants supported by AI brains, tireless cultural and tourism tour guides, travel companions, eye-catching exhibition reception, substitute teaching in school classrooms, singing companions in karaoke rooms, all-around singers for stage performances, and so on. Furthermore, a rental industry for such humanoid robots will emerge.

[0123] Clearly, because this invention significantly lowers the technical threshold for humanoid robots, it will significantly accelerate the large-scale entry of highly realistic humanoid robots into the market.

Claims

1. A humanoid robot and its dedicated mobile chair, characterized in that: Its components include a humanoid robot and a movable, electrically powered chair that can carry this humanoid robot. Humanoid robots and mobile chairs receive and execute instructions from the intelligent control system; Humanoid robots possess physical characteristics that mimic the human body's surface and major organs; The humanoid robot's body surface has the elasticity and deep structure of human skin; The humanoid robot has drive devices in its torso, head, neck and limbs that can receive instructions from the intelligent control system. These drive devices can at least drive the humanoid robot to perform the movements of its limbs, head, neck, waist and abdomen and hands and feet, as well as the movements of its eyebrows, eyes and mouth, in the manner that a normal human can perform when in a sitting or lying position. Humanoid robots should have at least basic visual perception, voice interaction, physical interaction, and emotional expression capabilities. At least part of the humanoid robot's body surface and simulated organs have force sensing systems; The temperature of at least a portion of the humanoid robot's body surface is controlled by a body temperature system; The structure of a mobile chair includes at least a seat cushion, backrest, armrests, footrest, and base; The portable chair contains batteries; The intelligent control system can drive the movable chair to move, turn, rotate, and stay in place; The mobile chair has an automatic charging function that finds a preset charging port. Once the humanoid robot sits in the mobile chair, the chair can charge the battery inside the humanoid robot using a pre-set contactless charging system.

2. The humanoid robot and its dedicated mobile chair according to claim 1, characterized in that: The mobile chair is equipped with a robotic arm; The base of the robotic arm is located on the side of the mobile chair; The robotic arm consists of an upper arm, a forearm, and a gripper connected by joints; The robotic arm can rotate around a vertical axis located on the base; The robotic arm operates according to the instructions of the intelligent control system.

3. A humanoid robot and its dedicated mobile chair according to claim 1 or 2, characterized in that: The humanoid robot has controllable magnetic devices that can attract each other to the back of its knee joints and the front of its seat cushion.

4. A humanoid robot and its dedicated mobile chair according to claim 1 or 2, characterized in that: The back of the humanoid robot and the back of the mobile chair are equipped with controllable magnetic devices that can attract each other.

5. A humanoid robot and its dedicated mobile chair according to claim 1 or 2, characterized in that: The movable chair is equipped with a headrest, and the backrest of the movable chair can be reclined.

6. A humanoid robot and its dedicated mobile chair according to claim 1 or 2, characterized in that: The mobile chair is equipped with mechanical legs that assist it in moving on uneven ground.

7. A humanoid robot and its dedicated mobile chair according to claim 4, characterized in that: The mobile chair is equipped with mechanical legs that assist it in moving on uneven ground.

8. A humanoid robot and its dedicated mobile chair according to claim 6, characterized in that: The mechanical leg is equipped with electric casters at its bottom.

9. A humanoid robot and its dedicated mobile chair according to claim 7, characterized in that: The mechanical leg is equipped with electric casters at its bottom.

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