humanoid robot

Abstract

The robot (100) comprises a body assembly (101) including a frame formed from at least one body joint assembly (104-110, 113, 115), and at least one pair of articulated linear actuators (202, 204, 206, 208, 210) forming the at least one body joint, the at least one pair of articulated linear actuators operating in combination and configured to adjust the at least one body joint assembly (104-110, 113, 115) in two degrees of freedom through differential linear actuation.

Description

[Technical Field]

[0001] (Technical field) This disclosure describes an example implementation of a humanoid robot. [Background technology]

[0002] (background) A humanoid robot has a body shape that resembles at least a portion of a human body. However, the humanoid envelope limits the volume available to store actuators used to move the robot's limbs, head, etc. Since larger actuators generally provide better performance, there is a trade-off between shape and performance, i.e., between using actuators that are small enough to allow the robot to generally fit within the humanoid envelope and the robot's performance. Summary of the Invention [Means for solving the problem]

[0003] (summary) In one example implementation, the robot includes a body assembly including a frame formed from at least one body joint assembly, and at least one pair of articulated linear actuators forming the at least one body joint, the at least one pair of articulated linear actuators configured to operate in combination and adjust the at least one body joint assembly in two degrees of freedom through differential linear actuation.

[0004] In certain aspects combinable with example implementations, the body assembly includes a torso assembly including at least a portion of a frame, at least one upper body joint assembly of the at least one body joint assembly, and at least one pair of upper body linear actuators of the at least pair of joint linear actuators, the at least pair of upper body linear actuators operating in combination and configured to adjust the upper body joint assembly in two degrees of freedom through differential linear actuation.

[0005] In another aspect that may be combined with any of the preceding aspects, the body assembly includes a base assembly including at least another portion of the frame, at least one lower body joint assembly of the at least one body joint assembly, and at least a pair of lower body linear actuators of the at least pair of joint linear actuators, the pair of lower body linear actuators configured to operate in combination and adjust the lower body joint assembly in two degrees of freedom through differential linear actuation.

[0006] In another aspect that may be combined with any of the preceding aspects, the base assembly is coupled to the fuselage assembly.

[0007] In another aspect that may be combined with any of the preceding aspects, the at least one upper body joint assembly includes at least six upper body joint assemblies, and each of the at least six upper body joint assemblies includes a pair of upper body linear actuators.

[0008] In another aspect that may be combined with any of the preceding aspects, the at least six upper body joint assemblies include a first shoulder joint assembly, a second shoulder joint assembly, a first wrist joint assembly, a second wrist joint assembly, a neck joint assembly, and a torso joint assembly.

[0009] In another aspect that may be combined with any of the preceding aspects, each of the first and second shoulder joint assemblies includes a pair of upper body linear actuators configured to operate in combination and adjust the respective shoulder joint assembly in two shoulder degrees of freedom through differential linear actuation, the two shoulder degrees of freedom including roll and yaw.

[0010] In another aspect that may be combined with any of the preceding aspects, the torso joint assembly includes a pair of upper body linear actuators configured to operate in combination and adjust the torso joint assembly in two degrees of freedom of the torso through differential linear actuation, the two degrees of freedom of the torso including roll and pitch.

[0011] In another aspect that may be combined with any of the preceding aspects, the at least one lower body joint assembly includes at least four lower body joint assemblies, and each of the at least four lower body joint assemblies includes a pair of lower body linear actuators.

[0012] In another aspect that may be combined with any of the preceding aspects, the at least four lower body joint assemblies include a first ankle joint assembly, a second ankle joint assembly, a first hip joint assembly, and a second hip joint assembly.

[0013] In another aspect that may be combined with any of the preceding aspects, each of the first and second ankle joint assemblies includes a pair of lower body linear actuators configured to operate in combination and adjust the respective ankle joint assembly in two degrees of freedom of the ankle through differential linear actuation, the two degrees of freedom of the ankle including roll and pitch.

[0014] In another aspect that may be combined with any of the preceding aspects, each of the first and second hip joint assemblies includes a pair of lower body linear actuators configured to operate in combination and adjust the respective hip joint assembly in two degrees of freedom of the hip joint through differential linear actuation, the two degrees of freedom of the hip joint including roll and pitch.

[0015] In another aspect that may be combined with any of the preceding aspects, the at least one lower body joint assembly includes a first thigh assembly and a second thigh assembly.

[0016] In another aspect that may be combined with any of the preceding aspects, each of the first thigh assembly and the second thigh assembly includes a pair of lower body linear actuators and a thigh linear actuator positioned with the pair of lower body linear actuators and configured to adjust the respective first or second thigh assembly in two degrees of freedom through differential linear actuation in combination with the pair of lower body linear actuators.

[0017] In another aspect that may be combined with any of the preceding aspects, each of the articulated linear actuators includes a quasi-direct drive (QDD) linear actuator.

[0018] In another aspect that may be combined with any of the preceding aspects, the QDD linear actuator includes a low gear ratio QDD linear actuator.

[0019] In another aspect that may be combined with any of the preceding aspects, the low gear ratio QDD linear actuator includes a gear ratio of 10:1 to 50:1.

[0020] In another aspect that may be combined with any of the preceding aspects, the low gear ratio QDD linear actuator includes at least one screw configured to facilitate speed reduction.

[0021] Another aspect combinable with any of the preceding aspects further includes a first motor controller communicatively coupled to each upper body linear actuator of the at least one pair of upper body linear actuators, and a second motor controller communicatively coupled to each lower body linear actuator of the at least one pair of lower body linear actuators.

[0022] In another aspect that may be combined with any of the preceding aspects, each of the first and second motor controllers includes a direct current (DC) motor controller.

[0023] In another aspect that may be combined with any of the preceding aspects, the first motor controller is configured to combinatorially operate at least one pair of upper body linear actuators based on the first signal to adjust at least one upper body joint assembly in two degrees of freedom through differential linear actuation.

[0024] In another aspect that may be combined with any of the preceding aspects, the second motor controller is configured to combinatorially operate at least one pair of lower body linear actuators based on the second signal to adjust the at least one lower body joint assembly in two degrees of freedom through differential linear actuation.

[0025] Another aspect that may be combined with any of the preceding aspects further includes a brain that includes one or more hardware processors, one or more memory modules, and one or more sensors.

[0026] In another aspect that may be combined with any of the preceding aspects, the one or more sensors include at least one inertial measurement unit and at least one image sensor.

[0027] In another aspect that may be combined with any of the preceding aspects, the brain is configured to perform an operation including detecting an obstacle proximate to the body assembly using at least one image sensor; generating at least one signal using at least one inertial measurement unit; providing the at least one signal to a motor controller coupled to at least one pair of articulated linear actuators; and operating, using the motor controller, the at least one pair of articulated linear actuators to adjust the at least one body joint assembly based on the at least one signal.

[0028] In another aspect that may be combined with any of the preceding aspects, the robot is a humanoid robot.

[0029] In another example implementation, a method of operating a robot includes operating a robot including a body assembly including a frame formed from at least one body joint assembly, and at least one pair of articulated linear actuators forming the at least one body joint, The method further includes controlling and combinatorially operating the at least one pair of articulated linear actuators to adjust the at least one body joint assembly in two degrees of freedom through differential linear actuation.

[0030] In certain aspects combinable with example implementations, the body assembly includes a torso assembly including at least a portion of a frame, at least one upper body joint assembly of the at least one body joint assembly, and at least one pair of upper body linear actuators of the at least pair of joint linear actuators, the at least pair of upper body linear actuators operating in combination and configured to adjust the upper body joint assembly in two degrees of freedom through differential linear actuation.

[0031] In another aspect that may be combined with any of the preceding aspects, the body assembly includes a base assembly including at least another portion of the frame, at least one lower body joint assembly of the at least one body joint assembly, and at least a pair of lower body linear actuators of the at least pair of joint linear actuators, the pair of lower body linear actuators configured to operate in combination and adjust the lower body joint assembly in two degrees of freedom through differential linear actuation.

[0032] In another aspect that may be combined with any of the preceding aspects, the base assembly is coupled to the fuselage assembly.

[0033] In another aspect that may be combined with any of the preceding aspects, the at least one upper body joint assembly includes at least six upper body joint assemblies, and each of the at least six upper body joint assemblies includes a pair of upper body linear actuators.

[0034] In another aspect that may be combined with any of the preceding aspects, the at least six upper body joint assemblies include a first shoulder joint assembly, a second shoulder joint assembly, a first wrist joint assembly, a second wrist joint assembly, a neck joint assembly, and a torso joint assembly.

[0035] In another aspect that may be combined with any of the preceding aspects, each of the first and second shoulder joint assemblies includes a pair of upper body linear actuators configured to operate in combination and adjust the respective shoulder joint assembly in two shoulder degrees of freedom through differential linear actuation, the two shoulder degrees of freedom including roll and yaw.

[0036] In another aspect that may be combined with any of the preceding aspects, the torso joint assembly includes a pair of upper body linear actuators configured to operate in combination and adjust the torso joint assembly in two degrees of freedom of the torso through differential linear actuation, the two degrees of freedom of the torso including roll and pitch.

[0037] In another aspect that may be combined with any of the preceding aspects, the at least one lower body joint assembly includes at least four lower body joint assemblies, and each of the at least four lower body joint assemblies includes a pair of lower body linear actuators.

[0038] In another aspect that may be combined with any of the preceding aspects, the at least four lower body joint assemblies include a first ankle joint assembly, a second ankle joint assembly, a first hip joint assembly, and a second hip joint assembly.

[0039] In another aspect that may be combined with any of the preceding aspects, each of the first and second ankle joint assemblies includes a pair of lower body linear actuators configured to operate in combination and adjust the respective ankle joint assembly in two degrees of freedom of the ankle through differential linear actuation, the two degrees of freedom of the ankle including roll and pitch.

[0040] In another aspect that may be combined with any of the preceding aspects, each of the first and second hip joint assemblies includes a pair of lower body linear actuators configured to operate in combination and adjust the respective hip joint assembly in two degrees of freedom of the hip joint through differential linear actuation, the two degrees of freedom of the hip joint including roll and pitch.

[0041] In another aspect that may be combined with any of the preceding aspects, the at least one lower body joint assembly includes a first thigh assembly and a second thigh assembly.

[0042] In another aspect that may be combined with any of the preceding aspects, each of the first thigh assembly and the second thigh assembly includes a pair of lower body linear actuators and a thigh linear actuator positioned with the pair of lower body linear actuators and configured to adjust the respective first or second thigh assembly in two degrees of freedom through differential linear actuation in combination with the pair of lower body linear actuators.

[0043] In another aspect that may be combined with any of the preceding aspects, each of the articulated linear actuators includes a quasi-direct drive (QDD) linear actuator.

[0044] In another aspect that may be combined with any of the preceding aspects, the QDD linear actuator includes a low gear ratio QDD linear actuator.

[0045] In another aspect that may be combined with any of the preceding aspects, the low gear ratio QDD linear actuator includes a gear ratio of 10:1 to 50:1.

[0046] In another aspect that may be combined with any of the preceding aspects, the low gear ratio QDD linear actuator includes at least one screw configured to facilitate speed reduction.

[0047] Another aspect combinable with any of the preceding aspects further includes operating a first motor controller communicatively coupled to each upper body linear actuator of the at least one pair of upper body linear actuators, and operating a second motor controller communicatively coupled to each lower body linear actuator of the at least one pair of lower body linear actuators.

[0048] In another aspect that may be combined with any of the preceding aspects, each of the first and second motor controllers includes a direct current (DC) motor controller.

[0049] Another aspect combinable with any of the preceding aspects further includes operating a first motor controller to operate based on the first signal to combinatorially operate at least one pair of upper body linear actuators to adjust at least one upper body joint assembly in two degrees of freedom through differential linear actuation.

[0050] Another aspect combinable with any of the preceding aspects further includes operating a second motor controller based on the second signal to combinatorially operate at least one pair of lower body linear actuators to adjust the at least one lower body joint assembly in two degrees of freedom through differential linear actuation.

[0051] In another aspect that may be combined with any of the preceding aspects, the robot further includes a brain that includes one or more hardware processors, one or more memory modules, and one or more sensors.

[0052] In another aspect that may be combined with any of the preceding aspects, the one or more sensors include at least one inertial measurement unit and at least one image sensor.

[0053] Another aspect that may be combined with any of the preceding aspects further includes detecting an obstacle proximate to the body assembly using at least one image sensor; generating at least one signal using at least one inertial measurement unit; providing the at least one signal to a motor controller coupled to at least one pair of articulated linear actuators; and operating, using the motor controller, the at least one pair of articulated linear actuators to adjust the at least one body joint assembly based on the at least one signal.

[0054] In another aspect that may be combined with any of the preceding aspects, the robot is a humanoid robot.

[0055] Implementations of a humanoid robot (or portions thereof) according to the present disclosure may include one, some, or all of the following features. For example, a humanoid robot according to the present disclosure may have an improved sense of balance compared to conventional general-purpose robots (GPRs), which result in slow, fragile, and non-robust walking motion. As another example, a humanoid robot according to the present disclosure may provide a more human-like gait that is capable of reacting to disturbances or realistic variations in terrain compared to conventional GPRs, which primarily use a statically stable form of walking motion (sometimes referred to as zero moment point (ZMP) gait) that relies on large feet and scripted / pre-planned gaits. As another example, a humanoid robot according to the present disclosure may provide a back-drivable actuation scheme to withstand collisions and other contact with the environment. Furthermore, a humanoid robot according to the present disclosure may provide an efficient longer runtime (e.g., from one or more batteries) by minimizing friction and other losses in the actuation system. Also, humanoid robots according to the present disclosure can provide more streamlined, "human-like" shapes and form factors that enable them to fit, move, and operate in environments that humans typically reside in. As another example, humanoid robots according to the present disclosure include human-like kinematics that enable their usefulness in many of the same situations that humans can fit into. As another example, humanoid robots according to the present disclosure can have good and improved payload-to-mass ratios and can be more efficient to produce and manufacture.

[0056] The details of one or more implementations of the subject matter described in this disclosure are set forth in the accompanying drawings and the description below. Other features, aspects, and advantages of the subject matter will become apparent from the description, drawings, and claims. [Brief explanation of the drawings]

[0057] [Figure 1A] 1A and 1B are schematic diagrams of an upper body assembly and a lower body assembly, respectively, of an exemplary implementation of a humanoid robot according to the present disclosure. [Figure 1B] 1A and 1B are schematic diagrams of an upper body assembly and a lower body assembly, respectively, of an exemplary implementation of a humanoid robot according to the present disclosure.

[0058] [Figure 2] FIG. 2 is a schematic diagram of all or a portion of a set of linear actuator pairs of an upper body assembly and a lower body assembly of an exemplary implementation of a humanoid robot according to the present disclosure.

[0059] [Figure 3] 3 and 4 are schematic diagrams of sets of linear actuator pairs in the upper and lower body assemblies, respectively, of an exemplary implementation of a humanoid robot according to the present disclosure. [Figure 4] 3 and 4 are schematic diagrams of sets of linear actuator pairs in the upper and lower body assemblies, respectively, of an exemplary implementation of a humanoid robot according to the present disclosure.

[0060] [Figure 5] 5 and 6 are schematic diagrams of an exemplary implementation of a humanoid robot in different positions illustrating differential linear actuation of a set of linear actuator pairs in accordance with the present disclosure. [Figure 6] 5 and 6 are schematic diagrams of an exemplary implementation of a humanoid robot in different positions illustrating differential linear actuation of a set of linear actuator pairs in accordance with the present disclosure.

[0061] [Figure 7] FIG. 7 is a box diagram of a network architecture including a humanoid robot architecture according to the present disclosure.

[0062] [Figure 8] 8A and 8B are schematic diagrams of front and side views, respectively, of an exemplary implementation of a humanoid robot according to the present disclosure.

[0063] [Figure 9A]9A-9H are schematic diagrams of an exemplary humanoid robot including aesthetic panels in different positions according to the present disclosure. [Figure 9B] 9A-9H are schematic diagrams of an exemplary humanoid robot including aesthetic panels in different positions according to the present disclosure. [Figure 9C] 9A-9H are schematic diagrams of an exemplary humanoid robot including aesthetic panels in different positions according to the present disclosure. [Figure 9D] 9A-9H are schematic diagrams of an exemplary humanoid robot including aesthetic panels in different positions according to the present disclosure. [Figure 9E] 9A-9H are schematic diagrams of an exemplary humanoid robot including aesthetic panels in different positions according to the present disclosure. [Figure 9F] 9A-9H are schematic diagrams of an exemplary humanoid robot including aesthetic panels in different positions according to the present disclosure. [Figure 9G] 9A-9H are schematic diagrams of an exemplary humanoid robot including aesthetic panels in different positions according to the present disclosure. [Figure 9H] 9A-9H are schematic diagrams of an exemplary humanoid robot including aesthetic panels in different positions according to the present disclosure.

[0064] [Figure 10A] 10A and 10B are exploded illustrations of front and rear views, respectively, of an exemplary implementation of a humanoid robot according to the present disclosure. [Figure 10B] 10A and 10B are exploded illustrations of front and rear views, respectively, of an exemplary implementation of a humanoid robot according to the present disclosure.

[0065] [Figure 11A] 11A-11H are schematic diagrams of an exemplary humanoid robot upper body assembly including linear actuators and other control components according to the present disclosure. [Figure 11B]11A-11H are schematic diagrams of an exemplary humanoid robot upper body assembly including linear actuators and other control components according to the present disclosure. [Figure 11C] 11A-11H are schematic diagrams of an exemplary humanoid robot upper body assembly including linear actuators and other control components according to the present disclosure. [Figure 11D] 11A-11H are schematic diagrams of an exemplary humanoid robot upper body assembly including linear actuators and other control components according to the present disclosure. [Figure 11E] 11A-11H are schematic diagrams of an exemplary humanoid robot upper body assembly including linear actuators and other control components according to the present disclosure. [Figure 11F] 11A-11H are schematic diagrams of an exemplary humanoid robot upper body assembly including linear actuators and other control components according to the present disclosure. [Figure 11G] 11A-11H are schematic diagrams of an exemplary humanoid robot upper body assembly including linear actuators and other control components according to the present disclosure. [Figure 11H] 11A-11H are schematic diagrams of an exemplary humanoid robot upper body assembly including linear actuators and other control components according to the present disclosure.

[0066] [Figure 12A] 12A-12E are schematic diagrams of a portion of a frame assembly of an upper body assembly of an exemplary humanoid robot according to the present disclosure. [Figure 12B] 12A-12E are schematic diagrams of a portion of a frame assembly of an upper body assembly of an exemplary humanoid robot according to the present disclosure. [Figure 12C] 12A-12E are schematic diagrams of a portion of a frame assembly of an upper body assembly of an exemplary humanoid robot according to the present disclosure. [Figure 12D]12A-12E are schematic diagrams of a portion of a frame assembly of an upper body assembly of an exemplary humanoid robot according to the present disclosure. [Figure 12E] 12A-12E are schematic diagrams of a portion of a frame assembly of an upper body assembly of an exemplary humanoid robot according to the present disclosure.

[0067] [Figure 13A] 13A-13F are schematic diagrams of a portion of a frame assembly of a lower body assembly of an exemplary humanoid robot according to the present disclosure. [Figure 13B] 13A-13F are schematic diagrams of a portion of a frame assembly of a lower body assembly of an exemplary humanoid robot according to the present disclosure. [Figure 13C] 13A-13F are schematic diagrams of a portion of a frame assembly of a lower body assembly of an exemplary humanoid robot according to the present disclosure. [Figure 13D] 13A-13F are schematic diagrams of a portion of a frame assembly of a lower body assembly of an exemplary humanoid robot according to the present disclosure. [Figure 13E] 13A-13F are schematic diagrams of a portion of a frame assembly of a lower body assembly of an exemplary humanoid robot according to the present disclosure. [Figure 13F] 13A-13F are schematic diagrams of a portion of a frame assembly of a lower body assembly of an exemplary humanoid robot according to the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0068] (Detailed explanation) Many robots appear strange or unfamiliar, in part because they lack human body proportions. The embodiments described herein provide upper-body humanoid robots for use in human-made environments. More specifically, embodiments may fit within a desired percentage of the humanoid envelope. For example, some embodiments fit within the humanoid envelope with less than a 25% deviation, and even more preferably, less than a 20% deviation, in torso length, shoulder width, biceps length, and forearm length.

[0069] The humanoid envelope may be defined by a set of body ratios as described in Biomechanics and Motor Control of Human Movement by David A. Winter (Wiley, 4th ed., October 12, 2009). Humanoid robot embodiments according to the present disclosure may also exhibit natural anthropomorphic movement and dexterous environmental interaction. Additionally, embodiments described herein may include compact mechanical layouts, external wiring and wiring routing schemes that reduce stress on the wiring, and / or compact on-board electronics distributed in a manner that improves cable management.

[0070] 1A and 1B are schematic diagrams of an upper body assembly 101 and a lower body assembly 102, respectively, of an exemplary implementation of a humanoid robot 100 (including one or both of assemblies 101 and 102) according to the present disclosure. Generally, the humanoid robot 100 comprises a general-purpose robotic product that performs useful work in the real world (without using emotions), such as tasks involving mundane, everyday tasks that are dangerous, harmful, or even impossible (or possible) to be performed by humans. Example tasks can include handling dangerous or hazardous materials (e.g., munitions, radioactive materials, chemicals), loading and unloading items or objects (e.g., items or objects that are immovable or otherwise impossible by one or more humans), or tasks performed in a dangerous or hazardous environment.

[0071] In this disclosure, the term "humanoid robot" may refer to a robot that is generally human in shape, e.g., with a torso, a trunk, two torso appendages (i.e., arms / hands), two trunk appendages (i.e., legs / feet), and a head or skull appendage. However, the term "humanoid robot" may also refer to a robot that merely resembles parts of a human, such as a torso only with torso appendages, or a trunk only with trunk appendages. In addition, this disclosure describes aspects of humanoid robots (e.g., paired linear actuators that form part of a joint assembly or appendage and work in combination to adjust the joint assembly or appendage in two degrees of freedom through differential linear actuation, etc.) that may be applied in non-humanoid robots, such as quadrupedal robots or others.

[0072] The humanoid robot 100 can be autonomously controlled (not tethered to any external control system) or controlled by a human (e.g., tethered or wirelessly) to perform tasks. For example, the humanoid robot 100 can perform useful tasks in spaces occupied by humans or not, with mobility and kinematic movements that at least partially mimic those of humans. The humanoid robot 100 is, in some aspects, designed for practical portability and mobility and mass production.

[0073] The humanoid robot 100 can implement various levels of autonomy. For example, an exemplary implementation of the humanoid robot 100 can be enabled for untethered locomotion testing with some limited manipulation capabilities. In some aspects, an exemplary implementation of the humanoid robot 100 can be configured for full manipulation and locomotion.

[0074] 1A , an exemplary implementation of a humanoid robot 100 includes an upper body assembly 101. In some aspects, the upper body assembly 101 constitutes the entire humanoid robot 100 (i.e., the humanoid robot 100 does not include a lower body assembly 102). The upper body assembly 101, in this example, includes a pelvis assembly 103, a torso assembly 105, a shoulder assembly 115, an upper arm assembly 113, a forearm assembly 107, a neck assembly 109, and a head assembly 111. Generally, one, some, or all of the illustrated assemblies comprise pairs of linear actuators that operate via differential linear actuation to adjust or move the assembly in at least two degrees of freedom (as described in further detail herein).

[0075] 1B , an exemplary implementation of the humanoid robot 100 includes a lower body assembly 102. In some aspects, the lower body assembly 102 constitutes the entire humanoid robot 100 (i.e., the humanoid robot 100 does not include the upper body assembly 101). In an exemplary implementation, the humanoid robot 100 includes both an upper body assembly 101 and a lower body assembly 102, which are coupled together to form a complete humanoid robot system. The lower body assembly 102, in this example, includes a hip joint assembly 104 (which couples to a pelvis assembly 103), an upper leg assembly 106, a lower leg assembly 108, and a foot assembly 110 (which, in some aspects, is part of the lower leg assembly 108). Generally, one, some, or all of the illustrated assemblies comprise pairs of linear actuators that operate via differential linear actuation to adjust or move the assembly in at least two degrees of freedom (as described in further detail herein). In some aspects, each upper leg assembly 106 includes a pair of linear actuators in combination with a third linear actuator (as described more fully herein).

[0076] 2 is a schematic diagram of all or a portion of a set of linear actuator pairs of the upper body assembly 101 and the lower body assembly 102 of an exemplary implementation of the humanoid robot 100 according to the present disclosure. As shown in this figure, some of the assemblies described with reference to FIGS. 1A and 1B comprise linear actuator pairs that operate through differential linear actuation and move or adjust the assembly (and thus the humanoid robot 100) based on autonomous commands, external (e.g., human-provided) commands, and / or external stimuli (e.g., objects or obstacles in the field of view).

[0077] As shown in FIG. 2 , the neck assembly 109 includes a pair of linear actuators (not labeled). Each of the shoulder assemblies 115 includes a pair of linear actuators (not labeled). Each upper arm assembly 113 includes a pair of linear actuators 202. Each forearm assembly 107 includes a pair of linear actuators 204. Each lower leg assembly 108 includes a pair of linear actuators 210. Each upper leg assembly 106 includes a pair of linear actuators 206 and a single thigh linear actuator 208. Various radial actuators 212 are also located within one or more body assemblies of the humanoid robot 100, including the pelvis assembly 103, the hip joint assembly 104, and at the connection points of the upper arm assemblies 113 and the forearm assemblies 107 (as well as elsewhere).

[0078] As described herein, the linear actuator pairs (including the pair of linear actuators 206 in combination with the thigh linear actuator 208) can be actuated to control movement in at least two degrees of freedom through differential linear actuation. For example, the shoulder assembly 115 can provide flexion and extension of the arm of the humanoid robot 100 (e.g., lifting the arm in front and back). The shoulder assembly 115 can provide abduction and adduction (AA) of the arm of the humanoid robot 100. The upper arm assembly 113 can provide internal / external rotation (IE) of the arm of the humanoid robot 100. The combination of the upper and forearm assemblies 113 and 107 (e.g., in some aspects in combination with a radial actuator) can provide flexion-extension (FE) of the forearm of the humanoid robot 100.

[0079] In exemplary aspects of the humanoid robot 100, the use (e.g., preferential use) of linear electromechanical actuators (which have desirable performance per cost and manufacturability compared to other forms of actuators) can provide a lower gear ratio (compared to actuators traditionally used in GPR), which enables more dynamic behavior and increases system robustness to environmental collisions / interactions. The kinematic use of linear electromechanical actuators as shown can provide direction and mechanisms that enable the humanoid robot 100 to move in a manner that achieves desired functional attributes such as payload / torque, speed, efficiency, human-like form factor, and also sufficient range of motion. The illustrated pair of linear actuators also possess variable moments for the appendages (e.g., legs and / or arms), mimicking the way human muscles operate in the natural world.

[0080] In some aspects, each of the illustrated linear actuators can be sized for an expected or desired movement and / or force output (e.g., to lift or otherwise impart force to provide movement of the humanoid robot 100 itself or another object). In some aspects, each of the illustrated linear actuators can use a motor paired with a ball screw for primary (and efficient) speed reduction with a low (e.g., 10:1 to 50:1) gear ratio. In some aspects, each of the illustrated linear actuators can be a quasi-direct drive (QDD) type actuator. As described, each pair of illustrated linear actuators can operate through differential linear actuation, such that one linear actuator of the pair can be controlled (e.g., extended or shortened) independently from the other linear actuator of the pair.

[0081] As will be described, each of the illustrated pairs of linear actuators can provide at least two degrees of freedom of movement (through differential linear actuation) of a particular portion of the humanoid robot 100. For example, two shoulder degrees of freedom of roll and yaw can be provided through differential linear actuation of the pair of linear actuators of the shoulder assembly 115. Two torso degrees of freedom of roll and pitch can be provided through differential linear actuation of the pair of linear actuators 1102 of the torso assembly 105 (as shown in FIG. 11A). Two ankle degrees of freedom of roll and pitch can be provided through differential linear actuation of the pair of linear actuators 210 of the lower leg assembly 108. Two hip joint degrees of freedom of roll and pitch can be provided through differential linear actuation of the pair of linear actuators 206 and the thigh linear actuator 208 of the upper leg assembly 106.

[0082] The two degrees of freedom of a particular assembly of the humanoid robot 100 can have a particular range of motion. For example, Table 1 shows exemplary ranges of motion (ROM) for particular degrees of freedom (these values ​​are for example purposes only). [Table 1]

[0083] Each of the specific degrees of freedom shown in Table 1 can have a maximum sustained torque in the range of about 20 to about 150 Nm. Each of the specific degrees of freedom shown in Table 1 can have a maximum peak torque in the range of about 75 to about 500 Nm. Each of the specific degrees of freedom shown in Table 1 can have a minimum no-load speed in the range of about 3 to about 12 rad / sec. Each of the specific degrees of freedom shown in Table 1 can have a maximum gear ratio in the range of about 20 to about 170. Linear actuators providing the specific upper body degrees of freedom shown in Table 1 can have a maximum torque of about 0.05 to about 2 kg*m 2 A linear actuator providing the specified upper body degrees of freedom shown in Table 1 can have a maximum actuator reflected inertia in the range of about 0.02 to about 1.5 kg*m. 2 The actuator may have a minimum reflected inertia in the range of

[0084] 3 and 4 are schematic diagrams of sets of linear actuator pairs within the upper body assembly 101 and the lower body assembly 102, respectively, of an exemplary implementation of the humanoid robot 100 according to the present disclosure. For example, FIG. 3 shows the upper body assembly 101 in a position (e.g., a hand wave) involving actuation of the pair of linear actuators of the shoulder assembly 115 and the radial actuators of the elbow joints. FIG. 4 shows the lower body assembly 102 in a position (e.g., a foot step) involving actuation of the pair of linear actuators of the shoulder assembly 115 and the radial actuators of the elbow joints.

[0085] 5 and 6 are schematic diagrams of an exemplary implementation of a humanoid robot in different positions illustrating differential linear actuation of a set of linear actuator pairs according to the present disclosure. For example, FIG. 5 shows the humanoid robot 100 in a position (e.g., reaching overhead) involving actuation of the pair of linear actuators of the shoulder assembly 115, the pair of linear actuators of the neck assembly 109, and potentially the pair of linear actuators 202 of the upper arm assembly 113. FIG. 6 shows the humanoid robot 100 in a position (e.g., kneeling) involving actuation of the pair of linear actuators 210 of the lower leg assembly 108, the pair of linear actuators 1102 of the torso assembly 105, the pair of linear actuators 202 of the upper arm assembly 113, the pair of linear actuators 206 of the upper leg assembly 106 (and the thigh linear actuator 208), and potentially various radial actuators.

[0086] FIG. 7 is a box schematic diagram of a network architecture 700, including a humanoid robot architecture 705 (e.g., for humanoid robot 100), according to the present disclosure. In this exemplary architecture 700, the humanoid robot architecture 705 is shown within the shaded area and includes architecture components related to the torso ("body"), lower body assembly ("lower limbs"), upper body assembly ("forearms"), and control components ("perception"). The manner in which such components interact with support surfaces ("world contact") and environmental objects ("world objects") is also shown. As further shown, the network architecture 700 includes an external control architecture 710. Components of the external control architecture 710 include control components, such as a remote tablet control, which is a control interface for a user. Components of the external control architecture 710 also include power components, such as a base station (e.g., for recharging batteries) and a shore power source (to, in some aspects, provide connected power during use of the humanoid robot 100).

[0087] 8A and 8B are schematic diagrams of the front and side fields of view, respectively, of an exemplary implementation of a humanoid robot 100 according to the present disclosure. For example, FIG. 8A shows a front field of view 800 available to the humanoid robot 100 (available for image sensors or other object detection or perception sensors, etc.). The front field of view 800 can, in some aspects, be approximately 180° in front of the humanoid robot 100. FIG. 8B shows a side field of view 805 available to the humanoid robot 100 (available for image sensors or other object detection or perception sensors, etc.). The side field of view 805 can, in some aspects, be approximately 90° to each side of the humanoid robot 100 (side front and side back), respectively.

[0088] 9A-9H are schematic diagrams of an exemplary humanoid robot including aesthetic panels in different positions according to the present disclosure. In some aspects, the aesthetic panels can be disposed on the humanoid robot 100 and act as a "skin" or otherwise cover the frame, linear and radial actuators, wiring, and control components of the humanoid robot 100. While not all aesthetic panels are labeled in these figures, FIG. 9A shows the humanoid robot 100 in a "Vitruvian Man" position, with a torso panel 906, an upper leg panel 902, and a lower leg panel 904. The remaining FIGS. 9B-9H illustrate additional unlabeled aesthetic panels as well as additional positions of the humanoid robot 100. For example, FIG. 9B shows the humanoid robot 100 in a squat position. FIG. 9C shows the humanoid robot 100 in a kneeling position. FIG. 9D shows the humanoid robot 100 in a "child's pose" position. Figure 9E shows the humanoid robot 100 in a load-carrying position. Figure 9F shows the humanoid robot 100 in an arms-overhead position. Figure 9G shows the humanoid robot 100 in a push-forward / calf-extension position. Figure 9H shows the humanoid robot 100 in a "crouching tiger" position.

[0089] 10A and 10B are exploded illustrations of front and rear views, respectively, of an exemplary implementation of a humanoid robot 100 according to the present disclosure. Each figure shows the humanoid robot 100 in an exploded “Vitruvian Man” pose, showing a forearm assembly 107, an upper arm assembly 113 (and shoulder assembly 115), a torso assembly 105, a pelvis assembly 103 coupled to a hip joint assembly 104, an upper leg assembly 106, a lower leg assembly 108, and a foot assembly 110. Aesthetic panels are shown covering each of the illustrated assemblies.

[0090] 11A-11H are schematic diagrams of upper body assemblies of an exemplary humanoid robot 100 including linear actuators and other control components according to the present disclosure. For example, FIG. 11A shows a torso assembly 1101 with a pair of linear actuators 1102. FIG. 11B shows an upper body assembly 101 with a pair of linear actuators for the shoulder assemblies 115.

[0091] 11C shows upper arm assembly 113 with twin linear actuators 202. FIG. 11D illustrates upper body assembly 101 and power management system 1100. In some aspects, power management system 1100 includes one or more power sources (e.g., batteries) and power control circuitry for controlling the usage of power provided from the power sources, for example, to motor controllers that control the linear and radial actuators.

[0092] 11E shows the upper body assembly 101 and one or more (in this case, two) perception cameras 1105. The perception cameras 1105 can provide visual images (still or video) upon which control of the humanoid robot 100 (e.g., through control of the linear and radial actuators described) can be based.

[0093] 11F shows upper body assembly 101 and user interface 1110. In some aspects, user interface 1110 may include a power indicator and power button, a network or other communication channel (e.g., an RJ45 connection), and a shore power connection to which a power cable may be attached for providing power (e.g., to charge batteries or otherwise provide power to motor controllers and other control components).

[0094] FIG. 11G illustrates the upper body assembly 101 and an inertial measurement unit (IMU) 1115. In some aspects, the IMU 1115, in combination with other components, can provide locomotion control for the humanoid robot 100 (e.g., to prevent the humanoid robot 100 from falling over while either standing or walking) or control the humanoid robot 100 to manipulate objects in the environment. For example, the IMU 1115 can include sensors (such as accelerometers or other balance or perception sensors) and algorithms for mapping the world and identifying objects of interest for manipulation by the humanoid robot 100. In some aspects, the IMU 1115 is part of, or otherwise communicatively coupled to, the “brain” or on-board controller of the humanoid robot 100, which includes one or more hardware processors and memory modules (e.g., located on one or more PCBs and / or PLCs) and stored software instructions for implementing control commands.

[0095] 11H shows the upper body assembly 101 and a wireless antenna 1120. In some aspects, the wireless antenna 1120 provides wireless communication between the humanoid robot 100 and the external control architecture 710, which can control, activate, deactivate, or otherwise communicate with the humanoid robot 100.

[0096] 12A-12E are schematic diagrams of a portion of a frame assembly of the upper body assembly 101 of an exemplary humanoid robot 100 in accordance with the present disclosure. 13A-13F are schematic diagrams of a portion of a frame assembly of the lower body assembly 102 of an exemplary humanoid robot 100 in accordance with the present disclosure. These figures show some (but not all) of the overall frame assembly that acts as or otherwise mimics the “skeleton” of the humanoid robot 100. In some aspects, portions of the overall frame assembly of the humanoid robot 100 are coupled together using bearings, pivots, or other joints that are relatively movable. Components of the overall frame assembly are also attached (directly or indirectly) to the illustrated linear actuators, providing a ground connection so that operation of pairs of linear actuators via differential linear actuation moves components of the overall frame assembly. Aesthetic panels may also be attached to components of the overall frame assembly.

[0097] FIG. 12A shows a front view of the torso frame 1200, while FIG. 12B shows a rear view of the torso frame 1200. FIG. 12C shows a front view of the upper arm frame 1205, while FIG. 12D shows a rear view of the upper arm frame 1205. FIG. 12E shows a view of the forearm frame 1210. FIG. 13A shows a front isometric view of the lower body frame 1300, which is part of the lower body assembly 102. FIGS. 13B-13E show components of the overall frame assembly, including the lower body frame 1300; FIG. 13B shows the pelvis link 1305; FIG. 13C shows the hip joint IE link 1310; FIG. 13D shows the hip joint AA link 1315; FIG. 13E shows the thigh link 1320 (with thigh linear actuator 208); and FIG. 13F shows the shin link 1302.

[0098] As another example not shown in the illustrated figures, certain components, such as motor controllers for linear and radial actuators and other control components, include and / or are connected by wiring or cabling. One issue that prevents some robots from appearing humanlike and conforming to the humanoid envelope is excessive cabling that is visible outside the robot's outer shell. This excessive cabling can also present a tripping hazard. An exemplary implementation of the humanoid robot 100 minimizes external cabling by keeping it internal or by minimizing external cabling. An exemplary implementation of the humanoid robot 100 also helps to keep the cabling within the humanoid envelope without placing undue stress on the cables. More specifically, an exemplary implementation of the humanoid robot 100 can define wire paths across joints to minimize stress on both sides of the joints, allowing for little or no strain on the board connectors to which the cables connect.

[0099] Cabling and board joints can be subject to excessive stress when the ratio of cable path length change to total cable length is too high. Minimizing cable path length change throughout a joint's range of motion relative to total cable length can ensure that the cable does not stretch and place unnecessary stress on the cable, connector, or board. Furthermore, bending the cable with an excessively sharp radius can induce localized stress within the cable, which can propagate and apply stress to the connector or board. Exemplary implementations of the humanoid robot 100 can implement features to minimize cable path length change and maximize bend radius.

[0100] Certain features described can be implemented in digital electronic circuitry, or in computer hardware, firmware, software, or combinations thereof. The apparatus can be implemented in a computer program product tangibly embodied in an information carrier, e.g., a machine-readable storage device for execution by a programmable processor, and the method steps can be performed by the programmable processor, which performs the functions of the described implementation by executing a program of instructions, acting on input data, and generating output. The described features can advantageously be implemented in one or more computer programs executable on a programmable system including at least one programmable processor, at least one input device, and at least one output device, coupled to receive data and instructions from and transmit data and instructions to a data storage system. A computer program is a set of instructions that can be used, directly or indirectly, in a computer to perform an activity or bring about a result. The computer program can be written in any form of programming language, including compiled or interpreted languages, and it can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0101] Processors suitable for executing a program of instructions include, by way of example, both general-purpose and special-purpose microprocessors, and the sole processor or one of multiple processors of any kind of computer. Generally, a processor will receive instructions and data from a read-only memory or a random-access memory, or both. The essential elements of a computer are a processor for executing instructions and one or more memories for storing instructions and data. Generally, a computer will also include, or be operatively coupled to communicate with, one or more mass storage devices for storing data files. Such devices include magnetic disks, such as internal hard disks and removable disks, magneto-optical disks, and optical disks. Storage devices suitable for tangibly embodying computer program instructions and data include all forms of non-volatile memory, including, by way of example, semiconductor memory devices, e.g., EPROMs, EEPROMs, solid-state drives (SSDs), and flash memory devices, magnetic disks, e.g., internal hard disks and removable disks, magneto-optical disks, and CD-ROM and DVD-ROM disks. The processor and memory can be supplemented by, or incorporated in, ASICs (application-specific integrated circuits).

[0102] While the specification contains many specific implementation details, these should not be construed as limitations on the scope of any invention or what may be claimed, but rather as descriptions of features specific to particular implementations of particular inventions. Certain features described herein in the context of separate implementations can also be implemented in combination in a single implementation. Conversely, various features described in the context of a single implementation can also be implemented in multiple implementations, either separately or in any suitable subcombination. Also, while features may be described above as operative in a combination and may even be initially claimed as such, one or more features from a claimed combination can, in some cases, be deleted from that combination, and the claimed combination may be directed to a subcombination or a variation of the subcombination.

[0103] Similarly, although operations are depicted in a particular order in the figures, this should not be understood as requiring such operations to be performed in the particular or sequential order shown, or that all of the illustrated operations be performed, to achieve desirable results. In some situations, multitasking and parallel processing may be advantageous. Furthermore, the separation of various system components in the implementations described above should not be understood as requiring such separation in all implementations, and it should be understood that the program components and systems described may generally be integrated together in a single software product or packaged in multiple software products.

[0104] Several implementations have been described. However, it should be understood that various modifications may be made without departing from the spirit and scope of the present disclosure. For example, the example operations, methods, or processes described herein may include more or fewer steps than those described. Furthermore, the steps in such example operations, methods, or processes may be performed in a different order than described or illustrated in the figures. Accordingly, other implementations are within the scope of the following claims.

Claims

1. A robot, a body assembly comprising a frame formed from at least one body joint assembly; at least one pair of articulated linear actuators forming the at least one body joint, the at least one pair of articulated linear actuators operating in combination and configured to adjust the at least one body joint assembly in two degrees of freedom through differential linear actuation; A robot equipped with:

2. The body assembly comprises a fuselage assembly, the fuselage assembly comprising: at least a portion of the frame; at least one upper body joint assembly of the at least one body joint assembly; at least one pair of upper body linear actuators of the at least one pair of joint linear actuators, the at least one pair of upper body linear actuators operating in combination and configured to adjust the upper body joint assembly in two degrees of freedom through differential linear actuation; The robot of claim 1 , comprising:

3. The body assembly includes a base assembly, the base assembly including: at least another portion of the frame; at least one lower body joint assembly of the at least one body joint assembly; at least one pair of lower body linear actuators of the at least one pair of joint linear actuators, the at least one pair of lower body linear actuators operating in combination and configured to adjust the lower body joint assembly in two degrees of freedom through differential linear actuation; The robot of claim 1 , comprising:

4. The robot of claim 3 , wherein the base assembly is coupled to the fuselage assembly.

5. 3. The robot of claim 2, wherein the at least one upper body joint assembly comprises at least six upper body joint assemblies, each of the at least six upper body joint assemblies comprising a pair of upper body linear actuators.

6. 6. The robot of claim 5, wherein the at least six upper body joint assemblies comprise a first shoulder joint assembly, a second shoulder joint assembly, a first wrist joint assembly, a second wrist joint assembly, a neck joint assembly, and a torso joint assembly.

7. 7. The robot of claim 6, wherein each of the first and second shoulder joint assemblies comprises a pair of upper body linear actuators configured to operate in combination to adjust the respective shoulder joint assembly in two shoulder degrees of freedom through differential linear actuation, the two shoulder degrees of freedom comprising roll and yaw.

8. 7. The robot of claim 6, wherein the torso joint assembly comprises a pair of upper body linear actuators configured to operate in combination to adjust the torso joint assembly in two torso degrees of freedom through differential linear actuation, the two torso degrees of freedom comprising roll and pitch.

9. 4. The robot of claim 3, wherein the at least one lower body joint assembly comprises at least four lower body joint assemblies, each of the at least four lower body joint assemblies comprising a pair of lower body linear actuators.

10. 10. The robot of claim 9, wherein the at least four lower body joint assemblies comprise a first ankle joint assembly, a second ankle joint assembly, a first hip joint assembly, and a second hip joint assembly.

11. 11. The robot of claim 10, wherein each of the first and second ankle joint assemblies comprises a pair of lower body linear actuators configured to operate in combination to adjust the respective ankle joint assembly in two ankle degrees of freedom through differential linear actuation, the two ankle degrees of freedom comprising roll and pitch.

12. 11. The robot of claim 10, wherein each of the first and second hip joint assemblies comprises a pair of lower body linear actuators configured to operate in combination to adjust the respective hip joint assembly in two hip joint degrees of freedom through differential linear actuation, the two hip joint degrees of freedom comprising roll and pitch.

13. 4. The robot of claim 3, wherein the at least one lower body joint assembly comprises a first thigh assembly and a second thigh assembly.

14. Each of the first thigh assembly and the second thigh assembly comprises: a pair of lower body linear actuators; a thigh linear actuator positioned with the pair of lower body linear actuators, the thigh linear actuator configured to adjust the respective first or second thigh assembly in two degrees of freedom through differential linear actuation in combination with the pair of lower body linear actuators; The robot of claim 13 , comprising:

15. 10. The robot of claim 1, wherein each of the articulated linear actuators comprises a quasi-direct drive (QDD) linear actuator.

16. 16. The robot of claim 15, wherein the QDD linear actuator comprises a low gear ratio QDD linear actuator.

17. 17. The robot of claim 16, wherein the low gear ratio QDD linear actuator comprises a gear ratio of 10:1 to 50:

1.

18. 17. The robot of claim 16, wherein the low gear ratio QDD linear actuator comprises at least one screw configured to facilitate velocity reduction.

19. a first motor controller communicatively coupled to each upper body linear actuator of the at least one pair of upper body linear actuators; a second motor controller communicatively coupled to each lower body linear actuator of the at least one pair of lower body linear actuators; The robot of claim 3 further comprising:

20. 20. The robot of claim 19, wherein the first and second motor controllers each comprise a direct current (DC) motor controller.

21. 20. The robot of claim 19, wherein the first motor controller is configured to combinatorially operate the at least pair of upper body linear actuators based on a first signal to adjust the at least one upper body joint assembly in two degrees of freedom through differential linear actuation.

22. 20. The robot of claim 19, wherein the second motor controller is configured to combinatorially operate the at least pair of lower body linear actuators based on a second signal to adjust the at least one lower body joint assembly in two degrees of freedom through differential linear actuation.

23. 20. The robot of claim 19, further comprising a brain, the brain comprising one or more hardware processors, one or more memory modules, and one or more sensors.

24. 24. The robot of claim 23, wherein the one or more sensors comprise at least one inertial measurement unit and at least one image sensor.

25. The brain detecting an obstacle proximate to the body assembly with the at least one image sensor; generating at least one signal using the at least one inertial measurement unit; providing the at least one signal to a motor controller coupled to the at least one pair of articulated linear actuators; operating the at least one pair of articulated linear actuators with the motor controller based on the at least one signal to adjust the at least one body joint assembly; 25. The robot of claim 24, configured to perform operations including:

26. The robot of claim 1 , wherein the robot is a humanoid robot.

27. A method of operating a robot, comprising: Operating a robot, the robot comprising: a body assembly comprising a frame formed from at least one body joint assembly; at least one pair of articulated linear actuators forming the at least one body joint; and controlling and combinatorially operating said at least one pair of articulated linear actuators to adjust said at least one body joint assembly in two degrees of freedom through differential linear actuation; A method comprising:

28. The body assembly comprises a fuselage assembly, the fuselage assembly comprising: at least a portion of the frame; at least one upper body joint assembly of the at least one body joint assembly; at least one pair of upper body linear actuators of the at least one pair of joint linear actuators, the at least one pair of upper body linear actuators operating in combination and configured to adjust the upper body joint assembly in two degrees of freedom through differential linear actuation; 28. The method of claim 27, comprising:

29. The body assembly includes a base assembly, the base assembly including: at least another portion of the frame; at least one lower body joint assembly of the at least one body joint assembly; at least one pair of lower body linear actuators of the at least one pair of joint linear actuators, the at least one pair of lower body linear actuators operating in combination and configured to adjust the lower body joint assembly in two degrees of freedom through differential linear actuation; 28. The method of claim 27, comprising:

30. 30. The method of claim 29, wherein the base assembly is coupled to the fuselage assembly.

31. 30. The method of claim 28, wherein the at least one upper body joint assembly comprises at least six upper body joint assemblies, each of the at least six upper body joint assemblies comprising a pair of upper body linear actuators.

32. 32. The method of claim 31 , wherein the at least six upper body joint assemblies comprise a first shoulder joint assembly, a second shoulder joint assembly, a first wrist joint assembly, a second wrist joint assembly, a neck joint assembly, and a torso joint assembly.

33. 33. The method of claim 32, wherein each of the first and second shoulder joint assemblies comprises a pair of upper body linear actuators configured to operate in combination to adjust the respective shoulder joint assembly in two shoulder degrees of freedom through differential linear actuation, the two shoulder degrees of freedom comprising roll and yaw.

34. 33. The method of claim 32, wherein the torso joint assembly comprises a pair of upper body linear actuators configured to operate in combination to adjust the torso joint assembly in two degrees of freedom of the torso through differential linear actuation, the two degrees of freedom of the torso comprising roll and pitch.

35. 30. The method of claim 29, wherein the at least one lower body joint assembly comprises at least four lower body joint assemblies, each of the at least four lower body joint assemblies comprising a pair of lower body linear actuators.

36. 36. The method of claim 35, wherein the at least four lower body joint assemblies comprise a first ankle joint assembly, a second ankle joint assembly, a first hip joint assembly, and a second hip joint assembly.

37. 37. The method of claim 36, wherein each of the first and second ankle joint assemblies comprises a pair of lower body linear actuators configured to operate in combination to adjust the respective ankle joint assembly in two ankle degrees of freedom through differential linear actuation, the two ankle degrees of freedom comprising roll and pitch.

38. 37. The method of claim 36, wherein each of the first and second hip joint assemblies comprises a pair of lower body linear actuators configured to operate in combination to adjust the respective hip joint assembly in two hip joint degrees of freedom through differential linear actuation, the two hip joint degrees of freedom comprising roll and pitch.

39. 30. The method of claim 29, wherein the at least one lower body joint assembly comprises a first thigh assembly and a second thigh assembly.

40. Each of the first thigh assembly and the second thigh assembly comprises: a pair of lower body linear actuators; a thigh linear actuator positioned with the pair of lower body linear actuators, the thigh linear actuator configured to adjust the respective first or second thigh assembly in two degrees of freedom through differential linear actuation in combination with the pair of lower body linear actuators; 40. The method of claim 39, comprising:

41. 28. The method of claim 27, wherein each of the articulated linear actuators comprises a quasi-direct drive (QDD) linear actuator.

42. 42. The method of claim 41, wherein the QDD linear actuator comprises a low gear ratio QDD linear actuator.

43. 43. The method of claim 42, wherein the low gear ratio QDD linear actuator comprises a gear ratio of between 10:1 and 50:

1.

44. 43. The method of claim 42, wherein the low gear ratio QDD linear actuator comprises at least one screw configured to facilitate velocity reduction.

45. operating a first motor controller communicatively coupled to each upper body linear actuator of the at least one pair of upper body linear actuators; operating a second motor controller communicatively coupled to each lower body linear actuator of the at least one pair of lower body linear actuators; 30. The method of claim 29, further comprising:

46. 46. ​​The method of claim 45, wherein each of the first and second motor controllers comprises a direct current (DC) motor controller.

47. 46. ​​The method of claim 45, further comprising operating the first motor controller to operate based on a first signal to combinatorially operate the at least pair of upper body linear actuators to adjust the at least one upper body joint assembly in two degrees of freedom through differential linear actuation.

48. 46. ​​The method of claim 45, further comprising operating the second motor controller based on a second signal to combinatorially operate the at least pair of lower body linear actuators to adjust the at least one lower body joint assembly in two degrees of freedom through differential linear actuation.

49. 46. ​​The method of claim 45, wherein the robot further comprises a brain, the brain comprising one or more hardware processors, one or more memory modules, and one or more sensors.

50. 50. The method of claim 49, wherein the one or more sensors comprise at least one inertial measurement unit and at least one image sensor.

51. detecting an obstacle proximate to the body assembly with the at least one image sensor; generating at least one signal using the at least one inertial measurement unit; providing the at least one signal to a motor controller coupled to the at least one pair of articulated linear actuators; operating the at least one pair of articulated linear actuators with the motor controller based on the at least one signal to adjust the at least one body joint assembly; 51. The method of claim 50, further comprising:

52. 28. The method of claim 27, wherein the robot is a humanoid robot.

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