Robots to assist with and perform household chores

Abstract

A foldable robot for assisting and performing 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 riser member connected to the torso and rotatable relative to the torso, one or more legs connected to the riser member by a hip joint, and a controller configured to send and receive data associated with the robot for completing household tasks. 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 located at the first end of the leg member and coaxial with the hip joint, and a second drive wheel located at the second end of the leg member. The first and second drive wheels are independently controllable for the robot's movement.

Description

Technical Field

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Provisional Patent Application No. 63 / 531,465, filed on August 8, 2023, the disclosure of which is hereby incorporated by reference in its entirety.

Background Art

[0002] Field of the Present Disclosure The present disclosure relates to a robot for assisting and performing household chores, and particularly to a foldable robot for assisting and performing household chores, which has a plurality of states and modes defined by a plurality of different folding configurations.

[0003] Description of Related Art Existing robots for home use and for completing household tasks and chores generally have limited functions and can only complete the tasks they are designed for. For example, robotic (i.e., automated) vacuum cleaners, mops, lawn mowers, security systems, and the like, each have a dedicated function only for cleaning floors, mopping floors, mowing lawns, or providing security monitoring, respectively. These household robots are also limited in their size and orientation, which contributes to their limited functionality and causes problems related to versatility, maneuverability, storage, and power supply and / or battery charging. Industrial automation and known humanoid robots are similarly limited in their size, orientation, and functionality, and their cost and energy consumption make home use unachievable for ordinary consumers. Furthermore, none of these robots have the ability to independently learn how to complete tasks from past experience, the experience of other robots, communication networks such as the Internet, and through interaction with humans, nor the ability to teach other robots and humans how to complete tasks.

Summary of the Invention

Problem to be Solved by the Invention

[0004] In light of the above, there is a need for robots to assist and perform household chores, in particular for foldable robots having multiple states and modes defined by multiple different folding configurations for assisting and performing household chores. [Means for solving the problem]

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

[0006] According to one aspect of the present 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 by shoulder joints, a riser member connected to the torso and rotatable relative to the torso, one or more legs connected to the riser member by hip joints, and at least one controller configured to send and receive data associated with the robot for completing 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 a 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 for the robot's movement.

[0007] Furthermore, the robot is configured to move and fold so that it has multiple states and operating modes defined by the task to be completed, with different members and components being extended, folded, moved, or otherwise positioned for the completion of various household tasks. One of the various states or modes includes a standby mode in which the robot is folded for minimal space occupancy so that it can be stored in a closet or under furniture until it receives a command to complete a task.

[0008] According to another aspect of the present disclosure, a system for operating a robot includes at least one processor programmed or configured to receive data associated with the robot for completing household tasks, transmit data associated with the robot for completing household tasks, learn the sequence of actions of the robot for completing household tasks, teach the sequence of actions of the robot for completing household tasks, and perform the actions of the robot for completing household tasks.

[0009] In another aspect of the present disclosure, a computer program product for providing one or more features relating to a robot, comprising at least one computer-readable medium containing one or more instructions, the one or more instructions, when executed by at least one processor, cause the at least one processor to receive data associated with the robot for completing household tasks, transmit data associated with the robot for completing household tasks, learn the sequence of actions of the robot for completing household tasks, teach the sequence of actions of the robot for completing household tasks, and perform actions of the robot for completing household tasks.

[0010] According to additional aspects of this disclosure, the robot is configured to assist with everyday chores, saving the user time and eliminating inconvenience. The robot is further configured to map and navigate the environment and manipulate the environment with components such as arms and hands. The robot is useful to any class of user, but is particularly useful to users living alone, users with children, the elderly, and users with disabilities.

[0011] Non-limiting illustrative examples of embodiments of the present disclosure are described in the following numbered sections.

[0012] Article 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 by a shoulder joint, each of the one or more arms comprising a first arm member, a second arm member, a wrist, and at least two fingers; a riser member connected to the torso and rotatable relative to the torso; one or more legs connected to the riser member by a hip joint, each of the one or more legs comprising 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 being independently controllable for the movement of the robot; and at least one controller configured to send and receive data associated with the robot for completing household tasks.

[0013] Section 2: The robot according to Section 1, wherein the components, including the head, the elongated neck member, the torso, one or more arms, the first arm member, the second arm member, the wrist member, the at least two fingers, the riser member, one or more legs, the leg members, and the first and second drive wheels, are configured to move and fold into multiple states so that they can be positioned in multiple configurations, each of which of the multiple states corresponds to a mode of operation defined by a task to be completed and further defined by which of the components are extended, folded, moved or otherwise positioned for the completion of various household tasks.

[0014] The robot according to the first or second paragraph, wherein the hip joint of each of the one or more legs allows the leg member to rotate relative to the riser member, 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 of the torso and about a second axis extending perpendicularly to the first axis, and the first arm member is rotatable relative to the second arm member about a third axis extending from the first arm member and about a fourth axis perpendicular to the third axis.

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

[0016] Clause 5: The robot according to any one of Clauses 1 to 4, comprising two arms connected to the torso and two legs connected to the riser member, wherein the first and second drive wheels of each leg member are actuated by independent motors, and each of the independent motors is controlled by the controller for the movement of the robot.

[0017] Clause 6: The robot according to any one of Clauses 1 to 5, wherein the one or more first sensors on the head of the robot are cameras, and the robot comprises at least one of the following additional sensors: a camera, a motion sensor, a time-of-flight sensor, a multiple 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, an oxygen concentration meter, a heart rate sensor, or a biometric sensor.

[0018] Clause 7: A robot according to any one of Clauses 1 to 6, further comprising one or more speakers, one or more lights, and one or more microphones, wherein the one or more speakers are configured to transmit audible warnings, alarms, messages, and commands to the user and other robots; the one or more lights are configured to transmit visual warnings, alarms, messages, and commands to the user and other robots; the one or more microphones are configured to record sounds, including verbal instructions from the user; and the controller is further configured to receive and process the sounds recorded by the one or more speakers, convert the sounds into a dataset, and transmit the dataset to the components during task execution.

[0019] Clause 8: The robot according to any one of Clauses 1 to 7, wherein the first operating mode is a standby mode in which the robot is in a folded state, and the elongated neck member, the torso, the first arm member, the second arm member, the riser member, and the one or more legs are rotated and folded so as to be parallel to each other, and the head is folded so as to be perpendicular to the one or more first sensors relative to the elongated neck member, the torso, the first arm member, the second arm member, the riser member, and the one or more legs.

[0020] Clause 9: The robot according to any one of Clauses 1 to 8, wherein in a second operating mode, the robot is in a partially folded state, the torso, the first arm member, the second arm member, the riser member, and the one or more legs are rotated and folded so as to be parallel to each other, the elongated neck member is extended upward so as to be perpendicular to the riser member, and the screen or the one or more first sensors are oriented perpendicular to the elongated neck member in a first direction.

[0021] Clause 10: The robot according to any one of Clauses 1 to 9, wherein in a third operating mode, the robot is in a partially extended state, the riser member and the one or more legs are rotated and folded so as to be parallel to each other, the torso is extended perpendicular to the riser member, the elongated neck member is extended upward from the torso and parallel to the torso, and the screen or the one or more first sensors are oriented perpendicular to the elongated neck member in a first direction.

[0022] Clause 11: The robot according to any one of Clauses 1 to 10, wherein in a fourth operating mode, the robot is in a partially extended state, the riser member and the one or more legs are rotated and folded so as to be parallel to each other, the torso is extended perpendicular to the riser member, the elongated neck member is extended upward from the torso and parallel to the torso, and the screen or the one or more first sensors are oriented perpendicular to the elongated neck member in a second direction opposite to the first direction.

[0023] Clause 12: The robot according to any one of Clauses 1 to 11, wherein in the fifth operating mode, the robot is in a partially extended state, the one or more legs are rotated and folded so as to be parallel to each other and to the moving surface, the first and second drive wheels are in contact with the moving surface, the riser member is extended upward from the one or more legs and at an angle with respect to the one or more legs, the torso is extended upward from the riser member and at an angle with respect to the riser member, the elongated neck member is extended upward from the riser member and at an angle with respect to the riser member, the screen or the one or more first sensors are oriented in the second direction, and the one or more arms are extended from the torso in the second direction.

[0024] Item 13: In the sixth operation mode, the robot is in a partially expanded state, the one or more legs are rotated and folded to be parallel to each other and parallel to a moving surface, the first and second driving wheels are in contact with the moving surface, the riser member extends upward from the one or more legs and at an angle relative to the one or more legs, the body extends upward from the riser member and at an angle relative to the riser member, the elongated neck member extends upward from the riser member and at an angle relative to the riser member, the screen or the one or more first sensors is oriented in the first direction, and the one or more arms extend from the body in the first direction. The robot according to any one of Items 1 to 12.

[0025] Item 14: In the seventh operation mode, the robot is in an expanded state, the second driving wheel of the one or more legs is locked by a brake and is in contact with the moving surface, the one or more legs extend upward from the second driving wheel of the one or more legs at an angle relative to the moving surface, the riser member extends upward from the one or more legs and at an angle relative to the one or more legs, the body extends upward from the riser member and at an angle relative to the riser member, the elongated neck member extends upward from the riser member and at an angle relative to the riser member, and the robot is self-balancing on the second driving wheel of the one or more legs. The robot according to any one of Items 1 to 13.

[0026] Item 15: The body includes a recess configured to receive and store one or more objects, and a lid configured to cover the recess and hold the one or more objects in the recess in a closed position, wherein in an open position, the lid is configured to serve as a shelf for holding one or more objects. The robot according to any one of Items 1 to 14.

[0027] Item 16: The robot according to any one of Items 1 to 15, wherein the riser member comprises: a compartment configured to receive and store one or more objects; and a handle configured to enable a user to lift and transport the robot.

[0028] Item 17: The robot according to any one of Items 1 to 16, wherein the compartment is further configured to receive and store one or more rechargeable batteries configured to supply power to the robot, and a battery management system.

[0029] Item 18: The robot according to any one of Items 1 to 17, wherein a surface of the riser member comprises at least one charging terminal configured to receive one or more wires for charging the rechargeable battery, and configured to interact with a wireless charging pad to charge the rechargeable battery.

[0030] Item 19: A system for operating a robot, comprising at least one processor programmed or configured to: receive data associated with the robot for completing household tasks; transmit data associated with the robot for completing household tasks; learn a sequence of motions of the robot for completing household tasks; teach a sequence of motions of the robot for completing household tasks; and execute motions of the robot for completing household tasks.

[0031] Clause 20: A computer program product for providing one or more features relating to a robot, comprising at least one computer-readable medium containing one or more instructions, wherein the one or more instructions, when executed by at least one processor, cause the at least one processor to receive data associated with the robot for completing household tasks, transmit data associated with the robot for completing household tasks, learn the sequence of actions of the robot for completing household tasks, be instructed on the sequence of actions of the robot for completing household tasks, and execute the actions of the robot for completing household tasks.

[0032] Further details and advantages of the various examples described herein will become apparent when considering the following detailed descriptions of the various examples in conjunction with the accompanying drawings. [Brief explanation of the drawing]

[0033] Further advantages and details are described in more detail below with reference to the exemplary embodiments shown in the attached schematic diagrams.

[0034] [Figure 1-4] These are various diagrams of a folded robot according to some non-limiting embodiments of the present disclosure. [Figure 5-6] These are side and perspective views of a partially folded robot according to some non-limiting embodiments of the present disclosure. [Figure 7-10] These are various figures of a partially extended robot according to some non-limiting embodiments of the present disclosure. [Figure 11] This is a side view of a partially extended robot according to some non-limiting embodiments of the present disclosure. [Figure 12-14] These are various figures of a partially extended robot according to some non-limiting embodiments of the present disclosure. [Figure 15-16]These are a side view and a perspective view of a partially extended robot according to some non-limiting embodiments of the present disclosure. [Figure 17] This is a perspective view of robot components according to some non-limiting embodiments of the present disclosure. [Figure 18-20] These are a side view and a perspective view of a partially extended robot according to some non-limiting embodiments of the present disclosure. [Figures 21A-21B] This is a perspective view of an extended robot according to some non-limiting embodiments of the present disclosure. [Figure 22-23] These are side and perspective views of one embodiment of a robot according to some non-limiting embodiments of the present disclosure. [Figure 24] This is a perspective view of an extended robot 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 26-27] This is a perspective view of robot components according to some non-limiting embodiments of the present disclosure. [Figure 28] This is a perspective view of a folded robot and its components according to some non-limiting embodiments of the present disclosure. [Figure 29-31] This is a perspective view of an embodiment of a folded robot according to some non-limiting embodiments of the present disclosure. [Figure 32] This is a perspective view of one embodiment of a robot in a folded state, according to some non-limiting embodiments of the present disclosure. [Figure 33-43] This is a perspective view of some non-limiting embodiments of the robot according to the present disclosure. [Figure 44-46] These are various figures of one embodiment of a robot according to some non-limiting embodiments of the present disclosure. [Figure 47-48] This is a perspective view of robot components according to some non-limiting embodiments of the present disclosure. [Figure 49-54]These are cross-sectional views of various components of a robot according to some non-limiting embodiments of the present disclosure. [Figure 55-57] These are various diagrams 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 a robot or a fleet of robots may be deployed according to some non-limiting embodiments of the present disclosure. [Figure 59] These are schematic diagrams of exemplary systems and components of robots according to some non-limiting embodiments of the present disclosure.

[0035] Corresponding reference numerals indicate corresponding parts through some of the figures. The examples described herein illustrate exemplary embodiments of the disclosure, and such embodiments should not be construed as limiting the scope of the disclosure in any way. [Modes for carrying out the invention]

[0036] It should be understood that this disclosure may envision various alternative variations and sequences of steps unless expressly otherwise specified. It should also be understood that the specific devices and processes shown in the accompanying drawings and described in the following specification are merely illustrative and non-limiting embodiments. Accordingly, specific dimensions and other physical characteristics relating to the embodiments disclosed herein should not be considered limiting.

[0037] For the purposes of the following description, the terms “end,” “top,” “bottom,” “right,” “left,” “vertical,” “horizontal,” “upper,” “bottom,” “lateral,” and “longitudinal,” and their derivatives, are used in relation to the embodiment as they are oriented in the drawings. Some non-limiting embodiments may be described herein in relation to thresholds. As used herein, satisfying a threshold may mean that a value is greater than the threshold, more than the threshold, higher than the threshold, greater than or equal to the threshold, less than the threshold, less than the threshold, lower than the threshold, less than or equal to the threshold, and so on.

[0038] The embodiments, components, elements, structures, actions, steps, functions, instructions, etc., used herein should not be construed as important or essential unless expressly described otherwise. 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 “set” is intended to include one or more items (e.g., related items, unrelated items, combinations of related and unrelated items) and may be used interchangeably with “one or more” or “at least one.” As used herein and in the claims, the singular “a,” “an,” and “the” include multiple referents unless the context explicitly indicates otherwise. When only one item is intended, the term “one” or similar language is used. Furthermore, as used herein, the terms “equip,” “include,” “has,” “have,” and “possess,” and their variations, etc., are intended to be unrestricted terms and may encompass the items and their equivalents listed thereafter, as well as additional items. Furthermore, unless otherwise specified, the phrase "based on" is intended to mean "at least partially based on." In addition, a reference to an action "based on" a condition may indicate that the action is "in response to" that condition.

[0039] Unless otherwise specified or limited, the terms “fastened,” “attached,” “mounted,” “connected,” “supported,” and “joined,” and their variations, are used broadly and encompass both direct and indirect fastening, attachment, mountings, connection, support, and joining. Furthermore, unless otherwise specified, these terms are not limited to physical or mechanical connection or joining.

[0040] As used herein, the terms “communicate” and “communicate” may mean receiving, taking, transmitting, forwarding, providing, etc., information (e.g., data, signals, messages, instructions, commands, etc.). One unit communicating with another means that the one unit is capable of receiving information directly or indirectly from and / or transmitting information to the other unit. This may mean a direct or indirect connection that is essentially wired and / or wireless. Additionally, two units may 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 may communicate with the second unit even if the first unit passively receives information and does not actively transmit information to the second unit. As another example, 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 communicates the processed information to the second unit, then the first unit can communicate with the second unit. In a non-limiting embodiment, a message may refer to a network packet containing data (e.g., a data packet). It will be understood that numerous other arrangements are possible.

[0041] As used herein, the term “system” may refer to one or more computing devices or combinations of computing devices, including, but not limited to, a processor, a server, a client device, a software application, and / or other similar components. In addition, as used herein, references to “server” or “processor” may refer to the previously described server and / or processor, a different server and / or processor, and / or combinations of servers and / or processors described as performing a preceding step or function. For example, as used herein and in the claims, a first server and / or first processor described as performing a first step or function may refer to the same or a different server and / or processor described as performing a second step or function.

[0042] Non-limiting embodiments of this disclosure relate to robots 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 by shoulder joints; a riser member connected to the torso and rotatable relative to the torso; one or more legs connected to the riser member by hip joints; and at least one controller configured to send and receive data associated with the robot for completing 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 which may be disposed at a first end of the leg member and may be coaxial with a hip joint, and a second drive wheel which may be disposed at a second end of the leg member. The first and second drive wheels may be independently controllable for the robot's movement.

[0043] Furthermore, the robot may be configured to move and fold up so that it has multiple states and operating modes defined by the task to be completed, with different members and components being extended, folded, moved, or otherwise positioned for the completion of various household tasks. One of the various states or modes may include a standby mode in which the robot is folded up to take up minimal space, so that it may be stored in a closet or under furniture until it receives a command to complete a task.

[0044] The robots of this disclosure may be considered, among other classifications, general-purpose robots, multi-purpose robots, and / or collaborative robots. In some non-limiting embodiments, robots may be configured to assist with everyday chores, saving users time and eliminating inconvenience. Robots may be further configured to map and navigate environments and manipulate them with components such as arms and hands. Robots may be used by any class of users, but may be particularly useful for users living alone, users with children, the elderly, and users with disabilities. Robots may be self-teaching, so as to be able to learn how to complete tasks from past experiences, the experiences of other robots, communication networks such as the internet, and through interaction with humans, and to be able to teach other robots and humans how to complete tasks. For example, a robot may not know how to reach or be able to reach a cupboard, especially a tall one, before learning how to put plates and glasses into a cupboard, and may take the plates out of the dishwasher and stack them neatly, preparing them for a human to complete the final step. When a robot is taught or shown how to put dishes in a cupboard, it can be taught the required movements and / or joint movements necessary to complete the task.

[0045] In some non-limiting embodiments, the robot may include capable wheels, an extendable body, a long neck, and long arms that allow the robot to see and reach countertops and shelves with its dexterous hands, while maintaining a lightweight, optimized, compact size and providing a comfortable and unexpected appearance. In some cases, locomotion using wheels may be preferred over walking via leg action and manipulation because wheeled locomotion is faster, safer for the user and the environment, quieter, or less disruptive.

[0046] In some non-limiting embodiments, the robot may include a complete 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 30 degrees of freedom (DOF).

[0047] In this way, the foldable robot of the present disclosure provides multiple states and modes defined by multiple different folding configurations for assisting and performing household chores.

[0048] Referring here to Figures 1 to 4, Figures 1 to 4 are various diagrams of the folded robot 100 according to some non-limiting embodiments of the present disclosure. As shown in Figures 1 to 4, the robot 100 may include a head 102 including 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 by 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, the robot 100 may further include a third arm member which may provide further reach and versatility. In some non-limiting embodiments, the robot 100 may further include a riser member 118 connected to the torso 110 and rotatable relative to the torso 100. One or more legs 130 may be connected to the riser member 118 by 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 controllable for the 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 the completion of household tasks.

[0049] Continuing to refer to Figures 1 to 4, and further to Figures 5 to 25, the robot 100 may be configured to move and fold into multiple states so that its 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 riser 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, each state of which corresponds to an operating mode defined by the task to be completed and further defined by which components are extended, folded, moved, or otherwise positioned for the completion of various household tasks.

[0050] In some non-limiting embodiments, the hip joints 132 of one or more legs 130 may allow the leg members 134 to rotate relative to the riser member 118, and the shoulder joints 116 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 of the torso 110, and about a second axis A2 extending perpendicularly to the first axis A. The first arm member 120 may be rotatable 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.

[0051] 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 be rotatable 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 extending 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 riser 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 the first end of the leg member 134 and coaxial with the hip joint 132, and a second drive wheel 138 disposed at the second end of the leg member 134. The first and second drive wheels 136, 138 of each leg member may be actuated by independent motors (for example, motors 140 as shown in Figures 46 to 51). Each of the independent motors may be controlled by a controller for the movement of the robot 100.

[0052] As shown in Figures 1 to 4, in the folded state, the head 102 may be positioned downwards for privacy, so that the first sensor 106 can be pointed towards the floor to provide privacy to any user within the robot 100's area. The screen 104 may further display the status of the robot 100, such as battery level, operating mode, sleep and / or awake status. As further shown in Figures 1 to 4, the robot 100 may be ultra-compact in the folded state, taking up very little space in a home, office, or vehicle. The robot 100 may also be suitable for space travel, taking up very little space in an aircraft, space shuttle, or landing tracked vehicle.

[0053] Figures 1-4 also show one embodiment of a mobile base having rear omnidirectional wheels (i.e., first drive wheels 136) that can enable the robot 100 to move laterally. These wheels can enable the robot 100 to spin in place around a point between the axes of the two front wheels (i.e., second drive wheels 138). This feature enables the robot 100 to perform tasks that require it to turn in place, eliminating the need for extra heavy joints along the body of the robot 100, thereby reducing its weight.

[0054] In exemplary embodiments, the folded state shown in Figures 1 to 4 may define a first operating mode, which may be a standby mode. In some non-limiting embodiments, in the first operating mode in which the robot 100 is in a folded state, the elongated neck member 108, the torso 110, the first arm member 120, the second arm member 122, the riser member 118, and one or more legs 130 may be rotated and folded so that they are parallel to each other. Furthermore, the head 102 may be folded so that one or more first sensors 106 are oriented perpendicular to the elongated neck member 108, the torso 110, the first arm member 120, the second arm member 122, the riser member 118, and one or more legs 130.

[0055] The sensor 106 (e.g., a camera) may be facing forward while the robot 100 is fully folded. From this position, the robot 100 can navigate, scan, and map a room while avoiding obstacles. The robot 100 can also localize itself and move to a specific destination. If the user desires, the robot 100 may also be ready to receive instructions such as hand gestures and can monitor the house while the residents are out.

[0056] Referring now to Figures 5 and 6, Figures 5 and 6 are a side view and a perspective view of the partially folded robot 100 according to some non-limiting embodiments of the present disclosure. In some non-limiting embodiments, as shown, for example in Figures 5 and 6, in a second operating mode, the robot 100 may be in a partially folded state such that the torso 110, the first arm member 120, the second arm member 122, the riser member 118, and one or more legs 130 can be rotated and folded so that they are parallel to each other. The elongated neck member 108 may be extended upward so that it is perpendicular to the riser member 118, and the screen 104 or one or more first sensors 106 may be oriented perpendicular to the elongated neck member 108 in a first direction (i.e., forward). As shown in Figure 5, in this state, the neck (i.e., the elongated neck 108) may be extended, and the head 102 may be oriented forward. However, it should be understood that the robot 100 may also orient its head 102 and arm 112 in the opposite direction (i.e., backward), and the robot 100 may plan the best possible position, state, and mode of operation based on the task at hand.

[0057] Referring now to Figures 7 to 10, Figures 7 to 10 are various diagrams of the partially extended robot 100 according to some non-limiting embodiments of the present disclosure. As shown in the exemplary embodiments of Figures 7 to 8, in a third operating mode, the robot 100 may be in a partially extended state such that the riser member 118 and one or more legs 130 can be rotated and folded so that they are parallel to each other. The torso 110 may be extended perpendicular to the riser member 118, and the elongated neck member 108 may be extended upward from the torso 110 and parallel to the torso 110. The screen 104 or one or more first sensors 106 may be oriented perpendicular to the elongated neck member 108 in a first direction (i.e., forward).

[0058] As shown in the exemplary embodiments of Figures 9-10, in the fourth operating mode, the robot 100 may be in a partially extended state such that the riser member 118 and one or more legs 130 can be rotated and folded so that they are parallel to each other. The torso 110 may be extended perpendicular to the riser member 118, and the elongated neck member 108 may be extended upward from the torso 110 and parallel to the torso 110. The screen 104 or one or more first sensors 106 may be oriented perpendicular to the elongated neck member 108 in a second direction (i.e., backward) opposite to a first direction (i.e., forward).

[0059] Referring here to Figures 11 to 20, which are various diagrams of the partially extended robot 100 according to some non-limiting embodiments of the present disclosure. For example, as shown in Figures 11 to 16, in a fifth operating mode, the robot 100 may be in a partially extended state such that one or more legs 130 can be rotated and folded so that they are parallel to each other and to the moving surface (i.e., the ground, floor), and the first and second drive wheels 136, 138 can contact the moving surface. The riser member 118 may be extended upward from one or more legs 130 and at an angle thereto, the torso 110 may be extended upward from the riser member 118 and at an angle thereto, and the elongated neck member 108 may be extended upward from the riser member 118 and at an angle thereto. The screen 104 or one or more first sensors 106 may be oriented in a second direction (i.e., rearward), and one or more arms 112 may extend from the torso 110 in the second direction. In some non-limiting embodiments, as shown in Figure 13, the robot 100 may include a tray for assisting in the transport of objects. As shown in Figure 14, the robot 100 may be able to "look down" straight on the tray or other objects being transported, which is made possible by the articulation of the neck joint to which the neck joint and elongated neck member 108 are attached.

[0060] In some non-limiting embodiments, as shown in Figure 17, the robot 100 may include a micro-projector in its hand or head, etc., to enable it to project messages, photographs, images, layouts, etc., onto a wall or other surface. This allows the robot 100 to communicate with a user. Another exemplary use of the projector could be to show a user where to place nails on a wall to position a photograph in front of them and at equal intervals. In some non-limiting embodiments, the robot 100 may include a short-range camera, which may enable the robot 100 to manipulate objects invisible to the naked eye.

[0061] In some non-limiting embodiments, as shown, for example in Figures 18 and 19, in the sixth operating mode, the robot 100 is partially extended so that one or more legs 130 can be rotated and folded parallel to each other and to the moving surface (i.e., the ground, floor), and the first and second drive wheels 136, 138 can contact the moving surface. The riser member 118 can be extended upward from one or more legs 130 and at an angle thereto, the torso 110 can be extended upward from the riser member 118 and at an angle thereto, and the elongated neck member 108 can be extended upward from the riser member 118 and at an angle thereto. The 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 be extended from the torso 110 in a first direction. In exemplary embodiments, there are no limitations on the achievable configurations of the robot 100.

[0062] Referring now to Figures 21A to 24, Figures 21A to 24 are various diagrams of the robot 100 in an extended state and one embodiment of the robot 100, according to some non-limiting embodiments of the present disclosure. As shown in Figures 21A to 24, in the seventh operating mode, the robot 100 may be in an extended state such that only the second drive wheels 138 of one or more legs 130 can contact the moving surface (i.e., the ground, floor). One or more legs 130 extend upward at an angle with respect to the moving surface from the second drive wheels 138 of one or more legs 130. The riser member 118 may extend upward from one or more legs 130 and at an angle thereto, and the torso 110 may extend upward from the riser member 118 and at an angle thereto. Furthermore, the elongated neck member 108 can be extended upward from the riser member 118 and at a certain angle thereto, allowing the robot 100 to self-balance (i.e., actively maintain equilibrium) on the second drive wheels 138 of one or more legs 130.

[0063] Referring here to Figures 22 and 23, Figures 22 and 23 are side and perspective views of one embodiment of robot 100 according to some non-limiting embodiments of the present disclosure. As shown in Figures 22 and 23, the seventh operating mode may be suitable for tasks associated with reaching a position higher than the ground, such as changing a light bulb. Figure 24 is a perspective view of robot 100 in an extended state according to some non-limiting embodiments of the present disclosure. Referring here to Figure 24, as shown in Figures 22-24, the lower leg 130 may be in an open stance when robot 100 is in the seventh operating mode. Given that the lower joint can move independently, robot 100 can balance statically, reducing the power consumption required by self-balancing. As shown in Figure 22, the center of mass may be approximately between the second drive wheels 138. In some non-limiting embodiments, the independence of the lower joint may also allow robot 100 to slalom sequentially when it is necessary to quickly traverse long distances.

[0064] Referring now to Figure 25, which is a perspective view of robot 100 and its components according to some non-limiting embodiments of the present disclosure. In some non-limiting embodiments, as shown in Figure 25, robot 100 may include a number of additional sensors at various locations.

[0065] In some non-limiting embodiments, one or more first sensors 106 of the head 102 of the robot 100 may be cameras. In some non-limiting embodiments, the robot 100 may include at least one of the following additional sensors: a camera, a motion sensor, a time-of-flight sensor, a multiple 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, an oxygen concentration meter, a heart rate sensor, or a biometric sensor.

[0066] Exemplary field of view (FOV) of these additional sensors is shown in Figure 25. For example, robot 100 may include a camera in front of its hip joint. This allows robot 100 to see and avoid collisions with any low obstacles, whether moving or not, including children and its movement path. As shown in Figure 25, the FOVs between the head camera and the hip camera can overlap, and therefore there are no blind spots while robot 100 is moving.

[0067] One such additional sensor could be a camera on the hand of robot 100 to make the maneuvering task more robust. Feedback from the camera can help robot 100 avoid obstruction during grasping. It could also allow robot 100 to use a technique known as visual servo, which allows robot 100 to control and calibrate the position of its hand as it approaches an object. This additional camera could also function to aggregate images relative to other cameras to improve robot 100's mapping and localization capabilities.

[0068] Other additional sensors may include: multiple inertial measurement unit (IMU) sensors to detect the orientation of robot 100 in space (e.g., if climbing a slope, adjusting the controller to compensate for it); also capable of detecting small impacts and reacting accordingly; multiple time-of-flight (TOF) sensors to detect obstacles during execution and send emergency signals to the motor controller and main computer to stop robot 100 and avoid collisions; temperature, pressure, or humidity sensors to inform humans about the environment; safety sensors such as carbon monoxide (CO2) sensors, particulate matter sensors, indoor air quality sensors, or radiation sensors; health monitoring sensors such as oxygen concentration meters, heart rate sensors, or thermal imaging cameras (e.g., located on the fingers); thermal imaging cameras may help detect illness or detect hot / dangerous surfaces (e.g., stove surfaces) to allow robot 100 to warn humans and prevent itself from touching them; and biometric sensors such as facial recognition or fingerprint sensors from the camera. For example, as shown in Figure 25, the robot 100 may include two depth sensors (i.e., RGB cameras) that can be positioned on the head 102 and the hip joint 132 or riser member 118, respectively. The robot 100 may also include four TOF sensors positioned on the legs 130, which can assist in collision avoidance and detect obstacles such as holes or stairs.

[0069] Referring now to Figures 26 and 27, which are perspective views of various components of robot 100 according to some non-limiting embodiments of the present disclosure. As shown, robot 100 may include a screen 104 provided on the head 102. The screen 104 may be capable of displaying interactive images, such as faces, for user interaction (i.e., human-machine interaction). In some non-limiting embodiments, 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 commands using natural language processing (NLP). The microphones may also listen to sounds and detect the direction from which they came (i.e., multidirectional microphones). The head 102 may also include speakers so that robot 100 can speak with humans in natural language. In some non-limiting embodiments, additional screens for further interaction and communication may be positioned on the body 110.

[0070] In some non-limiting embodiments, one or more speakers may be configured to convey audible warnings, alarms, messages, and commands to the user and other robots. One or more lights may be configured to convey visual warnings, alarms, messages, and commands to the user and other robots. One or more microphones may be configured to record sounds, including verbal instructions from the user, and a controller may be further configured to receive and process the sounds recorded by the one or more speakers, convert the sounds into a dataset, and communicate the dataset to the components during task execution.

[0071] Referring now to Figures 28 to 32, Figures 28 to 32 are perspective views of various embodiments of the folded robot 100 according to some non-limiting embodiments of the present disclosure. As shown in Figure 28, in some non-limiting embodiments, the robot 100 may include a handle 142 (e.g., an opening) which may be provided on the bottom of the robot 100 or on the bottom of the riser member 118. The opening or handle 142 may be configured to allow a user to lift and transport the robot 100. The opening or handle 142 facilitates carrying the robot 100, transporting the robot 100, and even suspending the robot 100 from a wall or the like.

[0072] In some non-limiting embodiments, as shown in Figures 29–32, the folded state may define a first operating mode, which may be a standby mode. In some non-limiting embodiments, in the first operating mode, a sensor 106 (e.g., a camera such as a forward RGBD (3D point cloud camera)) may be pointed forward while the robot 100 is fully folded. From this state, the robot 100 may navigate, scan, and map a room while avoiding obstacles. The robot 100 can also orient itself and move to a specific destination. If the user desires, the robot 100 may be ready to receive instructions such as hand gestures. The robot 100 can also monitor the house while the inhabitants are out. For example, the head 102 may have a depth and RGB camera (RGBD) capable of generating a 3D point cloud representation of the environment, and can also recognize human gestures and translate them into commands. As shown in Figure 29, the robot 100 can be inconspicuous. After completing a task, it can be put away so as not to be an obstruction. The head 102 may be left lowered for privacy, or it may be left raised to monitor the room as a security monitoring means or while receiving commands. An exemplary field of view (FOV) of the sensor 106 is shown in Figure 30. In the exemplary position, the robot 100 can charge its battery. By operating the head 102, the robot 100 can navigate around and under obstacles, so that the robot 100 is out of the user's line of sight and does not interfere with the user. The robot 100 can also be stored in a vertical position to occupy less ground space, as shown in Figure 31, or it can store itself. Multiple robots 100 can be stacked and stored to save even more space, as shown in Figure 32.

[0073] Referring now to Figures 33 to 43, Figures 33 to 43 are perspective views of various embodiments of the robot 100 according to some non-limiting embodiments of the present disclosure. As shown in Figure 33, the state of the robot 100 may be a second operating mode defined by a vertical, elongated neck member 108, a rearward-facing head 102, and a rearward-extended arm 112. An example of use of this mode may be tidying up a room by reaching for objects close to the ground. In some non-limiting embodiments, the robot 100 can use its back to carry scattered items back into a trash can. This temporary storage eliminates the need for multiple movements. A container may be placed on the back of the robot 100, such as a single body 110, and objects can be placed directly into it. The robot 100 can then place such a container in a desired location, return it to a drawer, or neatly place the objects on a shelf.

[0074] The state shown in Figures 34-35 may be a third operating mode defined by a vertical, elongated neck member 108, a forward-facing head 102, a vertical body 110, and forward-extended arms 112. Examples of use in this state may include watering plants as shown in Figure 34, changing laundry in a washing machine as shown in Figure 35, making a bed, tidying up low furniture, or organizing or picking and placing books and objects on lower shelves. In an exemplary embodiment, the robot 100 may put clothes into a washing machine, then move them to a dryer, and finally put all the dried clothes into a basket. It may also sort by color or type of clothing. Over time, the robot 100 may also learn to fold and store clothes and towels.

[0075] The state shown in Figures 36-39 may be a fifth operating mode defined by a vertical, elongated neck member 108, a rearward-facing head 102, a vertical torso 110, rearward-extended arm portions 112, and a riser member 118 positioned at a certain angle to the legs 130. As shown in Figures 36-39, the riser member 118 may be positioned at an angle of approximately 60 degrees to the legs 130. An exemplary use of this state may be making a bed, as shown in Figure 36. Another exemplary use of this state may be clearing low furniture or arranging or picking and placing books or objects on lower shelves or tables, as shown in Figure 37. Another example of use of this mode may be locating and opening a dishwasher to load and unload dishes, as shown in Figure 38. The robot 100 can clear dishes by raising the dishwasher door and adjusting its orientation so that dishes in higher places can reach higher ground, as shown in Figure 39.

[0076] The state shown in Figures 40-42 may be a sixth operating mode defined by a vertical, elongated neck member 108, a forward-facing head 102, a vertical body 110, a forward-extended arm 112, and a riser member 118 at a 60-degree angle. An example of using this mode may be setting up or cleaning up a table, as shown in Figures 40-42. In some non-limiting embodiments, a pan-and-tilt 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 in operation. In some non-limiting embodiments, as shown in Figure 40, the base of the robot 100 may have a fork shape with two separate legs 130, which allows the robot 100 to extend its reach by placing its legs under furniture. An alternative is a one-piece solid base, which does not allow the robot 100 to position its base around an object.

[0077] The state shown in Figure 43 may be a seventh operating mode in which the robot 100 is fully extended and self-balances on the second drive wheel 138. In this mode, the robot 100 can reach its full potential in terms of observability and velocity. As shown in Figure 43, this mode may allow the robot 100 to reach higher for the completion of tasks such as lifting objects on higher shelves. An example of use in this mode may be for inspection and monitoring of the surroundings. In an exemplary embodiment, the center of mass may be located approximately above the drive wheel 138.

[0078] Referring here to Figures 44-46, these figures are various diagrams of one embodiment of robot 100 according to some non-limiting embodiments of the present disclosure. As shown in Figures 44-46, robot 100 may transition between multiple states and operating modes during task completion as needed. Robot 100 may constantly monitor its own weight and payload to ensure that its entire center of mass remains within its base in order to maintain stability and avoid the risk of tipping over. For example, as shown in Figures 44-46, while lifting a heavy laundry basket, robot 100 may sense that its center of balance is off and adjust its height to center itself again. Furthermore, as shown in Figures 44-46, robot 100 may change its height without having to adjust its grip.

[0079] The form of robot 100 may not follow anatomical human movements. The robot may have two arms, two hands, a torso, a neck, and a head, and thus may be partially humanoid. However, to improve efficiency in most situations, especially compared to legs indoors, the robot may have a movable base as well as being foldable. A difference in form may be that robot 100 does not necessarily require a tall torso or tall shoulders to work on high surfaces. Therefore, in some non-limiting embodiments, robot 100 may have a long neck and long arms, resulting in robot 100 being able to see and reach high surfaces while keeping its center of mass low and its overall size short.

[0080] Some components and subassemblies of non-limiting embodiments of the robot 100 for assisting and performing household chores as described herein are described here.

[0081] Robot 100 can be considered a distributed computer system. Each joint has a motor controller with processing capabilities that communicate bidirectionally with the main computer and all other joints (nodes) via a data bus. Therefore, the motor controller of this disclosure, including the communication protocol and the brushless DC motor controller, is a strategic component for robot 100.

[0082] Referring now to Figures 47 and 48, Figures 47 and 48 are perspective views of components of robot 100 according to some non-limiting embodiments of the present disclosure. As shown in Figure 47, robot 100 may have a foldable front tray which can be very useful while transporting objects, such as cleaning up a table and bringing dishes to a dishwasher (as shown, for example, in Figure 41). This can increase the object handling capabilities of robot 100 and reduce the number of moves required to complete a task. In some non-limiting embodiments, the body 110 may include a recess 144 configured to receive and store one or more objects, and a lid 146 configured to cover the recess 144 and hold one or more objects in the recess 144 in a closed position. In some non-limiting embodiments, in the open position, the lid 146 may be configured to be a foldable front tray or shelf for holding one or more objects. In some non-limiting embodiments, the lid 146 may be connected to the body 110 and / or recess 144 via a magnetic latch, spring, and damper hinge. Furthermore, the magnetic latch, spring, and damper hinge may control the opening and closing function of the lid 146 so that the robot 100 can open and close the lid 146 without being driven by an actuator (i.e., a motor). In some non-limiting embodiments, the robot 100 may open and close the lid 146 using the arm 112 and / or other components as appropriate for the desired use case.

[0083] As shown in Figure 48, in some non-limiting embodiments, the riser 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 configured to power the robot 100, and / or a battery management system. In some non-limiting embodiments, the robot 100 may further include a surface 150 of the riser member 118, the surface 150 may include at least one charging terminal 152 configured to receive one or more wires for charging the rechargeable batteries B, and may be further configured to interact with a wireless charging pad for charging the rechargeable batteries B. As shown in Figure 48, the robot 100 may be able to replace its own battery. For example, if the robot 100 is in the middle of a task and recharging is not feasible, the robot 100 may decide that it may be more desirable to replace its battery in order to continue performing the task, rather than stopping and restarting the task. Similarly, the robot 100 can maintain itself by following its own preventive maintenance schedule, for example, by applying lubricant to its own joints, tightening the timing belt, or replacing damaged parts, which may include ordering the parts themselves if necessary.

[0084] Referring here to Figures 49 to 54, which are cross-sectional views of various components of robot 100 according to some non-limiting embodiments of the present disclosure. Robot 100 may include several types of actuators. For example, a riser joint may include one or more brushless DC motors and a motor controller that drives a three-stage spur gear drive train. The riser joint may further include a cross roller bearing (high bending moment load) mounted on the output shaft to transmit torque from the final gear, and an absolute encoder mounted on the output shaft to provide feedback to the controller for precise position control. Furthermore, an omniwheel (freely moving laterally) may be mounted on an idler bearing on the opposite side of the output shaft. This riser joint may be responsible for lifting robot 100 to a specific height. A drive joint may include a similar configuration to the riser joint, but with a two-stage reduction gear for higher speeds at lower torque, and a rubberized standard wheel mounted on the output of the joint for low noise and good traction characteristics. The encoder can capture its position over time and provide position and speed feedback to the motor controller.

[0085] As shown in Figures 49 and 50, the leg member 134 may include a riser joint combined with a drive joint. For example, the leg member 134 may include a front motor 140 having a gearbox, an absolute encoder, and a motor controller (i.e., motor controller 500) at the second end of the leg member 134. A similar configuration may be available at the first end of the leg member 134, with an added brake. The brake may allow the robot 100 to maintain its height without using power. For example, the brake may lock when the power is off. The second end of the leg member 134 may also include a passive suspension for a first drive wheel 136, where a shaft moves up and down, is supported by a linear guide, and is cushioned by an elastomer. This configuration may reduce vibrations up to the head 102 of the robot 100 for stabilization and to improve sensor quality and perception, for example, when the robot 100 must navigate obstacles such as carpets or threshold strips between rooms.

[0086] In some non-limiting embodiments, a riser member 118 (e.g., a secondary link, a riser link) may be attached to the output of a riser joint. This link may include a battery, battery management system, and charging pad, which are close to the ground in the folded position. At the opposite joint, an RGBD (3D point cloud) camera may be positioned at waist height of the robot 100 for computer vision mapping, localization, and obstacle avoidance. The torso 110 may be attached to the top of the riser member 118 via a large actuation torso joint.

[0087] As shown in Figure 51, the fuselage 110 may include a large fuselage joint 154 at a second end, which may include a motor, a strain wave gear (i.e., a harmonic drive), a controller, and an absolute encoder. A shoulder joint 116 is shown at the first end of the fuselage 110 (right side in the figure). In some non-limiting embodiments, the fuselage joint may include a brushless DC motor coupled with a strain wave gear with a 100:1 reduction to provide sufficient torque at reduced speeds. On the opposite side of the motor, there may be a swivel ring which can function as an idler joint.

[0088] The torso 110 may further house the robot 100's main computer (e.g., a computer with a GPU) capable of communicating with all of the robot 100's joints via the CAN bus protocol, as well as multiple ports and a central screen. All of the robot 100's cameras and / or sensors from the head and hips may be mounted to the main computer, and all of the robot 100's cables may be routed so that they are not visible. Side shoulder joints 116 having a similar structure to the torso joints may also be mounted to the torso 110.

[0089] The shoulder joint 116 is shown in Figure 52. The shoulder joint 116 may include a frameless brushless DC motor, a motor controller, a strain wave gear (i.e., a harmonic drive), and a brake for maintaining position under load. The brake may be a spring-loaded power-off brake that is released only when power is supplied, thereby saving energy and ensuring the safety of the robot 100 while operating under load. The shoulder joint 116 may further include an 18-bit (262,144 position) absolute encoder on its output shaft for precise position control. In some non-limiting embodiments, a front shoulder bracket may be attached to the side shoulder joint. The neck and head assembly may be attached to the upper part of the torso.

[0090] Figures 53 and 54 show a differential drive mechanism (i.e., a differential joint) of the upper neck joint in which an elongated neck member 108 is connected to the head 102. In an exemplary embodiment, two motors cooperate for tilt of the central portion of the joint and roll of the shaft described above. This configuration provides tilt and pan capabilities to the head 102 and the elongated neck member 108, and also allows cables and a USB port to pass through the elongated neck member 108 to the interior. The same or a similar configuration can be used for the wrist member 124 and elbow joint to attach the first arm member 120 to the second arm member 124. In some non-limiting embodiments, the wrist member 124 may utilize slip rings to transmit power and data between the arm 112 and the fingers 126, 128 (i.e., the hand of the robot 100), thereby allowing the hand to spin freely for the required number of rotations without being hindered by the limitations of conventional wiring (i.e., entanglement). This function can be particularly useful for screwing in / unscrewing light bulbs or bolts, or opening / closing bottles. Furthermore, the lower neck can be driven on one side by a small brushless motor and mini harmonic drive, as little torque is required, yet smooth movement is still possible.

[0091] Referring now to Figures 55-57, Figures 55-57 are various diagrams 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), the at least one processor may be programmed or configured to receive data associated with robot 100 for completing household tasks, transmit data associated with robot 100 for completing household tasks, learn the sequence of operations of robot 100 for completing household tasks, teach the sequence of operations of robot 100 for completing household tasks, and perform the operations of robot 100 for completing household tasks.

[0092] This configuration may enable the control of the robot 100 with the versatility and efficiency desired by the user. The motor controller 500 may be a 4-layer PCB board with a maximum power of 250W. The motor controller 500 may include motor Hall sensor feedback for accurate rectification. The motor controller 500 may additionally include daisy-chained CAN bus communication and power lines for robust communication and ease of wiring of multiple robot joints, as well as absolute encoder capability with line drivers. This configuration may also include one or more additional I2C ports for connecting to an IMU or TOF sensor. Importantly, the controller may have current feedback so that it can calculate the torque currently applied to the joint during a task. This allows the robot 100 to operate between humans and stop the movement of any joint at the slightest unintentional contact.

[0093] Referring now to Figure 58, which is a perspective view of an environment 800 in which a robot 100 or a fleet of robots 100, according to some non-limiting embodiments of the present disclosure, may be deployed for the completion of household tasks. In some exemplary embodiments, the environment 800 may be a house that includes several robots 100 to assist and perform household chores in accordance with the present disclosure, in various operating states, having gone through the completion of various tasks. As shown in Figure 58, multiple robots 100 may work in a fleet or swarm to complete tasks faster and more easily. For example, laying bed sheets with two robots 100 is much easier than with one robot. A robot 100 may also be taught and learn how to complete new tasks from a user or, for example, through the artificial intelligence of a "swarm," from another robot 100 that has already learned how to complete the task.

[0094] The various states, modes, and positions described and illustrated herein are provided for illustrative purposes only and should not be construed as limiting. It should be understood that there are various other states, modes, and positions achievable by the robot 100 of this disclosure for completing various other tasks.

[0095] Referring now to Figure 59, which is a schematic diagram of an exemplary system 900 and components of the 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 a controller 500), the at least one processor may be programmed or configured to receive data associated with the robot 100 for completing household tasks, transmit data associated with the robot 100 for completing household tasks, learn the sequence of actions of the robot 100 for completing household tasks, teach the sequence of actions of the robot 100 for completing household tasks, and perform the actions of the robot 100 for completing household tasks.

[0096] According to another aspect of the present disclosure, a computer program product for providing one or more features relating to a robot, comprising at least one computer-readable medium containing one or more instructions, the one or more instructions, when executed by at least one processor, cause the at least one processor to receive data associated with robot 100 for completing household tasks, transmit data associated with robot 100 for completing household tasks, learn the sequence of operations of robot 100 for completing household tasks, teach the sequence of operations of robot 100 for completing household tasks, and execute the operations of robot 100 for completing household tasks.

[0097] Embodiments of this disclosure describe a foldable robot for assisting and performing household chores, having multiple states and modes defined by multiple different folding configurations, but the robot, device, system, and assembly are applicable to implementations relating to learning and completing any number of household tasks or chores. However, it should be understood that various other configurations and uses for the robot, device, system, and assembly of this disclosure are likely to exist, but are not limited thereto. In addition, although the robot is described herein in relation to household use, the robot is intended to be a general-purpose robot and may be used anywhere to assist humans with any chore, for example, in an office or work environment, or any other conceivable place where the robot may be useful (e.g., a hotel, airport, factory), and may be a personal assistant robot for work.

[0098] Several examples of foldable robots for assisting and performing household chores, having multiple states and modes defined by multiple different folding configurations, are shown in the accompanying figures and described in detail above, but other embodiments will be obvious to those skilled in the art and readily apparent without departing from the scope and spirit of the disclosure. Therefore, the foregoing description is intended to be illustrative rather than restrictive. The foregoing disclosure is defined by the accompanying claims, and all modifications to the disclosure that fall within the meaning and scope of the equivalents of the claims should be encompassed within those scopes.

Claims

1. A robot designed to assist with and perform household chores, A head having a screen and one or more first sensors, A long, slender neck component, Torso and, One or more arms connected to the aforementioned body, A riser member connected to the fuselage and rotatable relative to the fuselage, One or more legs connected to the riser member, each of the one or more legs is Leg member, A first drive wheel disposed at the first end of the leg member, and This includes a second drive wheel disposed at the second end of the leg member, The first drive wheel and the second drive wheel are independently controllable for the movement of the robot, and one or more legs are provided. A robot comprising: at least one controller configured to send and receive data associated with the robot for the completion of household tasks.

2. The robot is configured such that its components, including the head, the elongated neck member, the torso, one or more arms, the riser member, one or more legs, the leg members, and the first and second drive wheels, can be positioned in multiple configurations and are configured to move and fold into multiple states. The robot according to claim 1, wherein each of the plurality of states corresponds to an operating mode defined by a task to be completed and further defined by which of the components is extended, folded, moved or otherwise positioned to complete various household tasks.

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

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

5. Two arms connected to the aforementioned body, It comprises two legs connected to the riser member, The first drive wheel and the second drive wheel of each leg member are operated by independent motors. The robot according to claim 4, wherein each of the independent motors is controlled by the controller for the movement of the robot.

6. The one or more first sensors on the head of the robot are cameras, and the robot has the following additional sensors, namely, camera, Motion sensor, Flight time sensor, Multiple inertial measurement unit sensors, accelerometer, pressure sensor, Temperature sensor, Humidity sensor, smoke detector, Carbon monoxide (CO2) sensor, Particulate matter sensor, Indoor air quality sensor, Radiation sensor, Oxygen concentration meter, Heart rate sensor, or The robot according to claim 5, comprising at least one of the biometric sensors.

7. It further comprises one or more speakers, one or more lights, and one or more microphones, The one or more speakers are configured to transmit audible warnings, alarms, messages, and commands to the user and other robots. The one or more lights are configured to communicate visual warnings, alarms, messages, and commands to the user and other robots. The one or more microphones are configured to record sounds, including verbal instructions from the user. The robot according to claim 6, wherein the controller is further configured to receive and process the sound recorded by the one or more speakers, convert the sound into a dataset, and communicate the dataset to the components during task execution.

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

9. In the second operating mode, the robot is in a partially folded state. The torso, the first arm member, the second arm member, the riser 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 so as to be perpendicular to the riser member, The robot according to claim 8, wherein the screen or the one or more first sensors are oriented perpendicular to the elongated neck member in a first direction.

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

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

12. In the fifth operating mode, the robot is in a partially extended state. The one or more legs are rotated and folded so as to be parallel to each other and to the moving surface, and the first drive wheel and the second drive wheel are in contact with the moving surface, The riser member extends upward from one or more legs and at a certain angle relative to one or more legs. The fuselage extends upward from the riser member and at a certain angle relative to the riser member. The elongated neck member extends upward from the riser member and at a certain angle relative to the riser member. The screen or the one or more first sensors are oriented in the second direction. The robot according to claim 11, wherein one or more of the arms extend from the body in the second direction.

13. In the sixth operating mode, the robot is in a partially extended state. The one or more legs are rotated and folded so as to be parallel to each other and to the moving surface, and the first drive wheel and the second drive wheel are in contact with the moving surface, The riser member extends upward from one or more legs and at a certain angle relative to one or more legs. The fuselage extends upward from the riser member and at a certain angle relative to the riser member. The elongated neck member extends upward from the riser member and at a certain angle relative to the riser member. The screen or the one or more first sensors are oriented in the first direction. The robot according to claim 12, wherein one or more of the arms extend from the torso in the first direction.

14. In the seventh operating mode, the robot is in an extended state. The second drive wheel of one or more of the legs is locked by the brake and in contact with the moving surface, The one or more legs extend upward at a certain angle with respect to the moving surface from the second drive wheel of the one or more legs, The riser member extends upward from one or more legs and at a certain angle relative to one or more legs. The fuselage extends upward from the riser member and at a certain angle relative to the riser member. The elongated neck member extends upward from the riser member and at a certain angle relative to the riser member. The robot according to claim 13, wherein the robot balances itself on the second drive wheels of one or more legs.

15. The robot according to claim 13, wherein the body includes a recess configured to receive and store one or more objects, and a lid configured to cover the recess and hold the one or more objects in the recess in a closed position, and in an open position the lid is configured to become a shelf for holding one or more objects.

16. The robot according to claim 1, wherein the riser member includes a compartment configured to receive and store one or more objects, and a handle configured to allow a user to lift 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 configured to supply power to the robot and a battery management system.

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

19. A system for operating the robot described in claim 1, At least one processor programmed or configured to receive data associated with the robot for completing household tasks, transmit data associated with the robot for completing household tasks, learn the sequence of actions of the robot for completing household tasks, teach the sequence of actions of the robot for completing household tasks, and execute the actions of the robot for completing household tasks. A system equipped with these features.

Images