Robots for assisting and completing household chores

Abstract

A foldable robot for assisting and completing household chores includes a head having a screen and sensors, an elongated neck member, a torso, one or more arms connected to the torso, a lift member connected to the torso and rotatable relative to the torso, one or more legs connected to the lift member by a hip joint, and a controller configured to send and receive data related to the robot for completing a household task. Each arm includes a first arm member, a second arm member, a wrist member, and at least two fingers. Each leg includes a leg member, a first drive wheel disposed at a first end of the leg member and coaxial with the hip joint, and a second drive wheel disposed at a second end of the leg member. The first drive wheel and the second drive wheel are independently controllable to effect movement of the robot.

Description

Cross-references to related applications

[0001] This application claims the benefit of U.S. Provisional Patent Application 63 / 531,465, filed August 8, 2023, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0002] This disclosure relates to a robot for assisting and performing household chores, and more particularly, to a foldable robot having multiple states and modes defined by a variety of different folding configurations for assisting and performing household chores. Background Technology

[0003] Existing robots designed for home use and household chores are generally functionally limited and can only perform the tasks they were designed for. For example, robotic (i.e., automated) vacuum cleaners, mops, lawnmowers, and security systems each have only specific functions: vacuuming, mopping, lawnmowing, or security monitoring, respectively. These home robots are also limited in size and orientation, resulting in limited functionality and raising issues related to versatility, operability, storage, and power supply and / or battery charging. Industrial automation and known humanoid robots are similarly limited in size, orientation, and functionality, and their cost and energy consumption make them unsuitable for the average consumer's home use. Furthermore, these robots lack the ability to independently learn how to perform tasks through prior experience, the experience of other robots, communication networks such as the internet, or interaction with humans, and to teach other robots and humans how to perform tasks.

[0004] In view of the above, there is a need for a robot to assist in and complete household chores, and in particular, there is a need for a foldable robot having multiple states and modes defined by a variety of different folding configurations for assisting in and completing household chores. Summary of the Invention

[0005] Therefore, aspects of this disclosure relate to non-limiting embodiments of robots for assisting and performing household chores.

[0006] According to one aspect of this disclosure, a robot for assisting and performing household chores includes: a head having a screen and one or more first sensors; an elongated neck member; a torso; one or more arms connected to the torso via shoulder joints; a lifting member connected to the torso and rotatable relative to the torso; one or more legs connected to the lifting member via hip joints; and at least one controller configured to send and receive data related to the robot for performing household tasks. Each of the one or more arms includes a first arm member, a second arm member, a wrist member, and at least two fingers. Each of the one or more legs includes a leg member, a first drive wheel disposed at a first end of the leg member and coaxial with the hip joint, and a second drive wheel disposed at a second end of the leg member. The first and second drive wheels are independently controllable to achieve movement of the robot.

[0007] Furthermore, the robot is configured to move and fold, giving it multiple states and operating modes defined by the tasks to be performed. In these states and modes, different components and parts are extended, folded, moved, or otherwise positioned to perform various household tasks. One of these states or modes is a standby mode, in which the robot is folded to minimize its space footprint, allowing it to be stored in a closet or under furniture until it receives an instruction to complete the task.

[0008] According to another aspect of this disclosure, a system for operating a robot includes at least one processor, which is programmed or configured to: receive data related to the robot for performing household chores, send data related to the robot for performing household chores, learn an operation sequence for the robot to perform household chores, teach the robot an operation sequence for performing household chores, and execute operations for the robot to perform household chores.

[0009] According to another aspect of this disclosure, a computer program product for providing one or more features related to a robot includes at least one computer-readable medium, the at least one computer-readable medium including one or more instructions, which, when executed by at least one processor, cause the at least one processor to: receive data related to the robot for performing household chores, send data related to the robot for performing household chores, learn an operation sequence for the robot to perform household chores, teach the robot an operation sequence for performing household chores, and perform operations for the robot to perform household chores.

[0010] According to an additional aspect of this disclosure, the robot is configured to assist in handling daily tasks, saving users time and eliminating inconvenience. The robot is further configured to map its environment, navigate within it, and manipulate it using components such as arms and hands. The robot can be used by any type of user and is particularly useful for users living alone, users with children, the elderly, and users with disabilities.

[0011] Non-limiting illustrative examples of embodiments of this disclosure will now be described in the following numbered clauses.

[0012] Clause 1: A robot for assisting and performing household chores, comprising: a head having a screen and one or more first sensors; an elongated neck member; a torso; one or more arms connected to the torso via shoulder joints, wherein each of the one or more arms includes a first arm member, a second arm member, a wrist, and at least two fingers; a lifting member connected to the torso and rotatable relative to the torso; one or more legs connected to the lifting member via hip joints; and at least one controller configured to send and receive data related to the robot for performing household chores. Each of the one or more legs includes: a leg member; a first drive wheel disposed at a first end of the leg member and coaxial with the hip joint; and a second drive wheel disposed at a second end of the leg member, wherein the first drive wheel and the second drive wheel are independently controllable to achieve movement of the robot.

[0013] Clause 2: The robot described in Clause 1, wherein the robot is configured to move and fold into multiple states such that components including a head, an elongated neck member, a torso, one or more arms, a first arm member, a second arm member, a wrist member, at least two fingers, a lifting member, one or more legs, a leg member, and a first drive wheel and a second drive wheel can be positioned in multiple configurations, and wherein each of the multiple states corresponds to an operating mode defined by a task to be performed, and is further defined by the components extending, folding, moving, or otherwise positioning for performing various household tasks.

[0014] Clause 3: A robot as described in Clause 1 or 2, wherein the hip joint of each of the one or more legs allows the leg member to rotate relative to the lifting member, wherein the shoulder joint of each of the one or more arms allows the first arm member to rotate relative to the torso about a first axis extending perpendicularly from the side surface of the torso and a second axis perpendicular to the first axis, and wherein the first arm member is rotatable relative to the second arm member about a third axis extending from the first arm member and a fourth axis perpendicular to the third axis.

[0015] Clause 4: A robot described in any one of Clauses 1 to 3, wherein the elongated neck member is configured to rotate relative to the torso, and wherein the head is rotatable relative to the elongated neck member about a fifth axis extending from the elongated neck member and a sixth axis perpendicular to the fifth axis.

[0016] Clause 5: A robot described in any one of Clauses 1 to 4, wherein the robot comprises: two arms connected to a torso; and two legs connected to a lifting member; wherein a first drive wheel and a second drive wheel of each leg member are actuated by an independent motor, and wherein each independent motor is controlled by a controller to enable movement of the robot.

[0017] Clause 6: A robot described in any one of Clauses 1 to 5, wherein one or more first sensors on the robot’s head are cameras, and wherein the robot includes at least one of the following additional sensors: a camera; a motion sensor; a time-of-flight sensor; a multi-inertial measurement unit sensor; an accelerometer; a pressure sensor; a temperature sensor; a humidity sensor; a smoke detector; a carbon monoxide (CO2) sensor; a particulate matter sensor; an indoor air quality sensor; a radiation sensor; a pulse oximeter; a heart rate sensor; or a biometric sensor.

[0018] Clause 7: The robot described in any one of Clauses 1 to 6 further includes one or more speakers, one or more lights, and one or more microphones, wherein the one or more speakers are configured to convey audible warnings, alarms, messages, and instructions to the user and other robots, wherein the one or more lights are configured to convey visual warnings, alarms, messages, and instructions to the user and other robots, wherein the one or more microphones are configured to record sound, including voice commands from the user, and wherein the controller is further configured to receive and process the sound recorded by the one or more microphones, convert the sound into a dataset, and communicate the dataset to the components during task execution.

[0019] Clause 8: The robot described in Clauses 1 to 7, wherein the first operating mode is a standby mode in which the robot is in a folded state such that: the elongated neck member, torso, first arm member, second arm member, lifting member and one or more legs are rotated and folded parallel to each other; the head is folded downward such that the one or more first sensors are oriented perpendicular to the elongated neck member, torso, first arm member, second arm member, lifting member and one or more legs.

[0020] Clause 9: A robot as described in Clauses 1 to 8, wherein, in a second operating mode, the robot is in a partially folded state such that: the torso, the first arm member, the second arm member, the lifting member, and one or more legs are rotated and folded parallel to each other; the elongated neck member extends upward perpendicular to the lifting member; and the screen or one or more first sensors are oriented in a first direction perpendicular to the elongated neck member.

[0021] Clause 10: A robot described in Clauses 1 to 9, wherein, in a third operating mode, the robot is in a partially extended state such that: the lifting member and one or more legs are rotated and folded parallel to each other; the torso is extended perpendicular to the lifting member; the elongated neck member extends upward from the torso and is parallel to the torso; and the screen or one or more first sensors are oriented in a first direction perpendicular to the elongated neck member.

[0022] Clause 11: A robot as described in Clauses 1 to 10, wherein, in a fourth operating mode, the robot is in a partially extended state such that: the lifting member and one or more legs are rotated and folded parallel to each other; the torso is extended perpendicular to the lifting member; the elongated neck member extends upward from the torso and is parallel to the torso; and the screen or one or more first sensors are oriented in a second direction perpendicular to the elongated neck member and opposite to the first direction.

[0023] Clause 12: The robot described in Clauses 1 to 11, wherein, in the fifth operating mode, the robot is in a partially extended state such that: one or more legs are rotated and folded to be parallel to each other and parallel to the travel surface, and the first drive wheel and the second drive wheel are in contact with the travel surface; a lifting member extends upward from the one or more legs and is at an angle to the one or more legs; the torso extends upward from the lifting member and is at an angle to the lifting member; an elongated neck member extends upward from the lifting member and is at an angle to the lifting member; a screen or one or more first sensors are oriented in a second direction; and the one or more arms extend from the torso in the second direction.

[0024] Clause 13: A robot described in any one of Clauses 1 to 12, wherein, in the sixth operating mode, the robot is in a partially extended state such that: one or more legs are rotated and folded to be parallel to each other and parallel to the travel surface, and the first drive wheel and the second drive wheel are in contact with the travel surface; a lifting member extends upward from the one or more legs and is at an angle to the one or more legs; the torso extends upward from the lifting member and is at an angle to the lifting member; an elongated neck member extends upward from the lifting member and is at an angle to the lifting member; a screen or one or more first sensors are oriented in a first direction; and the one or more arms extend from the torso along the first direction.

[0025] Clause 14: A robot described in any one of Clauses 1 to 13, wherein, in the seventh operating mode, the robot is in an extended state such that: the second drive wheel of the one or more legs is locked by a brake and contacts the travel surface; the one or more legs extend upward from the second drive wheel of the one or more legs at an angle to the travel surface; a lifting member extends upward from the one or more legs at an angle to the one or more legs; the torso extends upward from the lifting member at an angle to the lifting member; an elongated neck member extends upward from the lifting member at an angle to the lifting member; and the robot is self-balancing on the second drive wheel of the one or more legs.

[0026] Clause 15: A robot described in any one of Clauses 1 to 14, wherein the torso includes: a recess configured to receive and store one or more objects; and a cover configured to cover the recess and hold the one or more objects in the recess in a closed position, and to be configured as a shelf for holding one or more objects in an open position.

[0027] Clause 16: A robot described in any one of Clauses 1 to 15, wherein the lifting component comprises: a compartment configured to receive and store one or more objects; and a handle configured to allow a user to pick up and transport the robot.

[0028] Clause 17: A robot described in any one of Clauses 1 to 16, wherein the compartment is further configured to receive and store one or more rechargeable batteries and a battery management system, the one or more rechargeable batteries being configured to power the robot.

[0029] Clause 18: A robot described in any one of Clauses 1 to 17, wherein the surface of the lifting member includes at least one charging terminal configured to receive one or more wires for charging a rechargeable battery and configured to interact with a wireless charging pad for charging a rechargeable battery.

[0030] Clause 19: A system for operating a robot, the system comprising: at least one processor, the at least one processor being programmed or configured to: receive data related to the robot for performing household chores, send data related to the robot for performing household chores, learn an operation sequence for the robot to perform household chores, teach the robot an operation sequence for performing household chores, and execute an operation for the robot to perform household chores.

[0031] Clause 20: A computer program product for providing one or more features related to a robot, the computer program product comprising: at least one computer-readable medium including one or more instructions, the one or more instructions, when executed by at least one processor, causing the at least one processor to: receive data related to the robot for performing household chores, send data related to the robot for performing household chores, learn an operation sequence for the robot to perform household chores, teach the robot an operation sequence for performing household chores, and perform an operation for the robot to perform household chores.

[0032] Further details and advantages of the various examples described in this article will become clear after reading the following detailed description of the various examples in conjunction with the accompanying drawings. Attached Figure Description

[0033] The additional advantages and details are explained in more detail below with reference to the exemplary embodiments shown in the accompanying drawings, wherein: Figures 1-4 These are various views of a robot in a folded state according to some non-limiting embodiments of this disclosure; Figure 5 and Figure 6 These are side and perspective views of a robot in a partially folded state according to some non-limiting embodiments of the present disclosure; Figures 7-10 These are various views of a robot in a partially extended state according to some non-limiting embodiments of this disclosure; Figure 11 This is a side view of a robot in a partially extended state according to some non-limiting embodiments of the present disclosure; Figures 12-14 These are various views of a robot in a partially extended state according to some non-limiting embodiments of this disclosure; Figure 15 and Figure 16 These are side and perspective views of a robot in a partially extended state according to some non-limiting embodiments of the present disclosure; Figure 17 This is a perspective view of components of a robot according to some non-limiting embodiments of the present disclosure; Figures 18-20 These are side and perspective views of a robot in a partially extended state according to some non-limiting embodiments of the present disclosure; Figure 21A and Figure 21B This is a perspective view of a robot in an extended state according to some non-limiting embodiments of the present disclosure; Figure 22 and Figure 23These are side and perspective views of embodiments of a robot according to some non-limiting embodiments of the present disclosure; Figure 24 This is a perspective view of a robot in an extended state according to some non-limiting embodiments of the present disclosure; Figure 25 This is a perspective view of a robot and its components according to some non-limiting embodiments of the present disclosure; Figure 26 and Figure 27 This is a perspective view of various components of a robot according to some non-limiting embodiments of the present disclosure; Figure 28 This is a perspective view of a robot and its components in a folded state according to some non-limiting embodiments of the present disclosure; Figures 29-31 This is a perspective view of various embodiments of a robot in a folded state according to some non-limiting embodiments of the present disclosure; Figure 32 This is a perspective view of a robot implementation in a folded state according to some non-limiting embodiments of the present disclosure; Figures 33-43 These are perspective views of various embodiments of the robot according to some non-limiting embodiments of the present disclosure; Figures 44-46 These are various views of embodiments of the robot according to some non-limiting embodiments of this disclosure; Figure 47 and Figure 48 This is a perspective view of components of a robot according to some non-limiting embodiments of the present disclosure; Figures 49-54 These are cross-sectional views of various components of a robot according to some non-limiting embodiments of the present disclosure; Figures 55-57 These are various views of a robot motor controller according to some non-limiting embodiments of the present disclosure; Figure 58 This is a perspective view of an environment in which robots or robot swarms (fleets) can be deployed according to some non-limiting embodiments of this disclosure; and Figure 59 This is a schematic diagram of components of an exemplary system and robot according to some non-limiting embodiments of the present disclosure.

[0034] Corresponding reference numerals denote corresponding parts in several views. The examples shown herein illustrate exemplary embodiments of this disclosure, and these embodiments should not be construed as limiting the scope of this disclosure in any way. Detailed Implementation

[0035] It should be understood that, unless expressly stated to the contrary, this disclosure may take various alternative variations and sequences of steps. It should also be understood that the specific devices and processes shown in the accompanying drawings and described in the following specification are merely exemplary and non-limiting embodiments. Therefore, specific dimensions and other physical characteristics relating to the embodiments disclosed herein should not be considered limiting.

[0036] For ease of description herein, the terms "end," "upper," "lower," "right," "left," "vertical," "horizontal," "top," "bottom," "lateral," "longitudinal," and their derivatives shall refer to embodiments oriented as shown in the accompanying drawings. Some non-limiting embodiments herein may be described in conjunction with thresholds. As used herein, satisfying a threshold may mean a value greater than a threshold, more than a threshold, higher than a threshold, greater than or equal to a threshold, less than a threshold, less than a threshold, lower than a threshold, less than or equal to a threshold, equal to a threshold, etc.

[0037] No aspect, component, element, structure, behavior, step, function, instruction, etc., as used herein shall be construed as critical or essential unless expressly described as such. Furthermore, as used herein, the articles “a” and “an” are intended to include one or more items and may be used interchangeably with “one or more” and “at least one.” Additionally, as used herein, the term “collection” is intended to include one or more items (e.g., related items, unrelated items, a combination of related and unrelated items, etc.) and may be used interchangeably with “one or more” or “at least one.” As used in the specification and claims, unless the context clearly indicates otherwise, the singular forms of “a,” “an,” and “described” include plural references. Where only one item is referred to, the term “a” or similar language is used. Furthermore, as used herein, the terms “comprising,” “including,” “having,” “having,” “containing,” and variations thereof are intended to be open-ended terms and are intended to cover the items listed thereafter and their equivalents as well as additional items. Furthermore, unless expressly stated otherwise, the phrase “based on” is intended to mean “at least partially based on.” In addition, mentioning that an action is "based on" a condition can mean that the action is "in response to" that condition.

[0038] Unless otherwise specified or limited, the terms "fastening," "attachment," "mounting," "connection," "support," "coupling," and their variations are used extensively and cover both direct and indirect fastening, attachment, mounting, connection, support, and coupling. Furthermore, unless otherwise stated, these terms are not limited to physical or mechanical connections or couplings.

[0039] As used herein, the terms "communication" and "transmission" can refer to the receipt, acceptance, transmission, delivery, provision, etc., of information (e.g., data, signals, messages, instructions, commands, etc.). For one unit (e.g., a device, system, component of a device or system, or a combination thereof) to communicate with another unit means that the unit is able to receive information directly or indirectly from and / or send information to the other unit. This can refer to a direct or indirect connection of a wired and / or wireless nature. Furthermore, two units can communicate with each other even if the transmitted information can be modified, processed, relayed, and / or routed between the first and second units. For example, the first unit can communicate with the second unit even if it passively receives information without actively sending information to it. As another example, the first unit can communicate with the second unit if at least one intermediate unit (e.g., a third unit located between the first and second units) processes information received from the first unit and transmits the processed information to the second unit. In non-limiting embodiments, a message can refer to a network packet (e.g., a data packet and / or the like) that includes data. It should be understood that many other arrangements are also possible.

[0040] As used herein, the term "system" can refer to one or more computing devices or a combination of computing devices, such as, but not limited to, processors, servers, client devices, software applications, and / or other similar components. Furthermore, as used herein, references to "server" or "processor" can refer to the server and / or processor described above that performs the preceding steps or functions, different servers and / or processors, and / or combinations of servers and / or processors. For example, as used in the specification and claims, a first server and / or first processor described as performing a first step or function can refer to the same or different servers and / or processors described as performing a second step or function.

[0041] Non-limiting embodiments of this disclosure relate to a robot for assisting and performing household chores. According to one aspect of this disclosure, the robot may include: a head having a screen and one or more first sensors; an elongated neck member; a torso; one or more arms connected to the torso via shoulder joints; a lifting member connected to the torso and rotatable relative to the torso; one or more legs connected to the lifting member via hip joints; and at least one controller configured to send and receive data related to the robot for performing household tasks. Each of the one or more arms may include a first arm member, a second arm member, a wrist member, and at least two fingers. Each of the one or more legs may include: a leg member; a first drive wheel that may be disposed at a first end of the leg member and coaxial with the hip joint; and a second drive wheel that may be disposed at a second end of the leg member. The first and second drive wheels can be independently controlled to achieve movement of the robot.

[0042] Furthermore, the robot can be configured to move and fold to have multiple states and operating modes defined by the tasks to be performed, in which different components and parts are extended, folded, moved, or otherwise positioned to perform various household tasks. One of these states or modes may include a standby mode in which the robot is folded to minimize its space footprint, allowing it to be stored in a closet or under furniture until it receives an instruction to complete the task.

[0043] The robots disclosed herein can be categorized as general-purpose robots, multi-purpose robots, and / or collaborative robots. In some non-limiting embodiments, the robot can be configured to assist in handling daily tasks, saving users time and eliminating inconvenience. The robot can be further configured to map its environment, navigate within it, and manipulate it using components such as arms and hands. The robot can be used by any type of user and is particularly useful for users living alone, users with children, the elderly, and users with disabilities. The robot can be self-learning, enabling it to learn how to complete tasks through prior experience, the experience of other robots, communication networks such as the internet, and through interaction with humans, as well as teaching other robots and humans how to complete tasks. For example, before a robot learns how to put cutlery and glasses into a kitchen cabinet, it may not know how to or be able to reach the cabinet (especially high cabinets) and may remove plates from the dishwasher and stack them neatly, ready for a human to complete the final step. Once the robot is shown how to put cutlery into the cabinet, it can learn the movement and / or joint actions required to complete the task.

[0044] In some non-limiting embodiments, the robot may include high-performance wheels, an extendable body, a long neck, and long arms, which could allow the robot to see and reach countertops and shelves and manipulate them with its dexterous hands, while maintaining a lightweight, optimized, compact size and providing a pleasing, unobtrusive appearance. In some cases, using wheels for movement may be preferable to walking by leg propulsion and manipulation, as wheeled movement may be faster, safer for users and the environment, and quieter or less disruptive.

[0045] In some non-limiting embodiments, the robot may include a suite of sensors for interacting with its surroundings and humans. These sensors may include encoders, inertial measurement units, time-of-flight sensors, cameras and 3D point cloud cameras (RGBD), microphones, and speakers. The robot may further include torque and force feedback sensors for interacting with objects and have 30 degrees of freedom (DOF).

[0046] In this way, the foldable robot disclosed herein provides a variety of states and modes defined by a variety of different folding configurations for assisting and completing household chores.

[0047] Now refer to Figures 1-4 , Figures 1-4 These are various views of a robot 100 in a folded state according to some non-limiting embodiments of this disclosure. Figures 1-4 As shown, robot 100 may include a head 102, which includes a screen 104 and one or more first sensors 106, an elongated neck member 108, a torso 110, one or more arms 112, and one or more legs 130. In some non-limiting embodiments, each of the one or more arms 112 may be connected to the torso 110 via a shoulder joint 116, and each of the one or more arms 112 may include a first arm member 120, a second arm member 122, a wrist member 124, and at least two fingers 126, 128. In some non-limiting embodiments, robot 100 may further include a third arm member, which can provide a greater reach and versatility. In some non-limiting embodiments, robot 100 may further include a lifting member 118, which is connected to the torso 110 and is rotatable relative to the torso 110. One or more legs 130 may be connected to the lifting member 118 via a hip joint 132. In some non-limiting embodiments, each of the one or more legs may include a leg member 134, a first drive wheel 136 disposed at a first end of the leg member 134, and a second drive wheel 138 disposed at a second end of the leg member 134. The first drive wheel 136 may be coaxial with the hip joint 132. In some non-limiting embodiments, the first drive wheel 136 and the second drive wheel 138 may be independently controlled to achieve movement of the robot 100. The robot 100 may further include at least one controller configured to send and receive data associated with the robot 100 for performing household tasks.

[0048] Continue to refer to Figures 1-4 And additional reference Figures 5-25 The robot 100 can be configured to move and fold into multiple states, such that components including a head 102, an elongated neck member 108, a torso 110, one or more arms 112, a first arm member 120, a second arm member 122, a wrist member 124, at least two fingers 126, 128, a lifting member 118, one or more legs 130, a leg member 134, a first drive wheel 136, and a second drive wheel 138 can be positioned in multiple configurations, and each of these multiple states corresponds to an operating mode defined by the task to be completed, and is further defined by components that extend, fold, move, or otherwise position themselves to complete various household tasks.

[0049] In some non-limiting embodiments, the hip joint 132 of each of one or more legs 130 may allow the leg member 134 to rotate relative to the lifting member 118, and the shoulder joint 116 of each of one or more arms 112 may allow the first arm member 120 to rotate relative to the torso 110 about a first axis A extending perpendicularly from the side surface of the torso 110 and about a second axis A2 perpendicular to the first axis A. The first arm member 120 may rotate relative to the second arm member 122 about a third axis A3 extending from the first arm member 120 and about a fourth axis A4 perpendicular to the third axis A3.

[0050] In some non-limiting embodiments, the elongated neck member 108 may be configured to rotate relative to the torso 110, and the head 102 may rotate relative to the elongated neck member 108 about a fifth axis A5 extending from the elongated neck member 108 and about a sixth axis A6 perpendicular to the fifth axis A5. In some non-limiting embodiments, the robot 100 may include: two arms 112 connected to the torso 110; and two legs 130 connected to a lifting member 118. Each of the two arms 112 may include a first arm member 120, a second arm member 122, a wrist member 124, and at least two fingers 126, 128. Each of the two legs 130 may include a leg member 134, a first drive wheel 136 disposed at a first end of the leg member 134 and coaxial with a hip joint 132, and a second drive wheel 138 disposed at a second end of the leg member 134. The first drive wheel 136 and the second drive wheel 138 of each leg component can be powered by independent motors (e.g., such as...). Figures 46-51 The motor 140 shown is actuated. Each individual motor can be controlled by a controller to enable the movement of the robot 100.

[0051] like Figures 1-4 As shown, in the folded state, for privacy protection, the head 102 can face downwards, causing the first sensor 106 to point towards the ground, thereby providing privacy protection for any user in the area where the robot 100 is located. The screen 104 can further indicate the status of the robot 100, such as battery level, operating mode, sleep and / or wake-up status, etc. Figures 1-4 As further shown, Robot 100 can be very compact in its folded state, taking up very little space in a home, office, or vehicle. Robot 100 is also suitable for space travel and occupies very little space in airplanes, space shuttles, or landers.

[0052] Figures 1-4An aspect of a movable base with rear omnidirectional wheels (i.e., first drive wheels 136) is also shown, which allows the robot 100 to move laterally. These wheels allow the robot 100 to rotate in place about a point between the axes of the two front wheels (i.e., second drive wheels 138). This feature allows the robot 100 to perform tasks that require the robot 100 to pivot in place and eliminates the need for additional heavy joints along the robot 100's torso, thus also reducing weight.

[0053] In an exemplary embodiment, Figures 1-4 The folded state shown may define a first operating mode, which may be a standby mode. In some non-limiting embodiments, in the first operating mode, the robot 100 is in a folded state, and the elongated neck member 108, torso 110, first arm member 120, second arm member 122, lifting member 118, and one or more legs 130 can rotate and fold parallel to each other. Further, the head 102 can fold downwards such that one or more first sensors 106 are oriented perpendicular to the elongated neck member 108, torso 110, first arm member 120, second arm member 122, lifting member 118, and one or more legs 130.

[0054] When the robot 100 is fully folded, the sensors 106 (e.g., cameras) can face forward. From this state, the robot 100 can navigate the room, scan the room, and map it while avoiding obstacles. The robot 100 can also locate itself and move to a specific destination. If desired, the robot 100 can be ready to receive commands such as gestures and can also monitor the home when residents are away.

[0055] Now refer to Figure 5 and Figure 6 , Figure 5 and Figure 6 These are side and perspective views of a robot 100 in a partially folded state according to some non-limiting embodiments of the present disclosure. In some non-limiting embodiments, such as Figure 5 and Figure 6 As an example, in the second operating mode, robot 100 can be in a partially folded state, such that the torso 110, first arm member 120, second arm member 122, lifting member 118, and one or more legs 130 can rotate and fold parallel to each other. An elongated neck member 108 can extend upwards perpendicular to the lifting member 118, and the screen 104 or one or more first sensors 106 can be oriented in a first direction perpendicular to the elongated neck member 108 (i.e., forward). Figure 5As shown, in this state, the neck (i.e., the slender neck 108) can be extended, and the head 102 can face forward. However, it should be understood that the robot 100 can make the head 102 and the arm 112 face in opposite directions (i.e., backward), and the robot 100 can plan the best possible position, state, and operating mode based on the task at hand.

[0056] Now refer to Figures 7-10 , Figures 7-10 These are various views of a robot 100 in a partially extended state according to some non-limiting embodiments of this disclosure. Figures 7-8 As shown in the exemplary embodiment, in the third operating mode, the robot 100 can be in a partially extended state, such that the lifting member 118 and one or more legs 130 can rotate and fold parallel to each other. The torso 110 can extend perpendicular to the lifting member 118, and the elongated neck member 108 can extend upward from the torso 110 and parallel to the torso 110. The screen 104 or one or more first sensors 106 can be oriented in a first direction perpendicular to the elongated neck member 108 (i.e., forward).

[0057] like Figures 9-10 As shown in the exemplary embodiment, in the fourth operating mode, the robot 100 can be in a partially extended state, such that the lifting member 118 and one or more legs 130 can rotate and fold parallel to each other. The torso 110 can extend perpendicular to the lifting member 118, and the elongated neck member 108 can extend upward from the torso 110 and parallel to the torso 110. The screen 104 or one or more first sensors 106 can be oriented in a second direction perpendicular to the elongated neck member 108 (i.e., backward), which is opposite to the first direction (i.e., forward).

[0058] Now refer to Figures 11-20 , Figures 11-20 These are various views of a robot 100 in a partially extended state according to some non-limiting embodiments of this disclosure. For example, as... Figures 11-16As shown, in the fifth operating mode, the robot 100 can be in a partially extended state, such that one or more legs 130 can rotate and fold parallel to each other and parallel to the travel surface (i.e., the ground, floor), and the first drive wheel 136 and the second drive wheel 138 can contact the travel surface. A lifting member 118 can extend upward from one or more legs 130 and is angled to one or more legs 130, the torso 110 can extend upward from the lifting member 118 and is angled to the lifting member 118, and an elongated neck member 108 can extend upward from the lifting member 118 and is angled to the lifting member 118. A screen 104 or one or more first sensors 106 can be oriented in a second direction (i.e., backward), and one or more arms 112 can extend from the torso 110 along the second direction. In some non-limiting embodiments, such as... Figure 13 As shown, robot 100 may include a tray to assist in moving objects. Figure 14 As shown, robot 100 is able to "look straight down" and look at the tray or other objects being moved, which is allowed by the joint movements of the neck joint and the neck joint connecting the slender neck member 108.

[0059] In some non-limiting embodiments, such as Figure 17 As shown, robot 100 may include a miniature projector (e.g., mounted on its hand or head) to allow messages, pictures, images, layouts, etc., to be projected onto a wall or other surface. This can allow robot 100 to communicate with a user. Another exemplary use of the projector could be to demonstrate to a user where to hammer nails into a wall to ensure the image is square and evenly spaced. In some non-limiting embodiments, robot 100 may include a short-range camera, which could allow robot 100 to manipulate obscured objects.

[0060] In some non-limiting embodiments, such as Figure 18 and Figure 19 As shown, in the sixth operating mode, robot 100 is in a partially extended state, such that one or more legs 130 can rotate and fold parallel to each other and parallel to the travel surface (i.e., the ground, floor), and the first drive wheel 136 and the second drive wheel 138 can contact the travel surface. A lifting member 118 can extend upward from one or more legs 130 and is angled to one or more legs 130, a torso 110 can extend upward from the lifting member 118 and is angled to the lifting member 118, and an elongated neck member 108 can extend upward from the lifting member 118 and is angled to the lifting member 118. A screen 104 or one or more first sensors 106 can be oriented in a first direction (i.e., forward), and one or more arms 112 can extend from the torso 110 along the first direction. In the exemplary embodiment, there are no limitations on the possible configurations of robot 100.

[0061] Now refer to Figures 21A-24 , Figures 21A-24 These are various views of a robot 100 in an extended state, and its implementation, according to some non-limiting embodiments of this disclosure. (See also:) Figures 21A-24 As shown, in the seventh operating mode, robot 100 can be in an extended state, such that the second drive wheels 138 of only one or more legs 130 can contact the travel surface (i.e., the ground, floor). One or more legs 130 extend upward from the second drive wheels 138 of the one or more legs 130, forming an angle with the travel surface. A lifting member 118 extends upward from the one or more legs 130 and forms an angle with the one or more legs 130, and a torso 110 extends upward from the lifting member 118 and forms an angle with the lifting member 118. Furthermore, an elongated neck member 108 extends upward from the lifting member 118 and forms an angle with the lifting member 118, and robot 100 can self-balance (i.e., actively balance) on the second drive wheels 138 of the one or more legs 130.

[0062] Now refer to Figure 22 and Figure 23 , Figure 22 and Figure 23 These are side and perspective views of embodiments of robot 100 according to some non-limiting embodiments of this disclosure. Figure 22 and Figure 23 As shown, the seventh operating mode may be suitable for tasks related to reaching higher places (such as changing a light bulb). Figure 24 This is a perspective view of a robot 100 in an extended state according to some non-limiting embodiments of the present disclosure. See now additionally... Figure 24 ,like Figures 22-24 As shown, robot 100 is in the seventh operating mode, and its lower legs 130 can be in an open position. Since the lower joints can move independently, robot 100 can achieve static balance, reducing the power consumption required for self-balancing. Figure 22 As shown, the center of mass can be located approximately between the second drive wheels 138. In some non-limiting embodiments, the independence of the lower joints may also allow the robot 100 to make curved movements when turning, in case rapid long-distance movement is required.

[0063] Now refer to Figure 25 , Figure 25 This is a perspective view of a robot 100 and its components according to some non-limiting embodiments of the present disclosure. In some non-limiting embodiments, such as Figure 25 As shown, robot 100 can include multiple additional sensors in various locations.

[0064] In some non-limiting embodiments, one or more first sensors 106 of the head 102 of robot 100 may be cameras. In some non-limiting embodiments, robot 100 may include at least one of the following additional sensors: camera; motion sensor; time-of-flight sensor; multi-inertial measurement unit sensor; accelerometer; pressure sensor; temperature sensor; humidity sensor; smoke detector; carbon monoxide (CO2) sensor; particulate matter sensor; indoor air quality sensor; radiation sensor; pulse oximeter; heart rate sensor; or biometric sensor.

[0065] Exemplary fields of view (FOV) of these additional sensors are as follows: Figure 25 As shown. For example, robot 100 may include a camera located at the front of the hip joint. This allows robot 100 to see and avoid collisions with any low obstacles (moving or stationary, including children) and ensures an unobstructed path. Figure 25 As shown, the field of view (FOV) between the head and hip cameras can overlap, allowing the robot 100 to move without blind spots.

[0066] One such additional sensor could be a camera mounted on the robot 100's hand to make maneuvering tasks more robust. Feedback from the camera can help the robot 100 avoid occlusion during grasping. It can also allow the robot 100 to use a technique called visual-servoing, in which the robot 100 can control and calibrate its hand position as it approaches an object. This additional camera can also be used to aggregate images from other cameras, thereby improving the robot 100's mapping and localization capabilities.

[0067] Other additional sensors may include: multiple inertial measurement unit (IMU) sensors for detecting the robot 100's orientation in space (e.g., adjusting the controller to compensate if it is climbing a slope), which can also detect minor impacts and react accordingly; multiple time-of-flight (TOF) sensors for detecting obstacles during operation, sending emergency signals to the motor controller and main computer, and stopping the robot 100 to avoid collisions; temperature, pressure, or humidity sensors for informing humans about environmental information; safety sensors such as carbon monoxide (CO2) sensors, particulate matter sensors, indoor air quality sensors, or radiation sensors; health monitoring sensors (e.g., located at a finger), such as pulse oximeters, heart rate sensors, or thermal imaging cameras; thermal imaging cameras that can help detect diseases or detect hot / hazardous surfaces (e.g., stovetop surfaces) to allow the robot 100 to alert humans and protect itself from contact; and biometric sensors, such as facial recognition or fingerprint sensors from cameras. For example, as Figure 25 As shown, robot 100 may include two depth sensors (i.e., RGB cameras), which may be located on the head 102 and hip joint 132 or lifting member 118, respectively. Robot 100 may also include four Time-of-Flight (TOF) sensors located on the legs 130, which can help avoid collisions and detect obstacles such as holes or stairs.

[0068] Now refer to Figure 26 and Figure 27 , Figure 26 and Figure 27 This is a perspective view of various components of a robot 100 according to some non-limiting embodiments of the present disclosure. As shown, the robot 100 may include a screen 104 disposed on a head 102. The screen 104 is capable of displaying interactive images (e.g., a face) for interaction with a user (i.e., human-computer interaction). In some non-limiting embodiments, the robot 100 may further include one or more speakers, one or more lights, and one or more microphones. For example, the head 102 may include a microphone array that listens to words and parses them into understandable instructions using natural language processing (NLP). The microphones may also hear sounds and detect the direction from which the sounds originate (i.e., multi-directional microphones). The head 102 may also include speakers so that the robot 100 can converse with humans in human natural language. In some non-limiting embodiments, additional screens for further interaction and communication may be located on the torso 110.

[0069] In some non-limiting embodiments, the one or more speakers may be configured to convey audible warnings, alarms, messages, and instructions to users and other robots. The one or more lights may be configured to convey visual warnings, alarms, messages, and instructions to users and other robots. The one or more microphones may be configured to record sound, including voice commands from users, and wherein the controller is further configured to receive and process the sound recorded by the one or more microphones, convert the sound into a dataset, and communicate the dataset to components during task execution.

[0070] Now refer to Figures 28-32 , Figures 28-32 These are perspective views of various embodiments of a robot 100 in a folded state, according to some non-limiting embodiments of this disclosure. Figure 28 As shown, in some non-limiting embodiments, robot 100 may include a handle 142 (e.g., an opening) which may be disposed at the bottom of robot 100 or at the bottom of lifting member 118. The opening or handle 142 may be configured to allow a user to pick up and transport robot 100. The opening or handle 142 makes it easier to carry robot 100, transport robot 100, or even suspend robot 100 (e.g., hang it on a wall).

[0071] In some non-limiting embodiments, such as Figures 29-32 As shown, the folded state can define a first operating mode, which can be a standby mode. In some non-limiting embodiments, in the first operating mode, when the robot 100 is fully folded, the sensors 106 (e.g., cameras, such as a front-facing RGBD camera (3D point cloud camera)) can face forward. From this state, the robot 100 can navigate a room, scan the room, and map it while avoiding obstacles. The robot 100 can also locate itself and move to a specific destination. If desired by the user, the robot 100 can be ready to receive commands such as gestures. The robot 100 can also monitor the home when residents are away. For example, the head 102 can have a depth and RGBD camera, which is capable of generating a 3D point cloud representation of the environment and can also recognize human gestures and translate them into commands. Figure 29 As shown, robot 100 can be inconspicuous and can be automatically retracted after the task is completed, without getting in the way. Head 102 can remain lowered to protect privacy, or it can remain raised for security monitoring or to monitor the room when receiving instructions. An exemplary field of view (FOV) of sensor 106 is shown below. Figure 30As shown. In the exemplary location, robot 100 may be charging its battery. Actuation of head 102 allows robot 100 to navigate around obstacles and pass under them, making it inconspicuous and not obstructing the user's path. Robot 100 can also be stored or self-stored in a vertical position to occupy less ground space, such as... Figure 31 As shown. Figure 32 As shown, multiple robots 100 can be stacked for storage to further save space.

[0072] Now refer to Figures 33-43 , Figures 33-43 These are perspective views of various embodiments of the robot 100 according to some non-limiting embodiments of this disclosure. Figure 33 As shown, the robot 100 can be in a second operating mode, defined by an upright, elongated neck member 108, a rearward-facing head 102, and rearward-extending arms 112. An example of this mode's use could be tidying a room by reaching for objects near the ground. In some non-limiting embodiments, the robot 100 can use its back to carry debris back to a trash can. This temporary storage reduces the number of trips. Containers can also be placed on the robot 100's back (e.g., on the torso 110), into which objects can be placed directly. The robot 100 can then return such containers to their desired locations, place them in drawers, or neatly arrange objects on shelves.

[0073] Figures 34-35 The state shown can be a third operating mode, defined by a vertical, elongated neck member 108, a forward-facing head 102, a vertical torso 110, and forward-extended arms 112. An example of this state's use could be as follows: Figure 34 Watering plants as shown, such as Figure 35 The robot 100 is shown changing clothes in a washing machine, making beds, tidying low furniture, or organizing or picking and placing books and objects on lower shelves. In an exemplary embodiment, the robot 100 may be able to put clothes into the washing machine, then move them to the dryer, and finally put all the dry clothes into a basket. It may also be able to sort by color or type of clothing. Over time, the robot 100 may also learn to fold and store clothes and towels.

[0074] Figures 36-39 The state shown can be a fifth operating mode, which is defined by a vertical, slender neck member 108, a rearward-facing head 102, a vertical torso 110, rearward-extending arms 112, and a lifting member 118 positioned at an angle relative to the legs 130. (As shown) Figures 36-39 As shown, the lifting member 118 can be positioned at approximately a 60-degree angle relative to the leg 130. An exemplary application of this configuration is as follows: Figure 36Make the bed as shown. Figure 37 As shown, another exemplary use of this configuration could be organizing low furniture, or arranging, picking out, and placing books and objects on lower shelves or tables. Another example of this configuration could be... Figure 38 The robot 100 positions and opens the dishwasher to load or unload dishes. By adjusting its posture to reach higher positions, the robot 100 can lift the dishwasher door and place the dishes at a higher location, such as... Figure 39 As shown.

[0075] Figures 40-42 The state shown can be a sixth operating mode, which is defined by a vertical, slender neck member 108, a forward-facing head 102, a vertical torso 110, forward-extending arms 112, and a lifting member 118 at a 60-degree angle. An example of this mode's use could be as follows: Figures 40-42 The table is arranged or cleared as shown. In some non-limiting embodiments, the pitch and rotation mechanism of the head 102 allows the robot 100 to look in a desired direction. In some non-limiting embodiments, this may be the default position of the robot 100 during operation. In some non-limiting embodiments, such as Figure 40 As shown, the base of robot 100 can be forked and have two separate legs 130, which allows robot 100 to place them under furniture, thereby improving its reach. Another option is a single solid base, but this does not allow robot 100 to place its base around an object.

[0076] Figure 43 The state shown could be the seventh operating mode, where robot 100 is fully extended and self-balancing on the second drive wheel 138. In this mode, robot 100 can reach its maximum potential in terms of observation capabilities and speed. Figure 43 As shown, this mode allows the robot 100 to reach higher places to complete tasks, such as retrieving objects from higher shelves. An example of using this mode is to inspect and monitor the surrounding environment. In an exemplary embodiment, the center of mass may be located approximately above the drive wheel 138.

[0077] Now refer to Figures 44-46 , Figures 44-46 These are various views illustrating implementations of the robot 100 according to some non-limiting embodiments of this disclosure. Figures 44-46 As shown, robot 100 can switch between its various states and operating modes as needed during task completion. Robot 100 can continuously monitor its own weight and payload to ensure that its center of gravity remains within its base range, maintaining stability and avoiding any tipping hazard. For example, as... Figures 44-46As shown, when lifting a heavy laundry basket, robot 100 can sense a shift in its center of balance and adjust its height to recenter itself. Furthermore, as... Figures 44-46 As shown, robot 100 can change its height without adjusting its grip.

[0078] The morphology of robot 100 may not follow anatomical human movement. It may be partially humanoid, as it may have two arms, two hands, a torso, a neck, and a head. However, it is not only foldable but may also have a mobile base, which improves efficiency in most cases, especially indoors, compared to legs. One morphological difference may be that for robot 100 to perform work on elevated surfaces, it does not necessarily need a tall torso or high shoulders. Therefore, in some non-limiting embodiments, robot 100 may have a long neck and long arms so that it can see and reach high surfaces while keeping its center of gravity low and its overall size short.

[0079] Several components and sub-assemblies of a non-limiting embodiment of a robot 100 for assisting and performing household chores according to the present disclosure will now be described.

[0080] Robot 100 is considered a distributed computer system. Each joint has a motor controller with processing capabilities, which communicates bidirectionally with the host computer and all other joints (nodes) via a data bus. Therefore, the motor controller disclosed herein is a strategic component of Robot 100, including the communication protocol and brushless DC motor controller.

[0081] Now refer to Figure 47 and Figure 48 , Figure 47 and Figure 48 This is a perspective view of components of a robot 100 according to some non-limiting embodiments of the present disclosure. Figure 47 As shown, robot 100 may have a foldable front tray, which is used when transporting objects (e.g., clearing a table and taking dishes to a dishwasher, such as...) Figure 41(As shown) This is very helpful. This can increase the object handling capability of robot 100 and eliminate the number of round trips required to complete a task. In some non-limiting embodiments, the torso 110 may include: a recess 144 configured to receive and store one or more objects; and a cover 146 configured to cover the recess 144 in a closed position and hold one or more objects in the recess 144. In some non-limiting embodiments, in the open position, the cover 146 may be configured as a foldable front tray or shelf for holding one or more objects. In some non-limiting embodiments, the cover 146 may be connected to the torso 110 and / or the recess 144 by a magnetic latch, spring, and damping hinge. Further, the magnetic latch, spring, and damping hinge may control the opening / closing function of the cover 146, allowing robot 100 to open and close the cover 146 without the actuation of an actuator (i.e., a motor). In some non-limiting embodiments, robot 100 may use arm 112 and / or other components to open and close cover 146 to achieve the desired use case.

[0082] like Figure 48 As shown, in some non-limiting embodiments, the lifting member 118 includes a compartment 148 configured to receive and store one or more objects. The compartment 148 may be further configured to receive and store one or more rechargeable batteries B and / or a battery management system configured to power the robot 100. In some non-limiting embodiments, the robot 100 may further include a surface 150 of the lifting member 118, and the surface 150 may include at least one charging terminal 152 configured to receive one or more wires to charge the rechargeable battery B, and may be further configured to interact with a wireless charging pad to charge the rechargeable battery B. Figure 48 As shown, robot 100 can replace its own battery. For example, if robot 100 is in the middle of a task and charging is not feasible, robot 100 can determine that replacing its battery to continue performing the task is more preferable than stopping the task and starting over. Similarly, robot 100 can maintain itself by following its own preventative maintenance plan, such as lubricating its joints, tensioning the timing belt, or replacing damaged parts (including ordering its own parts) when necessary.

[0083] Now refer to Figures 49-54 , Figures 49-54This is a cross-sectional view of various components of a robot 100 according to some non-limiting embodiments of the present disclosure. The robot 100 may include several types of actuators. For example, a lifting joint may include one or more brushless DC motors and a motor controller to drive a three-stage spur gear transmission. The lifting joint may further include: a crossed roller bearing (withstanding high bending moment loads) attached to the output shaft for transmitting torque from the final gear; and an absolute encoder attached to the output shaft to provide feedback to the controller for precise position control. Further, on the opposite side of the output shaft, an omnidirectional wheel (freely laterally movable) may be attached to an idler bearing. This lifting joint may be responsible for lifting the robot 100 to a specific height. Drive joints may include a similar setup to the lifting joint, but with a two-stage reduction gear for achieving higher speeds at lower torque, and a standard rubber-coated wheel attached to the joint output for low noise and good traction. The encoder may capture its position over time, providing position and speed feedback to the motor controller.

[0084] like Figure 49 and Figure 50 As shown, the leg member 134 may include a lifting joint in conjunction with a drive joint. For example, the leg member 134 may include a front motor 140 with a gearbox, an absolute encoder, and a motor controller (i.e., motor controller 500) at its second end. A similar arrangement may be made at the first end of the leg member 134, but with the addition of a brake. This brake allows the robot 100 to maintain its height without power. For example, the brake may lock when power is off. The second end of the leg member 134 may also include a passive suspension for the first drive wheel 136, the axle of which is supported by a linear guide for vertical movement and cushioned by an elastomer. This configuration reduces vibration transmitted all the way to the head 102 of the robot 100 for stability and improves sensor perception quality and sensing capabilities (e.g., when the robot 100 must traverse obstacles such as carpets or transition strips between rooms).

[0085] In some non-limiting embodiments, the lifting member 118 (e.g., a secondary link, a lifting link) may be mounted to the output end of the lifting joint. This link may include a battery, a battery management system, and a charging pad, and will be close to the ground in the folded position. At the opposite joint, an RGBD (3D point cloud) camera may be positioned at hip height of the robot 100 for computer vision mapping, localization, and obstacle avoidance. The torso 110 may be attached to the top of the lifting member 118 via a large, actuated torso joint.

[0086] like Figure 51As shown, the torso 110 may include a large torso joint 154 at a second end, which may include a motor, a strain wave gear (i.e., harmonic drive), a controller, and an absolute encoder. A shoulder joint 116 is shown at the first end of the torso 110 (right side of the figure). In some non-limiting embodiments, the torso joint may include a brushless DC motor connected to a strain wave gear with a reduction ratio of 100:1 to provide sufficient torque at reduced speeds. A slewing bearing may be provided on the opposite side of the motor, which may serve as an idler joint.

[0087] The torso 110 may also house the robot 100's main computer (e.g., a computer with a GPU), which can communicate with all joints of the robot 100, as well as multiple ports and a central screen, via a CAN bus protocol. All cameras and / or sensors of the robot 100 (from the head and hips) can be connected to the main computer, and all cables of the robot 100 can be routed in a concealed manner. Side shoulder joints 116, with a structure similar to the torso joints, may also be attached to the torso 110.

[0088] Shoulder joint 116 Figure 52 As shown in the diagram, shoulder joint 116 may include a frameless brushless DC motor, a motor controller, strain wave gears (i.e., harmonic drives), and a brake for maintaining position under load. The brake may be a spring-loaded, power-off brake that releases only when energized, thereby saving energy and ensuring the safety of the robot 100 under load. Shoulder joint 116 may further include an 18-bit (262,144 positions) absolute encoder at its output shaft for precise position control. In some non-limiting embodiments, a front shoulder brace may be attached to the side shoulder joint. Neck and head components may be attached to the upper torso.

[0089] Figure 53 and Figure 54A differential drive mechanism (i.e., differential joint) for the upper neck joint is shown, wherein an elongated neck member 108 is connected to the head 102. In an exemplary embodiment, two motors work together for tilting of the central portion of the joint and rotation of the upper axis. This configuration provides tilting and translation capabilities for the head 102 and the elongated neck member 108, and also allows cables and USB ports to pass through the elongated neck member 108 internally. The same or similar configuration can be used for the wrist member 124 and the elbow joint for connecting the first arm member 120 to the second arm member 124. In some non-limiting embodiments, the wrist member 124 can utilize slip rings to transmit power and data between the arm 112 and the fingers 126, 128 (i.e., the hand of robot 100), which can allow the hand to rotate freely as many times as needed without being limited by conventional wiring (i.e., tangles). This feature is particularly useful for screwing in / out light bulbs or bolts or opening / closing cans. Furthermore, the lower neck can be driven on one side by a small brushless motor and a micro harmonic drive, because the required torque is very small, but still allows for smooth movement.

[0090] Now refer to Figures 55-57 , Figures 55-57 These are various views of a robot motor controller 500 according to some non-limiting embodiments of the present disclosure. According to another aspect of the present disclosure, a system for operating a robot (e.g., system 900) may include at least one processor (i.e., a controller, such as controller 500) that may be programmed or configured to receive data associated with robot 100 for performing household tasks, send data associated with robot 100 for performing household tasks, learn operation sequences of robot 100 for performing household tasks, teach operation sequences of robot 100 for performing household tasks, and execute operations of robot 100 for performing household tasks.

[0091] This configuration allows for the control of robot 100 with the versatility and efficiency desired by the user. The motor controller 500 can be a four-layer PCB board with up to 250W of power. The motor controller 500 may include motor Hall sensor feedback for precise commutation. The motor controller 500 may additionally include daisy-chain CAN bus communication and power lines for robust communication and simplified wiring of multiple robot joints, as well as absolute encoder capability with wired drivers. This configuration may also include one or more additional I2C ports for connecting IMU or TOF sensors. Importantly, the controller may have current feedback, allowing the calculation of the torque currently applied to the joints during a task. This allows robot 100 to operate around a human and stop movement of any joint in the event of even the slightest accidental contact.

[0092] Now refer to Figure 58 , Figure 58 This is a perspective view of environment 800. According to some non-limiting embodiments of this disclosure, robots 100 or a cluster of robots 100 can be deployed in environment 800 to perform household tasks. In some exemplary embodiments, environment 800 may be a house, which may include multiple robots 100 according to this disclosure for assisting and performing household chores, these robots 100 being in various operational states and performing various tasks. Figure 58 As shown, multiple robots 100 can work in a cluster or swarm to complete tasks faster and easier. For example, two robots 100 can make a bed much more easily than one. Robots 100 can also be taught and learn from users or from other robots 100 (e.g., through "swarm" artificial intelligence) how to complete new tasks.

[0093] The various states, modes, and positions described and illustrated herein are provided for illustrative purposes and should not be construed as limiting. It should be understood that the robot 100 of this disclosure can implement various other states, modes, and positions for performing a variety of other tasks.

[0094] Now refer to Figure 59 , Figure 59 This is a schematic diagram of components of an exemplary system 900 and robot 100 according to some non-limiting embodiments of the present disclosure. According to another aspect of the present disclosure, the system 900 for operating the robot may include at least one processor (i.e., a controller, such as controller 500), which may be programmed or configured to: receive data associated with the robot 100 for performing household chores, send data associated with the robot 100 for performing household chores, learn a sequence of operations for the robot 100 to perform household chores, teach the robot 100 the sequence of operations to perform household chores, and execute operations for the robot 100 to perform household chores.

[0095] According to another aspect of this disclosure, a computer program product for providing one or more features related to a robot includes at least one computer-readable medium including one or more instructions, which, when executed by at least one processor, cause the at least one processor to: receive data related to a robot 100 for performing household tasks, send data related to a robot 100 for performing household tasks, learn an operation sequence of the robot 100 for performing household tasks, teach the robot 100 an operation sequence for performing household tasks, and perform an operation of the robot 100 for performing household tasks.

[0096] It should be understood that while embodiments of this disclosure have been described with respect to foldable robots having various states and modes defined by a variety of different folding configurations for assisting and performing household chores, the robots, devices, systems, and components are suitable for learning and performing, but not limited to, various household tasks or affairs, and various other configurations and uses of the robots, devices, systems, and components of this disclosure are conceivable. Furthermore, although the robot has been described herein in conjunction with its use in the home, it is conceivable that, as a general-purpose robot, it could also be used anywhere to assist humans in performing any task, for example, as a personal assistant robot in the workplace, such as in an office or work environment, or in any other conceivable location where the robot might be useful (e.g., hotels, airports, factories).

[0097] Although several examples of foldable robots for assisting and performing household chores, having various states and modes defined by a variety of different folding configurations, have been shown in the accompanying drawings and described in detail above, other aspects will be apparent and readily achievable by those skilled in the art without departing from the scope and spirit of this disclosure. Therefore, the foregoing description is intended to be illustrative rather than limiting. The disclosure described above is defined by the appended claims, and all modifications falling within the meaning and scope of the equivalents of the claims should be included within their scope.

Claims

1. A robot for assisting and performing household chores, comprising: A head, the head having a screen and one or more first sensors; Slender neck component; trunk; One or more arms, said one or more arms being connected to the torso; A lifting component, which is connected to the torso and is rotatable relative to the torso; One or more legs, said one or more legs being connected to said lifting member, wherein each of said one or more legs includes: Leg components; A first drive wheel is disposed at a first end of the leg member; and The second drive wheel is disposed at the second end of the leg member. The first drive wheel and the second drive wheel can be independently controlled to achieve the movement of the robot; and At least one controller, the at least one controller being configured to send and receive data related to the robot for performing household tasks.

2. The robot according to claim 1, wherein, The robot is configured to move and fold into multiple states, allowing components including the head, the elongated neck member, the torso, the one or more arms, the lifting member, the one or more legs, the leg members, and the first and second drive wheels to be positioned in various configurations. Each of the multiple states corresponds to an operating mode defined by the task to be completed, and is further defined by the components that extend, fold, move, or otherwise position themselves to complete the various household tasks.

3. The robot according to claim 2, wherein, The hip joint of each of the one or more legs allows the leg component to rotate relative to the lifting component. The shoulder joint of each of the one or more arms allows the first arm member to rotate relative to the torso about a first axis extending vertically from the side surface of the torso and a second axis perpendicular to the first axis.

4. The robot according to claim 3, wherein, The elongated neck member is configured to rotate relative to the torso, and The head is rotatable relative to the elongated neck member about a fifth axis extending from the elongated neck member and a sixth axis perpendicular to the fifth axis.

5. The robot according to claim 4, wherein, The robot includes: Two arms, the two arms being connected to the torso; and Two legs, which are connected to the lifting component; The first and second drive wheels of each leg component are actuated by independent motors, and Each of the individual motors is controlled by the controller to enable the robot to move.

6. The robot according to claim 5, wherein, The one or more first sensors of the head are cameras, and the robot includes at least one of the following additional sensors: Camera; Motion sensor; Time-of-flight sensor; Multi-inertial measurement unit (MIG) sensor; Accelerometer; Pressure sensor; Temperature sensor; Humidity sensor; Smoke detector; Carbon monoxide (CO2) sensor; Particulate matter sensor; Indoor air quality sensor; Radiation sensor; Pulse oximeter; Heart rate sensor; or Biometric sensors.

7. The robot of claim 6 further includes one or more speakers, one or more lights, and one or more microphones. in, The one or more speakers are configured to convey audible warnings, alarms, messages, and instructions to users and other robots. The one or more lights are configured to convey visual warnings, alarms, messages, and instructions to users and other robots. Wherein, the one or more microphones are configured to record sound, the sound including voice commands from the user, and The controller is further configured to receive and process sound recorded by the one or more microphones, convert the sound into a dataset, and communicate the dataset with the component during task execution.

8. The robot according to claim 4, wherein, The first operating mode is standby mode, in which the robot is in a folded state, such that: The elongated neck member, the torso, the first arm member, the second arm member, the lifting member, and the one or more legs are rotated and folded so that they are parallel to each other; The head is folded downwards, such that the one or more first sensors are oriented perpendicular to the elongated neck member, the torso, the first arm member, the second arm member, the lifting member, and the one or more legs.

9. The robot according to claim 8, wherein, In the second operating mode, the robot is in a partially folded state, such that: The torso, the first arm member, the second arm member, the lifting member, and the one or more legs are rotated and folded so that they are parallel to each other; The elongated neck member extends upward to be perpendicular to the lifting member; and The screen or the one or more first sensors are oriented in a first direction perpendicular to the elongated neck member.

10. The robot according to claim 9, wherein, In the third operating mode, the robot is in a partially extended state, such that: The lifting component and the one or more legs are rotated and folded so that they are parallel to each other; The torso extends perpendicular to the lifting component; The elongated neck member extends upward from the torso and is parallel to the torso; and The screen or the one or more first sensors are oriented perpendicular to the elongated neck member along a first direction.

11. The robot according to claim 10, wherein, In the fourth operating mode, the robot is in a partially extended state, such that: The lifting component and the one or more legs are rotated and folded so that they are parallel to each other; The torso extends perpendicular to the lifting component; The elongated neck member extends upward from the torso and is parallel to the torso; and The screen or the one or more first sensors are oriented in a second direction perpendicular to the elongated neck member and opposite to the first direction.

12. The robot according to claim 11, wherein, In the fifth operating mode, the robot is in a partially extended state, such that: The one or more legs are rotated and folded so that they are parallel to each other and parallel to the travel surface, and the first and second drive wheels are in contact with the travel surface; The lifting component extends upward from the one or more legs and forms an angle with the one or more legs; The torso extends upward from the lifting component and forms an angle with the lifting component; The elongated neck member extends upward from the lifting member and forms an angle with the lifting member; The screen or the one or more first sensors are oriented in the second direction; and One or more arms extend from the torso along the second direction.

13. The robot according to claim 12, wherein, In the sixth operating mode, the robot is in a partially extended state, such that: The one or more legs are rotated and folded so that they are parallel to each other and parallel to the travel surface, and the first and second drive wheels are in contact with the travel surface; The lifting component extends upward from the one or more legs and forms an angle with the one or more legs; The torso extends upward from the lifting component and forms an angle with the lifting component; The elongated neck member extends upward from the lifting member and forms an angle with the lifting member; The screen or the one or more first sensors are oriented in the first direction; and One or more arms extend from the torso along the first direction.

14. The robot according to claim 13, wherein, In the seventh operating mode, the robot is in an extended state, such that: The second drive wheel of one or more legs is locked by a brake and contacts the traveling surface; The one or more legs extend upward from the second drive wheel of the one or more legs and form an angle with the traveling surface; The lifting component extends upward from the one or more legs and forms an angle with the one or more legs; The torso extends upward from the lifting component and forms an angle with the lifting component; The elongated neck member extends upward from the lifting member and forms an angle with the lifting member; and The robot self-balances on the second drive wheels of one or more of its legs.

15. The robot according to claim 13, wherein, The torso includes a recess and a cover, the recess being configured to receive and store one or more objects, and the cover being configured to cover the recess in a closed position and retain the one or more objects within the recess. In the open position, the cover is configured as a shelf for holding one or more objects.

16. The robot according to claim 1, wherein, The lifting component includes a compartment and a handle, the compartment being configured to receive and store one or more objects, and the handle being configured to allow a user to pick up and transport the robot.

17. The robot according to claim 16, wherein, The compartment is further configured to receive and store one or more rechargeable batteries and a battery management system, the one or more rechargeable batteries being configured to power the robot.

18. The robot according to claim 16, wherein, The surface of the lifting member includes at least one charging terminal, which is configured to receive one or more wires to charge the rechargeable battery and to interact with a wireless charging pad to charge the rechargeable battery.

19. A system for operating a robot according to claim 1, the system comprising: At least one processor, the at least one processor being programmed or configured to: receive data related to the robot for performing household chores, send data related to the robot for performing household chores, learn an operation sequence of the robot for performing household chores, teach the robot an operation sequence of the robot for performing household chores, and execute the operation of the robot for performing household chores.

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