Systems and methods for layered robot design

Abstract

A layered robotic system for conveyance of utilities accessed by gadgets and mounting of the gadgets in the layered robotic system is disclosed. The robotic system can have a bone layer with a plurality of zones axially extending in the bone layer, each zone of the plurality of zones having a carriage with the carriage conveying a utility. The zones can be nested and have a hierarchical relationship depending on the utilities. The robotic system can have flesh layer with a gadget can be in the flesh layer. The gadget can be connected to a zone of the plurality of zones via a relay, the relay radially conveying the utility of the zone between the gadget and the zone. The utility is accessed by the gadget to perform a function of the layered robotic system.

Description

SYSTEMS AND METHODS FOR LAYERED ROBOT DESIGNINCORPORATION BY REFERENCE TO ANY PRIORITY APPLICATIONS

[0001] This application claims priority to U.S. Provisional Application No. 63 / 584891 filed on September 24, 2023, titled “MECHANICAL FRAMEWORK FOR BUILDING ROBOTIC SYSTEM” that is hereby incorporated herein by reference in its entirety.BACKGROUNDField

[0002] The present disclosure generally relates to robotic systems. More specifically, a layered robotic system comprising a utility transport system that provides utilities to gadgets positioned in an outer layer of the layered robotic system using utility conveyances positioned in different zones of an inner layer of the layered robotic system.Description of the Related Art

[0003] Robotic and mechatronic systems are integrated machines that may replicate or substitute human actions in a variety of applications to perform certain tasks more efficiently, more accurately, over a longer period of time, and at a lower cost. A robotic system can include a large number of interconnected gadgets, components and parts that synergistically function together to perform a task. These interconnected gadgets, components and parts may each function in a different domain (e.g., mechanical, fluidic, electrical, and the like), may require different utilities, may be placed at different positions with respect to the robotic system and have complex dependencies between each other, resulting in a complex and dynamic structure. Additionally, the overall arrangement and dimensions of the robotic system may be constrained by its specific application and limitation of the environment within which it operates, ease of manufacturing, and cost, among other factors. Designing such a complex system can be very challenging and demands new implementation methodologies.SUMMARY

[0004] In some aspects, the techniques described herein relate to a layered robotic system for conveyance of utilities accessed by gadgets and mounting of the gadgets in a roboticsystem, the layered robotic system including: a bone layer including a plurality of zones axially extending in the bone layer, each zone of the plurality of zones including a carriage, the carriage configured to axially convey a utility, wherein at least two zones of the plurality of zones are nested such that a first zone of the at least two zones is enclosed by a second zone of the at least two zones; a tissue layer positioned about the bone layer; a shell layer positioned about the tissue layer, the shell layer configured to at least partially insulate the tissue layer; and a skin layer positioned about the shell layer, wherein the skin layer is flexible, wherein a gadget is positioned at least partially in the tissue layer, the shell layer, or the skin layer, the gadget connected to at least one zone of the plurality of zones via a relay, the relay configured to radially convey the utility of the at least one zone between the gadget and the at least one zone, the utility of the at least one zone configured to be accessed by the gadget to perform a function of the layered robotic system.

[0005] In some aspects, the techniques described herein relate to a layered robotic system for conveyance of utilities accessed by gadgets and mounting of the gadgets in a robotic system, the layered robotic system including: a first layer including a plurality of zones axially extending in the first layer, each zone of the plurality of zones axially conveying a utility; and a second layer positioned about the first layer, wherein a gadget is positioned at least partially within the second layer, the gadget connected to at least one zone of the plurality of zones via a relay, the relay configured to radially convey the utility of the at least one zone between the gadget and the at least one zone, the utility of the at least one zone configured to be accessed by the gadget to perform a function of the robotic system.

[0006] In some aspects, the techniques described herein relate to a layered mechatronic system for conveyance of utilities accessed by gadgets and mounting of the gadgets in a mechatronic system, the layered mechatronic system including: a first layer including a plurality of zones axially extending in the first layer, each zone of the plurality of zones axially conveying a utility; and a second layer positioned about the first layer, wherein a gadget is positioned at least partially in the second layer, the gadget connected to at least one zone of the plurality of zones via a relay, the relay configured to radially convey the utility of the at least one zone between the gadget and the at least one zone, the utility of the at least one zone configured to be accessed by the gadget to perform a function of the mechatronic system.

[0007] In some aspects, the techniques described herein relate to a mechatronic joint system for conveyance of utilities for performance of functions in a mechatronic system, the mechatronic joint system including: a first bone section including a first plurality of zones axially extending in the first bone section, each zone of the first plurality of zones axially conveying autility ; a second bone section including a second plurality of zones axially extending in the second bone section, each zone of the second plurality of zones axially conveying a utility; and a joint connecting the first bone section and the second bone section, the joint convey one or more utilities between the first plurality of zones and the second plurality of zones, wherein at least one utility of the first plurality of zones or the second plurality of zones is configured to move at least one of the first bone section or the second bone section relative to the joint.

[0008] In some aspects, the techniques described herein relate to a method for manufacturing a branched division of a layered mechatronic system for conveyance of utilities for performance of functions in a mechatronic system, the method including: axially extending a first zone and a second zone in a bone layer, the first zone axially extending in the second zone, the first and second zones each including a carriage configured to axially convey a utility for performing a function of the mechatronic system; splitting the second zone into a first split zone and a second split zone; branching the first zone into a first branched zone and a second branched zone; enclosing the first branched zone in the first split zone; and enclosing the second branched zone in the second split zone.

[0009] Methods of using the system(s) (including device(s), apparatus(es), assembly(ies), structure(s), and / or the like, including the clauses of example embodiments toward the end of the specification) disclosed herein are included; the methods of use can include using or assembling any one or more of the features disclosed herein to achieve functions and / or features of the system(s) as discussed in this disclosure. Methods of manufacturing the system(s) disclosed herein are included; the methods of manufacture can include providing, making, connecting, assembling, and / or installing any one or more of the features of the system(s) disclosed herein to achieve functions and / or features of the system(s) as discussed in this disclosure.BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In the following description of the various embodiments, reference is made to the accompanying drawings which form a part hereof, and in which are shown by way of illustration various embodiments of the device. It is to be understood that other embodiments may be utilized, and structural changes may be made without departing from the scope of present invention.

[0011] Figure 1A schematically illustrates an example layered robotic system configured to convey utilities to a plurality of gadgets embedded in a flesh layer via a bone layer of the layered robotic system in accordance with certain embodiments described herein.

[0012] Figure 1 B schematically illustrates a detailed view of a portion of bone layer of the layered robotic system shown in Figure 1 A.

[0013] Figure 1 C schematically illustrates a three-dimensional view of a bone division of the bone layer of the layer of the layered robotic system shown in Figure 1 A.

[0014] Figure 1 D schematically illustrates a portion of an example layered robotic system depicting conveyance of utilities to a plurality of gadgets embedded in a flesh layer via carriages in a bone layer and relays and ports in the flesh layer in accordance with certain embodiments described herein.

[0015] Figure 1 E schematically illustrates example utility path topologies for providing utilities to gadgets or allow utility transfer between gadgets using a plurality of relays, carriages and crossovers formed between a plurality of bones sections and the surrounding flesh layers in accordance with certain embodiments described herein.

[0016] Figure 1 F schematically illustrates a robotic arm formed based on the disclosed layered robotic system in accordance with certain embodiments described herein.

[0017] Figure 1G schematically illustrates a close-up view and internal layered structure of a layered robotic system near a joint in accordance with certain embodiments described herein.

[0018] Figure 2A Schematically illustrates a humanoid robot that may comprise one or more features of the layered robotic system in accordance with certain embodiments described herein.

[0019] Figure 2B schematically illustrates head section and mid-section of another humanoid robot having a bone layer comprising a plurality of bones formed by divisions and a flesh layer surrounding the bone layer in accordance with certain embodiments described herein.

[0020] Figure 2C schematically illustrates the hand section of the humanoid robot shown in Figure 2B depicting the different divisions of the bones and joints connecting them, the flesh layer and gadgets disposed therein.

[0021] Figures 3A-3C show the coordinate systems that may be used to specify different directions, displacements, and rotations within a layered robotic system.

[0022] Figures 3D-3F schematically illustrate axial and radial directions and surfaces with respect to cylindrical, rectilinear, and a spherical coordinate systems connected to a layered robotic system.

[0023] Figure 3G schematically illustrates branched division comprising a base section and two branches connected to the base section and the local coordinate systems thatmay be used different directions with respect to the base section of each of the branches in accordance with certain embodiments described herein.

[0024] Figures 3H-3K schematically illustrate example bone divisions having different shapes in accordance with certain embodiments described herein.

[0025] Figure 4A schematically illustrates example division webs (or division web portions) that may be formed in a layered robotic system network. The division web 404 is a connected web having three straight bone divisions 404b and a flesh layer 404a surrounding all bone divisions 404b. The division web portion 406 is a connected

[0026] Figure 4B schematically illustrates example division webs (or division web portions) that may be formed in a layered robotic system and include closed surfaces and cycles in accordance with certain embodiments described herein.

[0027] Figure 5A schematically illustrates three-dimensional views of portions of a layered robotic system depicting envelopes formed around the corresponding bone layers in accordance with certain embodiments described herein.

[0028] Figure 5B schematically illustrates lateral (or transverse) cross-sectional views of example portions of a layered robotic system depicting two-dimensional arrangements of corresponding envelopes in transverse planes perpendicular to corresponding axial directions

[0029] Figure 6A-6B schematically illustrate a transverse cross section of a bone (e.g., in a cut plane perpendicular to the corresponding axial direction) comprising a plurality of nested zones configured to convey utilities within the bone in accordance with certain embodiments described herein.

[0030] Figure 6C schematically illustrates a three- dimensional (3D) view of a bone or bone division shown in Figure 6A showing the 3D arrangement of the plurality of nested zones in accordance with certain embodiments described herein.

[0031] Figures 6D-6G schematically illustrate cross-sectional views of different bone or bone divisions in transverse planes depicting example zonal hierarchies in an arbitrary axial position of along different bones of a layered robotic system in accordance with certain embodiments described herein.

[0032] Figure 7A schematically illustrates example matching alignment features formed on the end regions of two divisions of a bone where each end region comprises an undulating surface region having a plurality of peaks and valleys in accordance with certain embodiments described herein.

[0033] Figure 7B schematically illustrates an example bone of a layered robotic system formed by connecting four divisions where the end surface of each division includes afacet and alignment features disposed on the facet in accordance with certain embodiments described herein.

[0034] Figure 7C schematically illustrates a bent bone formed by connecting seven divisions. In some examples, the divisions of the bent bone may include a hierarchy of one or more zones surrounded by a fusion zone (axial fastening zone) in accordance with certain embodiments described herein.

[0035] Figure 7D schematically illustrates another example bone formed by connecting seven divisions comprising localized alignment features formed near zonal boundaries in accordance with certain embodiments described herein.

[0036] Figure 8A schematically illustrates cross-sectional views (e.g., in z-y plane) of and fragmented zone comprising two radial fragments before (right) and after (left) assembling the corresponding bone or division in accordance with certain embodiments described herein.

[0037] Figure 8B schematically illustrates a 3D view of an axially fragmented zone comprising two axial fragments before (right) and after (left) assembling the corresponding zone in accordance with certain embodiments described herein.

[0038] Figure 8C schematically illustrates a 3D view of a cross fragmented zone comprising a plurality of cross fragments connected or mechanically coupled to each other using a combination of radial and axial fastening features (not shown) in accordance with certain embodiments described herein.

[0039] Figure 8D schematically illustrates a cross-sectional view (e.g., in z-y plane) of an example radial fragmentation of a central zone in accordance with certain embodiments described herein.

[0040] Figure 8E schematically illustrates a cross-sectional view of an example bone or bone division composing three zones A, B, C, two of which are radially fragmented such that each radial fragments includes a portion of channel for utility carriage in accordance with certain embodiments described herein.

[0041] Figure 9A shows a three-dimensional view of base division portion of the example split branched division and sequential formation of gaps in different zones in accordance with certain embodiments described herein.

[0042] Figure 9B shows cross-sectional views of different regions of the split branched division within transverse planes (e.g., planes perpendicular to the x-axis) at different axial positions along the split branched division in accordance with certain embodiments described herein.

[0043] Figure 9C shows a three-dimensional view of the belly region and the two branches of the split branched division shown in Figures 9A and 9C.

[0044] Figure 9D schematically illustrates cross-sectional views of a zonal portion of three different split branched divisions within four transverse planes at four different axial positions depicting axial progression of gap formation and zone splitting for a central zone of the corresponding split branched division in accordance with certain embodiments described herein.

[0045] Figure 9E schematically illustrates cross-sectional views of a zonal portion of three different split branched divisions within four transverse planes at four different axial positions depicting axial progression of the three phases of split branching for the corresponding split branched division in the case of a nesting of two or more zones (recursively branched division) three phases of split branching for the corresponding split branched division in the case of a nesting of two or more zones.

[0046] Figure 9F schematically illustrates cross-sectional views of a zonal portion of a split branched division, having a branching ratio of 1 :5, within six transverse planes at six different axial positions depicting axial progression of split branching for the corresponding split branched division in accordance with certain embodiments described herein. Each column illustrates the three phases of a split branching at a single zonal depth identified by the expression in the column header, the innermost zone being at depth zero.

[0047] Figure 9G schematically illustrates cross-sectional views of a zonal portion of another split branched division, having a branching ratio of 1 :2, within six transverse planes at six different axial positions depicting axial progression of the three phases of split branching for the corresponding split branched division in accordance with certain embodiments described herein.

[0048] Figure 9H schematically illustrates an example of a spherical branching division comprising a central junction zone configured to distribute utility carriages received from a first division to second and third divisions in accordance with certain embodiments described herein.

[0049] Figure 91 schematically illustrates a cross-sectional view of another example of a spherical branching division within a division web of a layered robotic system, with a spherical division with spherical branching of multiple zones in accordance with certain embodiments described herein.

[0050] Figure 10A schematically illustrates an example relay branched division with a branching ratio of 1 :2 in accordance with certain embodiments described herein.

[0051] Figure 10B schematically illustrates an example division connection configuration 1005 with a branching ratio of 2:2 in accordance with certain embodiments described herein.

[0052] Figure 10C schematically illustrates an example division connection branching configuration 1007 having a branching ratio of 2:3 formed by combining an independent division with a relay branched division shown in Figure 10A.

[0053] Figure 11 A schematically illustrates a portion of a bone layer depicting an example configuration for relaying utilities from inner zones to the outer zones of the bone layer or to the corresponding flesh layer in accordance with certain embodiments described herein.

[0054] Figure 11 B schematically illustrates a portion of a bone layer depicting an example configuration for relaying utilities from inner zones to the outer zones of the bone layer or to the corresponding flesh layer in accordance with certain embodiments described herein.

[0055] Figure 12 schematically illustrates a cross-sectional view of an example division or bone , in a plane perpendicular to an axial direction, depicting an electric power and networking relay configuration.

[0056] Figure 13 schematically illustrates a division portion comprising a control and signaling zone formed around a logic zone in accordance with certain embodiments described herein.

[0057] Figure 14A-14B schematically illustrate cross-sectional views of a region of a bone (e.g., within a division) comprising a mechanical transmission zone formed around a logic zone depicting shifted or rerouted mechanical transmission cables that convey mechanical transmission utility between two zones or different portions of a zone in accordance with certain embodiments described herein.

[0058] Figure 14C schematically illustrates a three-dimensional view of the region of bone depicting the axial position of the cross-sectional views shown in Figures 14A-14B.

[0059] Figure 14D-14F schematically illustrate three different examples of singleplane cable shifting comprising different combinations of planar and vertical pulleys in accordance with certain embodiments described herein.

[0060] Figures 15A-15B schematically illustrate a portion of an example mechanical conveyance apparatus comprising multi-plane cable shifting in accordance with certain embodiments described herein.

[0061] Figure 15C schematically illustrates four vertical pulleys disposed between two axial fragments of a division, each configured to reroute a cable extended in an axial directionwithin a lower axial fragment to a direction in accordance with certain embodiments described herein.

[0062] Figure 15D schematically illustrates a three-dimensional view (right) and a cross-sectional view (left) of a portion of an example split branched division comprising splitting of a mechanical transmission zone into two branches in accordance with certain embodiments described herein.

[0063] Figure 16A schematically illustrates a portion of a layered robotic system including an example mechanical conveyance apparatus comprising a mechanical drive positioned in the flesh layer, mechanical carriages in the bone layer and two mechanical relays conveying mechanical transmission between the mechanical drive the bone layer in accordance with certain embodiments described herein.

[0064] Figure 16B schematically illustrates a portion of a layered robotic system including another example mechanical conveyance apparatus comprising a mechanical utility conveyance between bone layer and a mechanical drive in the flesh layer in accordance with certain embodiments described herein.

[0065] Figures 16C-16D schematically illustrate portions of a layered robotic system including an example mechanical conveyance apparatus comprising a mechanical drive positioned between two divisions of two different links coupled by a joint in accordance with certain embodiments described herein.

[0066] Figure 16E schematically illustrates a portion of a layered robotic system including an example mechanical conveyance apparatus (e.g. cable transmission apparatus) comprising a first tensioning idler placed in the flesh layer near a first division and a second tensioning idler placed in a joint that couples the first and second divisions in accordance with certain embodiments described herein.

[0067] Figure 16F schematically illustrates an example linear tensioning idler and an example rotary tensioning idler 1641 in accordance with certain embodiments described herein.

[0068] Figure 16G schematically illustrates a portion of a layered robotic system including an example mechanical conveyance apparatus comprising a actuated tension controller (ATC)s placed in the flesh layer in accordance with certain embodiments described herein.

[0069] Figure 17A schematically illustrates a cross section of bone and tissue layers of a link in a layered robotic system in a transverse plane, depicting utility conveyance from a mechanical actuation source to a gadget via a mechanical transmission in accordance with certain embodiments described herein.

[0070] Figure 17B schematically illustrates a 3D view of the bone and tissue layers of the division shown in Figure 17A.

[0071] Figure 18 schematically illustrates cross-sectional views of a zonal portion of a split branched division comprising a mechanical transmission zone within seven transverse planes at seven different axial positions depicting axial progression of an example embodiment of recursive branching for the mechanical transmission zone in accordance with certain embodiments described herein.

[0072] Figures 19A-19C schematically illustrate a portion of a layered robotic system comprising a thermal management zone that uses convective heat transport for conveyance of a thermal management utility in accordance with certain embodiments described herein.

[0073] Figures 20A-20B schematically illustrate an example embodiment of a joint crossover configuration for transporting thermal management utility over a joint in accordance with certain embodiments described herein.

[0074] Figure 21 A schematically illustrates an example arrangement for thermal utility transport to a gadget without using a carriage and utility transport through the bone layer in accordance with certain embodiments described herein.

[0075] Figure 21 B schematically illustrates an example of a convective thermal utility conveyance arrangement in accordance with certain embodiments described herein.

[0076] Figure 21 C schematically illustrates an example of a conductive thermal utility conveyance arrangement in accordance with certain embodiments described herein.

[0077] Figure 21 D schematically illustrates an example of a hybrid thermal utility conveyance arrangement in accordance with certain embodiments described herein.

[0078] Figure 22 schematically illustrates cross-sectional views of a zonal portion of a split branched division comprising a thermal management zone (e.g., comprising fluidic channels) within eight transverse planes at eight different axial positions depicting axial progression of an example embodiment of recursive (split) branching of the thermal management zone in the corresponding split branched division in accordance with certain embodiments described herein.

[0079] Figures 23A-23B schematically illustrate a three-dimensional view and a cross-sectional view (in a transverse plane), respectively, of a portion of a division or link comprising a radial fastening zone in accordance with certain embodiments described herein.

[0080] Figure 24A schematically illustrates a cross-sectional view of a division or bone, in a transverse plane, comprising one anchor zone and two outer zones fastened to the anchor zone in accordance with certain embodiments described herein.

[0081] Figure 24B schematically illustrates a cross-sectional view of a division or bone, in a transverse plane, comprising anchor zone and one fragmented outer zone fastened to the anchor zone in accordance with certain embodiments described herein.

[0082] Figure 24C schematically illustrates a cross-sectional view of a division or bone, in a transverse plane, comprising at least one anchor zone and two outer zones fastened to the anchor zone using magnets, glue, or a combination thereof.

[0083] Figure 25A schematically illustrates a 3D view of two divisions or axial fragments of a bone connected via fusion zone of the corresponding bone using an elastic, a spring , a tether 2405, or a combination thereof.

[0084] Figure 26A-26C schematically illustrates cross-sectional views of a zonal portion of three different split branched divisions comprising an anchor zone including one or more anchoring elements within six transverse planes at six different axial positions depicting axial progression of gap formation and zone splitting for the anchor zone and one or more inner zones of the corresponding split branched division.

[0085] Figure 27A schematically illustrates cross-sectional views of a zonal portion of a split branched division comprising a fusion (axial fastening) zone including one or more axial fastening elements in accordance with certain embodiments described herein.

[0086] Figure 27B schematically illustrates a three-dimensional (3D) view of the branched division shown in Figure 27A depicting selected transverse planes and the distribution of axial fastening elements.

[0087] Figures 28A-28C schematically illustrate cross-sectional, 3D, and closeup side views of a portion of a bone (e.g., a bone division) having a nested zonal structure comprising an anchor zone nested within a staging zone in accordance with certain embodiments described herein.

[0088] Figure 29 schematically illustrates a cross-sectional view of a portion of a bone having a nested zonal structure configured to relay utilities between the bone layer and the flesh layer.

[0089] Figure 30A schematically illustrates a portion of an example layered robotic system comprising three links connected via joints where each link comprises a fluid transfer zone configured to transport a fluid along the bone (in an axial direction) in accordance with certain embodiments described herein.

[0090] Figure 30B schematically illustrates a portion of another example layered robotic system portion comprising three links connected via joints where each link comprises afluid transfer zone configured to transport a fluid along the bone in accordance with certain embodiments described herein.

[0091] Figure 31 schematically illustrates a 3D view of an example bone region with a plurality of attached mounts of different types configured to connect a gadget or another mount to the bone region, e.g., via an anchor zone in accordance with certain embodiments described herein.

[0092] Figure 32 schematically illustrates an example of a rig connected to the bone region via the first radial mount in accordance with certain embodiments described herein.

[0093] Figure 33A schematically illustrates two substantially parallel bone divisions (e.g., straight bone divisions) mechanically connected by a tether mount that may not convey a utility between the two bone divisions in accordance with certain embodiments described herein.

[0094] Figure 33B schematically illustrates two substantially parallel bone divisions (e.g., straight bone divisions) and a relay mount that conveys one or more utilities between utility zones of the two bone divisions in accordance with certain embodiments described herein.

[0095] Figure 33C schematically illustrates two substantially parallel bone divisions (e.g., straight bone divisions) and a connector mount that mechanically connects the two bone divisions via the tether mount and is configured to convey one or more utilities between the two bone divisions in accordance with certain embodiments described herein.

[0096] Figure 34 schematically illustrates example connector mounts configured to provide mechanical and utility connections between two or more bones, bone divisions (e.g., bone divisions of different bones) or bone sections in accordance with certain embodiments described herein.

[0097] Figure 35A schematically illustrates a 3D view of a portion of a division comprising a central zone configured to house one or more tubular carriages and cross-section views (in transverse planes) of four examples of such a central zone in accordance with certain embodiments described herein.

[0098] Figure 35B schematically illustrates a 3D view of a portion of a division comprising a zone formed around a central zone portion (comprising one or more nested zones) and configured to house one or more tubular carriages and cross-section views (in transverse planes) of four examples of such a zone in accordance with certain embodiments described herein.

[0099] Figure 35C schematically illustrates an example bent division (top panel) and an example branched division (bottom panel) comprising zones configured to house tubular carriages in accordance with certain embodiments described herein.

[0100] Figure 35D schematically illustrates a bone formed by two bone divisions, each comprising a plurality of zones (e.g. nested zones) including a fluidic transmission zone, a thermal management zone, or a hydraulic / pneumatic mechanical transmission zone, in accordance with certain embodiments described herein.

[0101] Figures 36A-36C schematically illustrate example padding configurations depicting radial and axial padding layers configured to fill gaps between zonal fragments (as shown in Figure 36A) and divisions / subdivisions (as shown in Figure 36B), or both (as shown in Figure 36C), in accordance with certain embodiments described herein.

[0102] Figure 37A schematically illustrates an example of a movable joint formed between two bones, in accordance with certain embodiments described herein.

[0103] Figure 37B schematically illustrates an example of a movable joint having multiple rigs, in accordance with certain embodiments described herein.

[0104] Figures 38A and 38B schematically illustrate examples of cross-over accessories that may be used in a joint to cross-over certain kinds of utility carriages.

[0105] Figure 39A schematically illustrates an example of a movable joint configured to support one rotational degree of freedom, in accordance with certain embodiments described herein.

[0106] Figure 39B schematically illustrates an example of a rig or gadget configured to translate a fluidic flow / pressure provided by a fluidic channel to rotational motion of the joint shown in Figure 39.

[0107] Figure 40 schematically illustrates an example of a movable joint configured to movably connect a first bone to a second bone such that the second bone can rotate (or is actuated to rotate) with respect to the first bone in a roll rotational direction, in accordance with certain embodiments described herein.

[0108] Figure 41 A schematically illustrates an example of a movable joint configured to movably connect and / or couple two bones of a layered robotic system in accordance with certain embodiments described herein.

[0109] Figure 41 B schematically illustrates a differential block assembly used in the plug connector movable joint shown in Figure 41 A in accordance with certain embodiments described herein.

[0110] Figure 41 C schematically illustrates an embodiment of the movable joint shown in Figure 41 A configured to be hydraulically or pneumatically actuated, in accordance with certain embodiments described herein.

[0111] Figure 42 schematically illustrates an example of a movable robotic joint having multiple degrees of freedom and configured to be hydraulically or pneumatically actuated, in accordance with certain embodiments described herein.

[0112] Figure 43A schematically illustrates an example robotic arm comprising an elbow section, a forearm, a wrist section, a palm link (or section), and five fingers, and a closeup view of one of the fingers.

[0113] Figure 43B schematically illustrates an example robotic fingertip that does not include a gadget in accordance with certain embodiments described herein.

[0114] Figure 43C schematically illustrates another example robotic fingertip includes a sensor (e.g., a touch sensor) disposed between its skin and shell layers, in accordance with certain embodiments described herein.

[0115] Figure 43D schematically illustrates another example robotic fingertip that includes a sensor (e.g., a touch sensor) and a heating element disposed between its skin and shell layers, in accordance with certain embodiments described herein.

[0116] Figure 43E schematically illustrates an example medial link disposed between two links the same finger of the robotic arm shown in Figure 43A.

[0117] Figure 43F schematically illustrates a section of an example robotic forearm axially-extended between two joint, in accordance with certain embodiments described herein.

[0118] Figure 44A schematically illustrates an example of a head and neck sections of a humanoid robot comprising features of a layered robotic system including a spherical branching division, in accordance with certain embodiments described herein.

[0119] Figure 44B schematically illustrates a cross-sectional view of the head and neck sections shown in Figure 44B in a sagittal plane.DETAILED DESCRIPTION

[0120] Various embodiments disclosed herein comprise devices, systems, robot configurations, and fabrication methods for a layered robotic system comprising a layered arrangement of gadgets and utility conveyance apparatuses configured to provide different types of utilities to the gadgets. In some embodiments, the layered robotic system may be configured to provide a service using the gadgets. In some implementations, a service may comprise dynamically controlling the position and / or behavior of the one or more gadgets of the layered robotic system while maintaining their connection to utility sources, circuits, and / or other gadgets via a plurality of movable sections connected via joints. In various implementations, utilities conveyed or transported by a utility conveyance apparatus may comprise: power (e.g., electricpower), networking, fastening (also called mechanical support, rigidity support, framing), mechanical transmission (e.g., providing mechanical force or torque), thermal management (e.g., cooling or heating), fluid transfer (e.g., transporting fluids into, out of, or within the system), control and signaling, and other utilities that may be used to position, stabilize, and operate a gadget within the layered robotic system. For example, a sensor may be mechanically fastened to a layered robotic system via a mount that is connected to a rigid and stable section, may receive electric power and control signals from other gadgets, may provide sensor signals to a gadget, and may receive a cooled fluid flow for temperature control. In some cases, a utility may comprise a conveyable resource provided to a gadget.

[0121] In various implementations, a layered robotic system may comprise a bipedal robot, a robotic arm, a wheeled system, and other types of robotic systems that may be categorized based on mechanical configuration, control configuration, spatial degrees of freedom or other characteristics. In some embodiments, a layered robotic system may comprise a layered mechatronic system comprising mechanical, electrical, electronic components and subsystems integrated within an integrated platform. In some cases, the layered robotic or mechatronic system may be controlled by an internal or external computing system comprising a non-transitory memory storing machine-readable instructions and an electronic processor configured to execute the machine-readable instructions to control the mechatronic system. In some embodiments, a layered robotic system designed and operated according to the disclosed embodiments may be remotely operated via a wired communication link, a wireless communication link, or a combination thereof. As such, in some cases, a robotic system may be categorized as a teleoperated robotic or mechatronic system. In various embodiments described herein the term “robot” or “robotic system” is used in its broadest possible definition, and the specific examples described below are nonlimiting.

[0122] In some embodiments, the disclosed layered robotic system and corresponding methods may comprise a modular and layered configuration for providing a number of utilities to gadgets mounted at different positions with respect to the layered robotic system. In some implementations, the disclosed configurations and design methodologies may be used to position one or more the gadgets at desired locations of a robot structure and to provide utility conveyance apparatuses that convey different types of utilities to the one or more gadgets in a layered arrangement that facilitates design, manufacturing, maintenance, and modifying the robotic system. In some implementations, the disclosed layered arrangement of the gadgets and the utility conveyance system may allow efficient conveyance of utilities to the gadgets that can be positioned far from a gadget that generates the utility (herein referred to as source gadget,utility source, or source). In some embodiments, a plurality of gadgets may receive a utility from a single utility source via a network of utility transport channels established via various parts and regions of the robotic system between the utility source and the gadgets that receive the utility. In some embodiments, the layered robotic system may allow conveyance of a plurality of utilities of different types to one or more gadgets and avoid or minimize interference between the utility transport channels using a utility conveyance topology and architecture configured to reduce the overall size and weight of the robot and simplify its design. In some embodiments, the disclosed utility conveyance topologies and architectures may further result in improved mobility and dynamic range of different parts and regions of the robot frame. Moreover, the layered robotic system may be configured to allow fabrication of the utility conveyance apparatuses, which provide utilities to different gadgets, as separate layers, modules, or components, and assembly of the utility conveyance apparatuses, e.g., layer by layer. In some cases, different utilities or different utility groups may be transported via physically separated regions of the utility conveyance apparatuses. In some examples, an individual region may comprise multiple segments that are separately fabricated and then assembled to form the region of the utility conveyance apparatus through which specific utilities or a specific group of utilities is transported.

[0123] In some embodiments, the layers, modules, or components of the layered robotic system and the utility conveyance apparatuses therein may be fabricated using additive manufacturing techniques (e.g., three-dimensional printing).

[0124] In various embodiments, utilities provided to and / or received from a gadget may comprise, but are not limited to, electrical power, networking and network connection, control signals (e.g., electric signals, optical signals, and the like), mechanical transmission, thermal management, fluid transport and fastening (also referred to as mechanical support, rigidity support, framing). In some cases, fastening may comprise securing a component to a rigid and stable portion of the robotic system. In some cases, staging may comprise securing a gadget to a rigid and stable portion using a mount that is configured to be connected to the gadget and fastened to the rigid and stable portion to maintain the gadget at a certain position and orientation with respect to the layered robotic system.

[0125] In various embodiments, gadgetry may comprise devices, components, tools, or interfaces mounted or disposed within or over a portion of the robot frame. In some embodiments, gadgetry may comprise individual devices such as electronic, optical, mechanical, electro-mechanical, and electro-optical devices, or functional and human-computer interfaces. Examples of electrical and electronic devices may include electronic circuits such as integrated circuits, dies, printed circuit boards, chips, microcontrollers, microprocessors, and the like.Examples of optical and electro-optical devices may include light emitting diodes (LED), lasers, displays (e.g., LED displays or liquid crystal displays), and the like. Examples of mechanical and electro-mechanical devices may include mechanical drives, pneumatic cylinders, hydraulic cylinders, and the like. Examples of functional and human-computer interfaces may include access windows (e.g., a battery or fluid tank replacement access), buttons, touch screen displays, control knobs, and the like. Additionally, in some embodiments, gadgetry may comprise groups of components (e.g., one or more assemblies comprising one or more components, parts, or interconnected devices). In some embodiments, gadgetry may include any structural additions / attachments (e.g., a mount or rig) that may be used to stabilize or position a gadget or provide utility to a gadget used in the robotic system. In some examples, a portion of a joint that resides in a link can be considered a gadget connected to the link. In some implementations, another robotic system connected to the layered robotic system (e.g., by a joint could) may be considered a gadget with respect to the layered robotic system.

[0126] In some existing robotic systems access to utilities may be considered after designing the robotic system and determining the position of the gadgets with respect to the robotic system, and in some cases, as an afterthought in the design procedure resulting. In some cases, this approach and methodology may result in interference between different utilities and corresponding utility channels used to convey such utilities and thereby an inefficient usage of the real estate available within the robot frame. Further, not integrating utility management with other aspects of a robotic system design may result in a robotic system having dangled cables, tubes encircling different portions of the robotic system, arches across joints, and other suboptimal structural features that make the robotic system bulky and reduce mobility of its joints among other disadvantages.

[0127] Advantageously, the disclosed layered robotic system and the corresponding design methodologies may prioritize utility access and availability to the gadgetry and integrate utility conveyance, gadget placement, and structural design in a unified framework. Such unified framework and design methodology may allow the design of the robotic system to be expedited and, in some cases, automated. In various implementations, in the disclosed layered robotic system and architecture, gadgetries may be at least partially encapsulated and spatially separated from the utilities to reduce or avoid tradeoff between placement of gadgets at desired locations and efficient transport of utilities through the robotic system. In some embodiments, in a layered robotic system, utility transport along a section of the robotic system may be confined to a core region, herein referred to as the bone, and the gadgets may be placed outside the bone,such that gadgets can produce, consume, and access utilities substantially independent of their position with respect to the robot frame.

[0128] In one embodiment, a utility conveyance topology and architecture may comprise axial (or longitudinal) conveyance of a utility through the core region (bone layer) of a region of the layered robotic system (e.g. an elongated section) to a location near a gadget, and radial (or transverse, or lateral) conveyance of the utility from the core region to the gadget. In some embodiments, a plurality of utilities may be axially conveyed through nested regions of the core region, herein referred to as zones, which in some cases may reduce a cross-sectional area of section of the layered robotic system (e.g., in a plane perpendicular to the axial direction). Advantageously, such utility conveyance topology may allow conveyance of multiple utilities from multiple utility sources to multiple gadgets at different positions with respect to the robot frame. Some of the tools, components, and configurations described below may allow conveyance of multiple utilities through movable regions of the robotic system, also called joints. Some of the tools, methods and configurations described below may allow branching a core region into multiple core regions to distribute one or more utilities and provide them to spatially separated robot sections. In various embodiments, the disclosed layered robotic system may provide the following advantages over some of the existing robotic systems:• Encapsulated utilities and gadgets: management of a utility may be encapsulated from the gadgets that generate, receive, or exchange the utility. In some cases, a transport channel and other elements (e.g., accessories) associated with conveying a utility may be encapsulated or substantially separated from those of other utilities. Further, gadgets may be positioned and oriented independent of the position and orientation of other gadgets and corresponding utility relationships, allowing for optimal or desired placement of gadgets while minimizing restrictions based on, for example, access to corresponding utilities.• Improved designability: a significant portion of utility distribution apparatus, managing utilities across the robotic system, and corresponding challenges and complexities may be simplified allowing the gadgetry and physical appearance of the robotic system to be designed with less constraints.• Modularity: reducing interdependence between distribution of gadgets and the utility conveyance apparatuses results in a modular system that enables interchangeability of gadgets and utilities while minimizing impact on unrelated components.• Extensibility (customizability): modularity of the layered robotic system enables customized design of different portions of the robotic system.• Ease of assembly: the disclosed layered robotic system allows a high level of layering and fragmentation that can facilitate assembly of the robotic system.• Ease of maintenance: the disclosed layered robotic system allows a high level of layering and fragmentation that allows external access to various portions of the robotic system for maintenance, repair and upgrades.• Neatness: by encapsulating distribution of utilities within a core region of the robotic links, and placing gadgetry around the core, the disclosed layered robotic system avoids clutter and unmanageable interference between different components.• Universality: the disclosed layered robotic system can be used in a portion or the entire robotic system, and can accommodate a large domain of robotic designs, independent of degrees of freedom, shape, specific arrangement, complexity of the utilities and gadgets of the robotic system.• Reduced cost: the modularity and layering of the proposed layered robotic system can reduce the cost of a robotic system by reducing the design time, resource costs, and need for specialized know-how, among other cost-saving aspects.

[0129] In some embodiments, the disclosed layered robotic system may comprise a set of building blocks for organizing utilities, gadgets, and their encapsulation from each other, and modular mechanisms for structurally and functionally integrating utilities and gadgets. As described above, in some cases, utilities may be substantially housed within a core region (bone layer) and, in some cases, the core region may comprise spatially separated zones through a utility is conveyed to a gadget (e.g., from a utility source). In some cases, zones within a bone layer may have a nested configuration; however, the embodiments are not so limited and other arrangements of zones are possible. In some embodiments, the gadgets may be positioned or housed in a layer, herein referred to as flesh layer separate from the bone layer and at least partially surrounding or encircling the bone layer. In some cases, the gadgets may be stacked using a mounting structure while receiving one or more utilities from the bone layer. In various implementations, a gadget may produce a utility, consume a utility, or have access to a utility conveyed and, in some cases, managed by the bone layer. In some examples, a layered robotic system may comprise a plurality of sections (e.g., interconnected sections), herein referred to as links, where a link comprises a bone (e.g., a central region), also referred to as bone layer of the link, and a flesh, also referred to as flesh layer of the link, that at least partially surround the bone. In some cases, a link may comprise one or more gadgets that may receive utilities from and / or provide utilities to another link or to another gadget within the same link.General framework

[0130] In some embodiments, a layered robotic system may comprise a bone layer formed by a plurality of interconnected bones and a flesh layer outside and at least partially around the bone layer. In some embodiments, flesh layer may house gadgets, mounts for mechanically supporting gadgets, and joints that may be configured to connect (movably or fixedly) the bones. A bone, which is extended between two joints, and a portion of the flesh layer, which at least partially surrounds the bone, may be collectively referred to as a link of the layered robotic system. As such, the layered robotic system may comprise a plurality of links connected by a plurality of joints, where an individual link comprises a bone (a portion of the bone layer between the two joints) and a flesh (a portion of the flesh layer disposed about the bone or at least partially surrounding the bone). It should be understood that the bone layer of the layered robotic system may comprise a plurality of disconnected portions separated by joints and components of individual joints may be within the flesh layers of the respective links incident on those joints. In some cases, the bone may be referred to as bone layer of the link and the flesh may be referred to as flesh layer of the link).

[0131] In some examples, the flesh layer and the bone layer can be non-overlapping layers. In some embodiments, a layered robotic system may allow ubiquitous access to one or more utilities at different locations of the layered robotic system. In some implementations, such layered robotic system may be configured to be modularly designed. In some embodiments, provision of a utility may involve a structural, force / torque, fluidic, thermal, electrical, and / or optical connection between two gadgets (e.g., between a gadget and a utility source, e.g., source gadget). A utility may include electrical power, control or signaling, mechanical transmission (e.g., mechanical force or torque) (also called mechanical actuation), fastening (also called mechanical support, framing), thermal management, fluid transfer, and the like. Utilities may be provided via one or more physical mediums, in some cases referred to as conveyances. For example, the mechanical transmission utility (also sometimes called mechanical utility) may have different conveyances including, but not limited to, cables, pneumatic tubes, hydraulic tubes, and the like, each configured to control one or more degrees of freedom of a robotic system. In some embodiments, a utility conveyance may comprise multiple physical mediums.Conveyance apparatus

[0132] In some embodiments, a utility conveyance may be provided (e.g., conveyed, transported) to a gadget using a conveyance apparatus comprising a transport apparatus at least partially housed within the bone layer, and an access apparatus at least partially housed withinthe flesh layer. In some embodiments, a transport apparatus of a utility conveyance may comprise a utility carriage (also called carriage) that is an extension (e.g., a passage, span, region or path, depending on the nature of the conveyance) of the utility conveyance in a direction / orientation (e.g., net axial) along the respective bone division, and one or more utility relays (also called relays) that are extensions (e.g., a passage, or path) of the utility conveyance between the bone and the flesh (e.g., extending from the utility carriage in the bone, to the flesh) along a direction / orientation that is net radial, net axial, or both. In some embodiments, a relay or carriage (or both) may take nonlinear paths such that portions of the path may be extended in net radial or net axial directions. In some cases, a net axial direction may comprise a path between two different axial points of the bone division where at least a portion of the path may be extended in non-axial direction (e.g., radial direction). In some cases, a net radial direction may comprise a path between two different radial points of the bone division where at least a portion of the path may be extended in non-radial direction (e.g., axial direction). In some embodiments of a straight (e.g., cylindrically shaped) division (discussed later), a utility carriage may take a net axial direction (or orientation), along the length of the division (e.g., zone, discussed later). In some embodiments of a spherical division (discussed later), a utility carriage may be confined to a near circular or hollow-spherical region (e.g., zone, discussed later) with respect to the center of the sphere. In some embodiments of a bent division (discussed later), a utility carriage may roughly follow (or be oriented along) the bends (e.g., zone, discussed later) along the length of the division. In some embodiments, an access apparatus of a utility may comprise a port(s) for connection of a utility relay to one or more gadgets located in the flesh (that may receive, generate, or consume the utility), and / or a crossover for utility conveyance across a joint. In some embodiments, utility carriages may comprise net axial directionality within a division, while utility relays may comprise a net radial directionality between division and flesh.

[0133] In some embodiments, the access and transport apparatuses may support the conveyance of a utility to a gadget and may comprise conveyance accessories configured to interact with the conveyances, connect the conveyance with gadgets or the robot frame, monitor or control conveyance, and the like. For example, cable ties may be used to organize power / data conveyances, pulleys may be used to manage the path of mechanical transmission cables (also called cable transmissions, or transmission cables, or mechanical cables) and re-route cable transmissions, Molex and / or pogo-pins may be used to organize and / or couple power cables, check-valves or pressure regulators may be used to monitor and control fluidic conveyances, screws, nuts or other fastening mechanism may be used to connect gadgets to a bone or mount,and hermetic tubes may be used for passage of high-pressure or airtight liquid / gaseous conveyances.

[0134] In some examples, conveyance accessories may comprise physical coupling mechanisms for conveyance chaining. In some embodiments, conveyance accessories may comprise small-sized sensors and actuators. For example, a leak sensor can be connected to a hermetic chamber that conveys freon gas for cooling, to detect gas leakage, or a controllable valve may be connected to a fluid transport tube to adjust flow rate of fluid therein. In some embodiments / examples, the aforementioned conveyance accessories may also be placed as independent gadgetry outside the bone, thus breaking a single conveyance apparatus into multiple chained apparatuses, with the respective gadgets as intermediaries. For example, checkvalves or pressure regulators may be used as gadgets and placed outside the core (i.e., bone) region, while accessing the fluidic conveyance that they are controlling.

[0135] In some embodiments, two or more distinct conveyances of a utility may be physically coupled (e.g., chained to each other) to form a single conveyance of the utility (herein referred to as second-order conveyance). The nature and mechanism of the physical coupling may depend on the type of utility being conveyed and provided, and the conveyances that are chained to form the second-order conveyance. In some cases, physical coupling may be provided by a conveyance coupling element. For example, a second-order conveyance for mechanical transmission utility may comprise a belt conveyance followed by a cable conveyance, with a mechanical drive mechanism in between, to transfer mechanical force / torque from the belt to the cable. In this example, the drive mechanism is the physical coupling mechanism and the element that provides the drive mechanism is the conveyance coupling element. In some cases, in addition to coupling two distinct conveyances, the conveyances’ coupling element may modify the utility being transferred. For example, a mechanical transmission conveyance (also called mechanical conveyance) coupling element may provide a mechanical reduction or a mechanical multiplex operation, or the like. In some embodiments, a conveyance coupling element may be placed outside the bone (i.e., in the flesh layer).

[0136] Figure 1A schematically illustrates an example layered robotic system 100 configured to convey utilities to a plurality of gadgets included, embedded, supported or otherwise connected to the layered robotic system 100. In some cases, the layered robotic system 100 can be a portion of a larger layered robotic system. In some embodiments, utilities that may be provided by the layered robotic system 100 may comprise: networking, signaling, electrical connection, optical connection, transmission of mechanical force / torque / motion / stress, thermal management (e.g., heat transfer), fluid transport (e.g., for mechanical actuation and / or heattransfer), or fastening (which also comprises mechanical support, rigidity support, framing or the like).

[0137] The list of utilities above may not be exhaustive. Any resource can be categorized as a "utility" (and therefore conveyed through the bone) in a layered robotic system. In some examples, a utility conveyed through a layered robotic system may be physically transported in some fashion through space (i.e., via a conveyance), may be constrained to operate within a predetermined region of space, may be provided to at least one gadget, and may be conveyed (e.g., provisioned) via a conveyance apparatus within the layered robotic system.

[0138] In some embodiments, the layered robotic system 100 may comprise a bone layer 10 comprising two bone layer sections 14 and 16, also referred to as bone, and a flesh layer 12 positioned about the bone layer 10 and configured to contain the gadgets receiving utilities from or via the bone layer 10. In some implementations, the flesh layer 12 may be positioned near bone layer 10 and comprise different portions that may least partially surround the respective bones. In some implementations, the flesh layer 12 may be positioned alongside the bone layer 10 such that the flesh layer 12 may not surround the entirety of the bone layer 10. In some examples, bone layer 10 may provide one or more utilities to the gadgets, and flesh layer 12 may protect, insulate and / or mechanically support the gadgets. In some cases, different axial portion of a bone may be referred to as bone sections. In some cases, different bone sections may have similar or different geometries and / or internal structures.

[0139] In some embodiments, bones 14 and 16 of the bone layer 10 may be movably connected by a joint 18. Joint 18 can be configured to allow bones 14 and 16 to move (e.g., rotate or translate) with respect to each other while maintaining conveyance of the corresponding utilities from bone 14 to bone 16 or vice versa. In some cases, a bone may be extended between two joints. In some embodiments, a bone extended between two joints and the portion of flesh layer, which at least partially surrounds the bone, may be collectively referred to as a link of the layered robotic system 100. For example, the layered robotic system 100 includes a first link A comprising bone 14 and a first portion of the flesh layer 12 that is extended along the same axial portion of the layered robotic system 100, and a second link B comprising bone 16 and a second portion of the flesh layer 12 that is extended along the same axial portion of the layered robotic system 100. In some cases, the flesh layer 12 can be partially or completely discontinued near or at joint 18. In some cases, at least a portion of the flesh layer 12 may be continuously extended from the first link A to the second link B.

[0140] In some embodiments, bones 14 and 16 may each comprise two bone divisions, also referred to as “divisions”. For example, bone 14 can include first and seconddivisions 14a and 14b, and bone16 may include third and fourth divisions 16a and 16b. In some examples, the first and second divisions of the bone 14 may be separate components that are connected to each other via an axial fastening mechanism; similarly, the third and fourth divisions 16a and 16b of the bone 16 may be separate components that are connected to each other via an axial fastening mechanism. As such in some cases, a division can be a bone section that is fabricated separate from the remainder of the bone or other bone sections. In other words, a bone may be formed by connecting two or more divisions or two or more (separately fabricated bone sections). In some examples, the fourth division 16b can be a branched division comprising at least one branching region configured to divide and / or distribute some of the utilities conveyed by or through bone14 into two separate divisions (not shown) connected to the fourth division 16b. In some embodiments, a division in a bone may be configured to direct utilities between the upstream / downstream bones with respect to a joint connected to the bone (e.g., between another division of the bone and the upstream / downstream bones) or between other divisions of the bone, provide a support structure for the bone, and to allow for installing / accessing conveyance apparatuses along the bone.

[0141] Advantageously, dividing a bone into multiple divisions may facilitate fabrication and assembly of the bone and allow implementation of rapid prototyping and manufacturing techniques that may not be available for fabrication of large bones. For example, a bone that might be too large to be manufactured as a single part on one print plate of a three- dimensional (3D) printer (or other manufacturing process), may be divided into two or more bone divisions each small enough to be manufactured as a single part on one print plate of the 3D printer (or other manufacturing process).

[0142] In some embodiments, a plurality of divisions (bone divisions) may be connected to form a bone (e.g., the bone layer of the link) extending between two joints. The interconnected bone divisions may form a web or network of divisions (herein referred to as division web) configured to encapsulate the conveyance of one or more utilities across the corresponding robotic system. In some embodiments, a web of divisions may comprise a graph (e.g., a mathematical graph), wherein vertices of the graph represent divisions and edges of the graph represent connections between divisions. In some embodiments, such a graph may be formed based on known rules of graph formation and / or rules associated with generating a web of a bone layer of the link in the layered robotic system. In various embodiments, vertices in the graph may have any number of incoming and outgoing edges.

[0143] In some embodiments, for two divisions of a bone web to be considered to have an edge between them, the connection between the two divisions may not connect morethan two divisions, the connection may structurally attach the two divisions and extend the bone, and the connection may provide continuity of one or more utility conveyances between the two divisions. In some embodiments, two divisions may have multiple attachments between them (e.g., an attachment providing structural or functional support / continuity or a combination thereof). In some examples, these attachments may be considered together as one connection when determining whether the two divisions comprise an edge. In other words, an edge relationship may be achieved by a set of attachments that together fulfill the criteria above.

[0144] In various embodiments, two or more utilities may co-exist and be conveyed in a link. For example, multiple mechanical cables (e.g., each distinct cable conveying a distinct mechanical transmission), some pneumatic tubes and / or some hydraulic tubes, or Bowden cables, or flexible (rotary) shafts, or belts, might be carried together through a bone, each destined downstream or upstream for different (sets of) degrees of freedom of movement. Multiple ethernet cables (network conveyances) might co-exist alongside each other, within a bone. Multiple sets of power cables, each set being utilized by a different device, may be passed alongside each other through the bone.

[0145] In some embodiments, the layered robotic system 100 can be a portion of a larger layered robotic system that may comprise one or more of the features listed below:• A utilities-first design focus that comprises, and in some cases priorities, spatial separation of utility conveyance and encapsulation, e.g., by localizing conveyance of different utilities into zones (e.g., nested functional zones) in core regions (bone layer) in interior regions of the links.• Positioning of gadgets that produce / consume / access utilities, outside the core region (bone layer), e.g., in a flesh layer, with ubiquitous access to the utilities along and around the boundary of the core region (e.g., surface of the bone layer).• A modular and layered mounting mechanism for ubiquitous placement, orientation and assembly of gadgets within the flesh, and their modular access to the utilities.• Crossover of utilities through the centers (or close to the centers) of the rotational axes of joints that connect different links, thereby minimizing flexion (e.g., bending, stretching, or other otherwise excessive deformation of a utility conveyances as a result of joint movement).

[0146] Figure 1 B schematically illustrates a detailed view of a portion of bone layer 10 comprising the second division 14b and the third division 16a where the bone layer 10 provides utility connection to and between seven gadgets 25a-25h. In the example shown, the bone layer 10 conveys a first utility (e.g., electric power) from a first utility source 26 to a first group of gadgets25a, 25b, 25c and 25d, and a second utility from a second utility source 28 to a second group of gadgets 25e and 25f. In some examples, one or both utility sources 26, 28, may comprise utility gadgets positioned outside of the bone layer 10. In some examples, at least one of the utility sources 26, 28, can be at least partially inside bone layer 10. In some embodiments, a utility may be axially conveyed by bone layer 10 along different bones of the bone layer 10 (e.g., across different divisions bone layer 10), and radially from bone layer 10 to a gadget. In some embodiments, the bone layer 10 may comprise an axial conveyance (also referred to as a utility carriage or carriage) configured to convey or transmit a utility axially along different divisions and bones and one or more radial utility conveyances (also referred to as relays) configured to convey the utility from the bone layer 10 to one or more gadgets (e.g., gadgets positioned outside bone layer 10).

[0147] In some embodiments, a carriage may comprise a passage of a utility within the bone layer 10 in a net axial direction relative to a respective bone division. In some cases, net axial direction may comprise a path between two different axial points of the bone division where at least a portion of the path is extended in non-axial direction (e.g., radial direction). In some embodiments, a relay may comprise a passage of a utility conveyance between the bone layer 10 and the flesh layer 12 (e.g., a gadget within the flesh layer) in a net radial direction relative to a respective bone division. In some cases, net radial direction may comprise a path from the bone layer 10 to the flesh layer 12 where at least a portion of the path is extended in non-radial direction (e.g., axial direction). In some cases, a relay may be coupled or connected to a carriage and extended in a net radial direction to a gadget that transmits and / or receives, generates, or consumes a corresponding utility.

[0148] In some embodiments, the first utility may be axially conveyed along the bone layer 10 via a first utility carriage 20 and may be radially provided to the first group of gadgets 25a, 25b, 25c and 25d via a first plurality of relays. Similarly, the second utility may be axially conveyed along the bone layer 10 via a second utility carriage 22 and may be radially provided to the second group of gadgets 25e and 25f via a second plurality of relays. In some examples, a carriage (axial transfer of a utility) can be an electric wire (or cable, or tube, etc.) extended from the first utility source 26 to axial locations near the first, second, third, and fourth gadgets 25a, 25b, 25c, and 25d and four electric wires (or cable, or tube, etc.) can be substantially radially extended from each of the axial locations as relays (radial transfers of a utility) to the respective gadgets. In some embodiments, a single electrical cable may be axially extended from the first utility source 26 (e.g. the battery) to an axial position near the first gadget 25a and then redirected toward the first gadget in the radial direction to provide an electrical connection between the firstutility source 26 and the first gadget 25a. In various implementations, the carriages and relays of a utility may be of different material. For example, an electrical cable may be axially extended from the utility source 26 (e.g. the battery) to an axial position near the first gadget 25a, and a wire, an electrode, or otherwise a conductive connection may provide a radial electric connection between the electrical cable and the first gadget 25a (similarly the second, third and fourth gadgets 25b, 25c, 25d may be connected to the cable by additional radial conductive connections). Similarly, bone layer 10 may provide different types of utilities from the corresponding utility sources to different gadgets of the layered robotic system 100. For example, a utility source 28 of the layered robotic system 100 may comprise a cooling device configured to provide cooled air or cooled fluid to a fifth and sixth gadget 25e and 25f of the layered robotic system 100 through utility carriages comprised of axially and radially extended tubes (e.g. hermetically sealed tubes). In some cases, a utility provided to a gadget may comprise mechanical connection of the gadget to the layered robotic system (e.g., via a mount). In the example shown in Figure 1 B, the seventh gadget 25g may be mechanically connected to a rigid portion of the bone layer 10. In some cases, the rigid portion may comprise a rigidity carriage axially extended (in a net axial direction) within the corresponding bone or bone division (bone division 14b in this case). As another example, the third gadget 25c is mechanically connected to bone division 16a (e.g., to a rigidity carriage within bone division 16a).

[0149] In some embodiments, a utility may be directly conveyed from a region of bone to a gadget. For example, a bone may mechanically support a gadget by providing a rigid structure (also called fastening, framing) to which the gadget may be fastened.

[0150] In various implementations, the utility can be generated within a link that includes the gadget or can be generated in other links and provided to the gadget via the link that includes the gadget.

[0151] In some embodiments, utilities may be conveyed via different regions (e.g., non-overlapping regions) of a bone (or a division of the bone) in the bone layer of a layered robotic system. In some embodiments, a region, herein referred to as a zone, in the bone may be separated from the rest of the bone, e.g., by a physical boundary. In various embodiments, the physical boundary can be a boundary between two separately fabricated regions (e.g., using three-dimensional printing) of the bone, two regions of bone having different material compositions, two regions of the bone configured to convey different utilities or different groups of utilities, two regions of the bone comprising different carriages or different groups of carriages. In some examples, a zone may comprise a region of the bone (e.g., a division of the bone) having a transverse cross-sectional geometry (e.g., in a plane perpendicular to the axial direction) thatremains substantially unchanged along the axial direction at least within an axial portion of the bone (herein referred to as characteristic length). In various implementations, the characteristic length can be from 5% to 10%, from 10% to 30%, from 30% to 50%, from 50% to 70%, from 70% to 100% of the axial length of the bone, which can be extended between two joints. In some cases, an average radial thickness of a zone can be from 5% to 20%, from 20% to 50%, from 50% to 80%, or from 80% to 90% of the average radius of the corresponding bone. In some cases, an average diameter of a central zone can be from 5% to 20%, from 20% to 50%, from 50% to 80%, or from 80% to 90% of the average diameter of the corresponding bone.

[0152] In some embodiments, a division or bone may comprise two or more zones each dedicated to a utility, or a group of utilities carried by the corresponding carriages enclosed in the zone boundary. In some cases, the utility, or group of utilities conveyed through a first zone of a bone can be different from those of a second zone of the bone. In some cases, the first and the second zones can be neighboring zones. In some cases, a zone may comprise at least one carriage and / or at least one utility different from that of a neighboring zone. In some examples, a zone may be dedicated to a single type of carriage and / or utility. In some cases, an individual zone may be configured to convey a specific utility independent of the neighboring regions. In some cases, a cross-section of a division in a cut plane (e.g. a cut plane perpendicular to an axial direction) may comprise two or more distinct areas each associated with cross-section of two or more zones of that division within the cut plane. In some implementations, each zone of a division may carry one of a plurality of utilities carried via the division. In some such implementations, a utility may be carried by different types of carriages within a zone or two different utilities within two different zones.

[0153] In some cases, a zone may comprise a solid body comprising one or more channels configured to house or contain one or more utility carriages. For example, electric power utility may be conveyed by a power cable positioned within a zone of a bone (or division) configured as an electric power zone.

[0154] In some cases, a channel formed within a zone may serve as a portion of a utility carriage. For example, a fluid may be transported along a bone via a channel formed in a zone of a bone to convey utility (e.g., thermal management utility or mechanical transmission utility).

[0155] In some cases, a zone of a bone may comprise a solid body fabricated separate from other zones of the bone. In some cases, a zone may comprise two or more zone fragments that are individually and separately fabricated and assembled to form a zone. In somecases, a fragment may comprise portions of two or more zones, and may be individually and separately fabricated and assembled to form multiple adjacent zones.

[0156] In addition to housing carriages and spatially confining different carriages or carriage groups, a zone may be configured to allow one or more utilities to be relayed across the zone, e.g., from another zone of the division to the flesh layer, between two other zones (e.g., an inner zone and outer zone with respect to that zone, in the same division), or from another zone of the same division to a different division. In various implementations, a zone may be configured to accommodate other relay connections. In some cases, a utility may be relayed across a zone, substantially in a radial direction.

[0157] In various implementations, a portion of bone layer in a layered robotic system may comprise a plurality of zones each dedicated to providing a specific utility to gadgets of the layered robotic system. In some examples, the plurality of zones may include one or more of a power zone, a networking zone, a logic zone, a radial fastening zone (also called anchor zone, to provide radial support and radial assembly of parts), a mechanical transmission zone, a fluid transport zone, a thermal management zone, a control and signaling zone, an axial fastening zone (also called fusion zone, to provide axial support and axial assembly of parts), or a staging zone (also called mounting zone). In some implementations, a power zone may be configured to convey electrical power (e.g., using electric wires), a networking zone may be configured to convey network connectivity (e.g., ethernet cables), a logic zone may be configured to convey electric power and networking (e.g., using electric wires and cables), a mechanical transmission zone may be configured to convey force or torque (e.g., mechanical cable transmission), a fluid transport zone may be configured to convey a fluidic flow, e.g., for mass redistribution across the robotic system), a thermal management zone may be configured to convey heating or cooling (e.g., by transporting a heated or cooled fluid or by allowing heat transport via thermal conduction), and a control and signaling zone may be configured to convey different types of signals (e.g., electrical, optical, and the like) generated by a gadget (e.g., sensor) or used to control a gadget (e.g., actuator).

[0158] It should be understood that the types of zones that may be included in the bone layer of a layered robotic system are not limited to the examples described above and various implementations of a layered robotic system may include other zones.

[0159] In some examples, two or more zones of the division may form a nested zonal structure where one zone (e.g., an inner zone) is at least partially contained or surrounded by another zone (e.g., an outer zone). In some such examples, two nested zones may comprise a first zone at least partially formed within a second zone. Each of the first and second zones maybe longitudinally extended along the axial direction and may be laterally extended along the radial direction. In some cases, a transverse cross-section of the two nested zones may comprise a first two-dimensional (2D) region nested within a second 2D region. In some embodiments, geometries of the first and second 2D regions may remain substantially unchanged along the entire division or an axial section having a length from 5% - 10%, 10% - 20%, 20% to 30%, from 30% to 50% from 50% to 80%, or from 80% to 100% of the length of the division along the axial direction.

[0160] Figure 1 C schematically illustrates a three-dimensional view of the third division 16a of the bone layer 10 depicting the four zones 17a, 17b, 17c, and 17d of the third division 16a. In the example shown, the third zone 17c comprises the first utility carriage 20 and the fourth zone 17d comprises the second utility carriage 22. The third division 16a comprises a nested zone configuration where the second, third, and fourth zones 17b, 17c, 17d are formed within the first zone 17a and the third zone 17c is formed within the second zone 17b. Advantageously, such nested zone configuration may allow the third division 16a to axially convey four different utilities by utilizing a smaller volume of the robotic system compared to another layered robotic system that does not include a nested configurations (e.g. where the four utilities are conveyed via four non-overlapping zones. In some embodiments, a zone and the corresponding utility-specific region of a division may comprise a zonal boundary and a carriage may be axially extended within the zonal boundary. For example, the third zone 17c and the corresponding region of the third division 16a, may comprise a first channel defined by a first zonal boundary where the first carriage 20 is longitudinally extended in the first channel. Further the fourth zone 17d may comprise a second channel defined by a second boundary where the second carriage 22 is longitudinally extended in the second channel. In some embodiments, the first utility may be relayed from the first carriage 20 to the second gadget 25b via a first relay 21 a and to the third gadget 25c (at an axial position different from the second gadget 25b) via a second relay 21 b. In some implementations, the first and second relays 21 a, 21b may be configured to pass through the second zone 17b and the first zone 17a without interfering with the utilities conveyed by the first and second zones 17a, 17b. Similarly, the second utility may be relayed from the second carriage 22 to the sixth gadget 25e via a third relay 23. In some embodiments, a zone and corresponding region of a division may comprise a material having geometrical and material properties configured to provide a utility. For example, a zone and the corresponding region of the division may comprise a metallic region having a cross-section that makes the metallic region sufficiently robust to allow one or more gadgets to be mechanically stabilized by a relay that mechanically couples the gadgets to the metallic region within the division. In theexample shown, in addition to the first utility, the third gadget 25c receives a third utility provided by the second zone 17b and the corresponding region. As indicated in Figure 1 C, the entire region defined by the second zone 17b (excluding the region defined by the third zone 17c) within the third division 16a may serve as the carriage of the third utility (e.g., mechanical support). As such, in some cases, a zone may comprise the source of a utility (e.g., mechanical support). In some cases, the utility of a first zone may be radially conveyed into a third zone via a second zone formed between the first and third zones via a relay extended in a net radial direction. As such the second zone may comprise a channel through which the relay passes. In various implementations, utility of a zone can be conveyed to two different gadgets within the same division, same link but different divisions, different links. Utility connection may be established between two different gadgets within the same division, same link but different divisions, different links.

[0161] In some embodiments, two different zones of a layered robotic system (e.g., two zones positioned at different radial positions), may be configured to convey and / or provide different utilities. In some examples, a single zone may comprise two different utility carriages (e.g., hydraulic and cable) configured to convey one type of utility (e.g., mechanical transmission), in some embodiments, carriages of one or more utilities can be assigned to a single zone.In various embodiments, the bone layer 10 may serve one or more of the following functionalities:• Encapsulating the management of conveyances used to transport utilities across the layered robotic system, and their distribution between gadgets.• Providing a rigid mechanical frame (e.g., an internal mechanical frame) to which the flesh, and the layers and gadgets therein, are mechanically connected for positioning and orientation relative to the coordinate frame of the link.• Providing separated regions or channels for conveying different utilities (e.g., via hierarchical nesting of separated regions within a bone).• Facilitate automated or semi-automated design, manufacturing, and / or assembly of a robotic system.

[0162] As described above, a utility conveyance apparatus of a layered robotic system may comprise an access apparatus and a transport apparatus. In some embodiments the transport apparatus may comprise the carriages and relays and the access apparatus may comprise ports and crossovers. In various embodiments, a port may comprise a utility interface or terminal through which a utility can be received from and / or provided to the transport apparatus.For example, a port may comprise a utility terminal or interface connected to a carriage by a relay and configured to allow unidirectional or bi-directional utility conveyance to / from the carriage. In some cases, a port may comprise an interface or terminal between a gadget (that consumes a utility received from a carriage) and a relay (that may radially convey the utility to the gadget). In some cases, a port may comprise an interface or terminal between a gadget that generates a utility (e.g. a utility source) to a carriage and a relay that may radially convey the utility from the gadget to the carriage. In some cases, a port may comprise an interface or terminal configured to receive a utility from a carriage via a relay and provide the utility to an environment surrounding the robotic system or a gadget external to the robotic system. As such a port may be configured to serve different functions with respect to utility conveyance from or to a relay.

[0163] In some embodiments, a gadget may serve as a port of two different access apparatuses. For example, a rotary joint component that is rotated by a cable transmission rolled around it may receive a cable transmission from a first cable transmission carriage and provide cable transmission carriage to a second cable transmission carriage. In some examples, a port or other conveyance accessories may be mounted within the flesh layer. In some embodiments, a cross-over can be an element or a collection of elements that transfer a utility via a joint between two links (e.g., between the corresponding bones). In some cases, a cross-over may be configured to reduce flexion or twist due to translatory or rotary motion of a joint, respectively. In some examples, a crossover may be used near or at locations (e.g., within a joint) where the conveyance apparatus is most exposed. In some examples, protective and flexible covers and / or concealments can be used around certain types of conveyances during crossover, to offset that vulnerability. For example, cooled air (used for thermal management) may be enclosed in a flexible airtight tubing through a crossover and power and control signal cables may be concealed within a wire loom or other protective sleeve.

[0164] In some embodiments, different utilities may be conveyed using different conveyance apparatuses. In various implementations, an access apparatus may comprise two or more conveyance accessories of different types (e.g., different types of ports, or crossovers).

[0165] In some embodiments, when byproducts or waste may be generated by a layered robotic system, the byproducts or waste may be disposed by and / or through a capture and return apparatus of the corresponding conveyance type.

[0166] In various embodiments, a transport apparatus may comprise a carriage and two or more relays configured to transport the same utility. In various implementations, a transport apparatus may comprise two or more carriages for transporting the same utility. In some embodiments, a transport apparatus may comprise at least two relays and / or two carriagescomprising different transport mechanisms or transport mediums. For example, a transport apparatus for conveying electricity may include two carriages each comprising a different type of electric wire or cable. As another example, a transport apparatus for conveying mechanical force may include a hydraulic carriage and a cable carriage where the two carriages are coupled to transport mechanical force along the bone layer.

[0167] In some embodiments, a conveyance apparatus may be distributed across any number of links. In some examples, directionality of a port may not be correlated to the kinematic sequence of links. For example, a port that provides a utility may exist downstream of another port that receives the utility, and vice-versa, or the ports may exist on the same link.

[0168] In some embodiments, a single zone of a bone division may comprise multiple carriages of the same or different types of utilities. In some such embodiments, the layered robotic system may be configured to reduce conflicts and interferences between these carriages. In some embodiments, a relay may cross multiple zones within one or more bone divisions. In some such embodiments, the layered robotic system may be configured to reduce conflicts and interferences between the relay and other relays and carriages within each zone. In various examples, a conflict or an interference between two carriages, two relays, or a carriage and a relay may include, but not be limited to: spatial conflict, electromagnetic interference, assembly order conflict, and the like. In some examples, a layered robotic system may be configured to prioritize a resolution or reduction of some conflicts over others depending on the conveyances involved in the conflict. For example, a non-hermetic carriage of cooling air may spatially conflict with the relay of a transmission cable, but such a conflict may be acceptable or have a secondary priority compared to a spatial conflict between the relay of two transmission cables.

[0169] In some embodiments, placement of relays in a layered robotic system may depend on a size (e.g., shape, length, width, or diameter) of the corresponding division, a type of the division (straight, bent, branched etc.), an acceptable extent of fragmentation, space utilization of the conveyance and its accessories at different points along the relay, and the like.

[0170] In various implementations, a relay may follow any path between zones of a division or bone, or along the division or bone that results in a net radial progression of the utility conveyance. For example, a relay may be extended substantially parallel to a transverse plane in the division, pass through multiple transverse planes in the division, or pass along a non-planar surface as it progresses in the net radial direction

[0171] Figure 1 D schematically illustrates a portion of an example layered robotic system configured to provide utilities to different regions of the robotic system and gadgets 29a- 29h disposed therein.

[0172] Similar to the layered robotic system 100, the example layered robotic system shown in Figure 1 D may comprise a bone layer 10 and a flesh layer 12. In some cases, the shell layer 12 may comprise distinct sub-layers serving different functions. In some embodiments, a gadget may be referred to any component, device, or element disposed within the flesh layer 12 and outside the bone layer 10. In some cases, a gadget may provide a utility to a port, access utility from a port and consume a utility out of a port. In some cases, the flesh layer 12 may comprise a plurality of ports configured to couple the gadgets to utility carriages axially extended through the bone layer via a plurality of relays. The plurality of relays may comprise first and second pluralities of relays 36a, 36b configured to relay the first and second utilities between the first and second carriages 30a, 30b and the ports and gadgets, respectively. In various implementations, a relay connecting a carriage to a port can be a uni-directional or bi-directional relay. The portion of the layered robotic system shown in Figure 1 D, comprises a first link 31 a and second link 31 b, connected (e.g., movably connected) to the first link via a joint 35, and is configured to convey two different types of utilities to eight gadgets 29a-29h positioned in the flesh layer 12. The first link 31 a may comprise a first bone 32a and the respective portion of the flesh layer 12, and the second link 31 b may comprise a second bone 32b and the respective portion of the flesh layer 12. In some cases, joint 35 may comprise one or more features described above with respect to joint 18. Each of the first and second links 31 a, 31 b may have a first carriage 30a configured to convey a first utility and a second carriage 30b configured to convey a second utility. The first and second carriages 30a, 30b, are located within the bones 32a, 32b, of the first and second links 31 a, 31b, respectively. In some embodiments, a first portion of each carriage in the first link 31 a may be coupled to a second portion of that carriage in the second link 31b, by a crossover. In some examples, the cross-over may be configured to transport a utility between the first link 31 a and the second link 31 b and maintain the utility transport when the two links move or rotate with respect to each other. In some cases, the cross-over may be at least partially included within joint 35. In some examples, a first cross-over 34a may couple the two portions of the first carriage 30a and a second cross-over 34b may couple the two portions of the second carriage 30b.

[0173] With continued reference to Figure 1 D, a first gadget 29a may generate the first utility (e.g., electric power) and provide it to the first carriage 30a via a unidirectional relay of the first plurality of relays 36a. Further the first gadget 29a may be coupled to the second carriage 30b via a bidirectional relay of the second plurality of relays 36b to provide or receive the second utility (e.g., transmit and receive signals). The second gadget 29b may be coupled to the first carriage 30a via a bidirectional relay of the first plurality of relays 36a (e.g., to transmit and receivesignals). The third gadget 29c may be coupled to the first carriage 30a via a unidirectional relay of the first plurality of relays 36a to receive and / or consume the first utility.

[0174] In some examples, a joint (e.g., a gadget within the joint) may receive a utility from a bone connected to joint. For example, a joint 44 that connects bone 32b to a subsequent bone may comprise a port that receives the first utility A from the bone 32b by the carriage 30a and another port 44a that receives a third utility from the bone 32a by the carriage 30c. Additionally, joint 44 may comprise a cross-over 44b that transmits carriage 30b from the bone 32b to the subsequent bone. In some examples, carriage 30c may comprise a cable transmission that actuates the joint 44 (e.g., carriage 30c may be received by port 44a connected to an actuator). In some cases, cable transmission 30c may actuate joint 44 via port 44a and emerge from the same port 44a, cross-over to the next bone via an additional crossover (not shown) to actuate another joint elsewhere along the bone chain and the corresponding link chain (e.g., to implement a cable-driven “hardware mimic joint”).

[0175] Figure 1 E schematically illustrates example utility path topologies (also called conveyance topologies) for providing utilities to gadgets or allow utility transfer between gadgets using a plurality of relays, carriages and crossovers formed between a plurality of bone sections and the surrounding flesh layers. In the examples shown, each of the gadgets A, B, C, and D are positioned near different bones of a layered robot-link network. In some embodiments, the conveyance topology may comprise a bus configuration 81. For example, conveyance topology of the layered link network 81 a has a bus configuration comprising four carriages and four crossovers, axially extended through four bones and three relays radially extending from the portions of the carriage within the first, second and fourth bones to the gadgets A, B, and C, respectively.

[0176] In some embodiments, the conveyance topology may comprise a chain configuration 82. For example, conveyance topology of the layered robotic system 82a has a chain configuration comprising a first utility channel between gadgets A and B established by a first carriage and attached crossovers extended from the first bone to the fourth bone and two relays connecting the first carriage to the gadgets A and B.

[0177] As indicated above and shown in the figures, each utility channel between two gadgets near two different bones may be established by a carriage extending between the two bones, and two relays connecting the carriage to the two gadgets.

[0178] In some embodiments, the conveyance topology may comprise a star configuration 83. For example, conveyance topology of the layered robotic system 83a has a star configuration comprising three separate utility channels connecting gadget D, to gadgets A, B andC. Layered robotic systems 83b and 83c illustrate two additional examples of the star configuration where multiple utility channels are established between one gadget and three other gadgets.

[0179] In some embodiments, the conveyance topology may comprise a loop configuration 84. For example, conveyance topology of the layered robotic system 84a has a loop configuration comprising three separate utility channels formed between gadgets A and B, gadgets B and C, and gadgets C and A, forming a closed utility conveyance loop. Layered robotic systems 84b and 84c illustrates two additional examples of the loop configuration where multiple utility channels are established between three gadgets to form a utility conveyance loop.

[0180] In some embodiments, the conveyance topology may comprise a mesh configuration 85. For example, conveyance topology of the layered robotic system 85a has a mesh configuration comprising three separate utility channels connecting gadget D to gadgets A, B, and C, a fourth utility channel between the gadgets A and B, a fifth utility channel between the gadgets B and C, and a sixth utility channel between the gadgets A and C. Layered robotic systems 85b and 85c illustrate two additional examples of the mesh configuration where four utility channels are established between four gadgets to form a utility conveyance loop, and two utility channels are established between the gadgets not connected by the utility conveyance loop to connect all four gadgets to each other.

[0181] As described above, a layered robotic system may comprise a bone layer configured to provide utilities to various gadgets distributed over different regions of the layered robotic system via a network of interconnected bone divisions (also referred to as division web or bone web) and a flesh layer comprising the gadgets and additionally mounts, rigs and joints configured to support connections between bone divisions, and mechanical linkages between gadgets and the bone layer.

[0182] In various embodiments, a layered robotic system may comprise a network of interconnected links where an individual link comprises a bone region and a flesh region. The bone region (also referred to as bone) and the flesh region can be portions of a bone layer and a flesh layer of the layered robotic system, respectively. In some examples, the bone region and the flesh region may be referred to as bone layer and flesh layer of an individual link, respectively. In some cases, two links may be connected (e.g., movably connected) via a joint and an individual link may be axially extended between two joints. In some embodiments, a bone may comprise a plurality of axially separated divisions. In some embodiments, a bone or a division therein may comprise a plurality of non-overlapping regions that are extended together along an axial section of the bone. In some embodiments, the flesh layer of a layered robotic system may comprise atissue layer, at least partially formed over the bone layer, a shell layer at least partially formed over the tissue layer, and a skin layer at least partially formed over the shell layer. In some embodiments, the utility transport apparatuses of the layered robotic system may be contained in the bone layer and the utility access apparatuses of the layered robotic system may be contained in the flesh layer along with gadgets that are interconnected and / or receive utilities via the transport apparatuses and the access apparatuses collectively referred to as the conveyance apparatuses of the layered robotic system.

[0183] In various embodiments, a skin layer may comprise an anti-slip material wrapped around a shell; a shell layer may comprise an elastic material (e.g., rigid or semi-rigid) where gadgets can be embedded and may be mounted onto a bone layer; a tissue layer may comprise a region (between a shell layer and a bone layer) where gadgets and rigs may be positioned and secured to the bone layer via relays. In some examples, the tissue layer can be a region between the bone layer and the shell layer where gadgets and rigs may be mounted around the bone.

[0184] In some embodiments, mounts and rigs may comprise elements or components that form a structure for mounting, positioning, aligning, or orienting gadgets with respect to the bone layer and / or the robot frame, e.g., by providing a mechanical linkage between the gadget and one or more bone divisions. In some embodiments, a joint may comprise an element or mechanism that mechanically links or couples (e.g., connects, movably connects, couples) the links of the layered robotic system to provide articulations and allow utility transport between the links. For example, a joint may enable utility transport between two links while movably connecting them such that they can rotate with respect to each other during the operation of the layered robotic system.

[0185] In some embodiments, the flesh layer may comprise a plurality of layers, herein collectively referred to as envelopes, providing different functionalities. In some embodiments, envelopes (tissue, shell, skin) may comprise a hierarchical (e.g., tree-like) nesting of functional layers formed around the bone layer. In various implementations, each of these functional layers may comprise any shape.

[0186] In some implementations, the flesh layer of a layered robotic system (e.g., flesh layer 12 of the layered robotic system 100) may comprise three sub-layers: a first sublayer, herein referred to as tissue or tissue layer, a second sublayer, herein referred to as shell or shell layer, and a third sub-layer herein referred to as skin or skin layer. In some cases, a portion of the tissue layer can be formed at least partially over and / or around a bone extended between two joints, a portion of the shell layer may be formed at least partially over and / or around the portion of thetissue layer, and a portion of the skin layer may be formed at least partially over and / or around the portion of shell layer. In some embodiments, tissue can be a region of the flesh within which the majority of gadgetry is mounted. In some embodiments, shell may comprise a collision boundary of the robotic system and may provide services such as waterproofing, air-sealing, insulation, impact proofing, and the like. Additionally, shell layer may serve as housing and / or passthrough for external facing gadgets. In some embodiments, skin may serve as a cosmetic or aesthetic layer that at least partially wraps around the shell and provides texture, appearance and feel to the respective portion of the robotic system. In some embodiments, skin may further augment the function of shell, e.g., by providing waterproofing, air sealing, and other protective functions. In some implementations, skin may be at least partially supported from a mounting structure within the flesh. In some examples, at least a portion of the skin layer may comprise a flexible layer configured to extend over and / or around, a movable portion of robotic system (e.g., a joint) to accommodate the flexion of the movable portion and, in some cases, provide a perception of continuity across the bone divisions and links.

[0187] Figure 1 F schematically illustrates a robot arm 40 formed based on the disclosed layered robotic system described above. In some examples, the robot arm 40 comprises a first link 31 a movably connected to a second link 31 b via a joint 18. Each one of the links comprise a bone layer 10 where utility carriages and portions of the utility relays reside and a flesh layer 12 within which the gadgets are positioned and / or mounted. The flesh layer 12 comprises a tissue layer 51 , which in this case, is formed over and around the bone layer 10, a shell layer 52, which in this case, is formed over and around the tissue layer 51 , and skin layer 53, which in this case, is formed over and around the shell layer 52. Figure 1 G schematically illustrates a close-up view and internal layered structure of a layered robotic system near a joint (e.g., near joint 18 of robot arm 40). In some examples, the portion of the layered robotic system shown in Figure 1 G comprise the same layered structure described with respect to Figure 1 F.

[0188] Figure 2A Schematically illustrates a humanoid robot that may comprise one or more features of the disclosed layered robotic system. In some embodiments, the humanoid robot shown in Figure 2A may include three main sections: a head section 43 comprising a head region 46 and a neck region 47 coupled by a joint 18a, a mid- section 44 comprising a torso 48 and two arms coupled to the torso 43 by two joints 18c (composite joints formed by 2 joints) and a leg section 45 comprising two legs coupled to the torso 48 by a joint 18f (a composite joint formed by three joints). In some cases, each arm may comprise two links 31a, 31b coupled by a joint 18d and a hand section 37 coupled to the second link 31 b by a joint 18e. In some cases, each leg may comprise two links 33a, 33b coupled by a joint 18g and a foot section 39 coupledto the second link 33b by a joint 18h. In some embodiments, the foot section 39 and the hand section 37 may each comprise a plurality of links coupled by a plurality of joints.

[0189] Figure 2B schematically illustrates head section and mid-section of another humanoid robot that, in some cases, may comprise one or more features described above with respect to the head section 43 and mid-section 44 of the humanoid robot shown in Figure 2A. Figure 2B depicts different divisions of the bone layer of this humanoid robot. In some embodiments, different divisions in a robotic system can have different geometries adapted to their function and position within the robotic system. For example, the head of the humanoid robot may comprise a spherical division 60 and a straight division 54, the arm may comprise two straight divisions 54, the shoulder may comprise two bent divisions 56, the mid-section may comprise three branched divisions 58 and three straight divisions 54. Figure 2C schematically illustrates the hand section 37 of the humanoid robot shown in Figure 2B depicting the different divisions 63 of the bones and joints 18 connecting them, the flesh layer and gadgets 25 disposed therein. In some embodiments, the hand section 37 may comprise a straight division 54, a branched division 58 and five fingers each comprising multiple straight and bent divisions. The gadgets 25 may be distributed across the flesh layer 12 and may receive utilities from different divisions of the bone layer via a plurality of relays.

[0190] Figures 3A-3C show the coordinate systems that may be used to specify different directions, displacements, and rotations within a robotic system, or the layered robotic system described above. Figure 3A shows a three-dimensional rectilinear coordinate system 65 (a right-handed system) comprising x, y, and z axis and orientation of local coordinate systems 65a, 65b that may be used within each link 31 a, 31 b of a robotic arm 37. Figure 3B shows an orientation of a global coordinate system 66 that may be used to specify different directions with respect to a humanoid robot and the transverse (y-z plane), sagittal (x-z plane), and frontal (x-y plane) planes 67, 68, 69, respectively defined with respect to the global coordinate system 66. Figure 3C shows roll, pitch, yaw rotational direction with respect to the three-dimensional rectilinear coordinate system 65 according to Euler rotation convention.

[0191] Figures 3D-3F schematically illustrate axial 72 and radial 73 directions and axial 70 and radial 71 surfaces with respect to a cylindrical coordinate (3D), a rectilinear coordinate (3E) and a spherical coordinate (3F).

[0192] In some embodiments, a division (bone division) of a layered robotic system (e.g., the layered robotic system 100), which encapsulates at least a portion of the conveyance apparatus, may have different geometries (e.g., different shapes, sizes and the like) and structural features based on its location within the layered robotic system, the utility or utilities that itconveys, gadgets that it supports, mounts and rigs that it includes, joints that it is connected to, a number of divisions that it is connected to, geometry and structural features of the divisions that it is connected to, and other structural and / or functional factors that should be considered to distribute one or more utilities throughout the layered robotic system , reduce the overall size and complexity of the robotic system, and preserve movability and dynamic range of joints connected to the corresponding division. In various embodiments, other parameters, factors, and criteria may be considered with respect to geometry and structural features of a division. In some embodiments, various divisions of a layered robotic system may be divided into four categories or types: straight divisions, bent divisions, branched divisions, and spherical divisions. In some examples, a straight division can be a straight region or section of a bone (or division web) having two opposing axial faces separated by a single coordinate translation. In some examples, a bent division can be a curved region or section of a bone having two opposing axial faces separated by a single coordinate transformation that can include a rotational component (e.g., a translation and a rotation). A branched division can be a region or section of a bone comprising a set of spatially separated branches and a merging region where all branches overlap or to which all branches are connected. In some cases, branches of a branched division may comprise one or more outgoing branches and one or more incoming branches. In some cases, axial surfaces of any two branches of a branched division may be separated by a sequence of two coordinate transformations (e.g., a translation and a rotation), the first of which may include a point within the merged region. It should be understood that a branched division may be different than two or more connected bent divisions. As described in detail below, the internal structure of a branched region may comprise specific features and geometrical transformations tailored for dividing and combining zones formed in different branches of the branched region. In some examples, a spherical division can be a region or section of a bone having a spherical, ellipsoidal, oval, or geoid-like shape, or otherwise a region within a closed surface. In some cases, a spherical division may not have an axial face (e.g., all faces can be radial). In some embodiments, zones in a spherical division may be three-dimensionally nested (e.g., forming a tree-like hierarchical nesting of regions within closed surfaces for any shape). Figure 3G schematically illustrates branched division comprising a base section 74 and two branches 75 connected to the base division portion 74 and the local coordinate systems that may be used different directions with respect to the base section of each of the branches.

[0193] Figures 3H-3K schematically illustrate example divisions having different shapes. Figure 3H shows two example straight divisions, Figure 3I shows four example branched divisions, Figure 3J shows three example bent divisions, and Figure 3K shows three examplespherical divisions or divisions comprising a closed surface. In some examples, a bent division can be considered a special case of a branched division where there is one incoming and one outgoing branch. In some examples, spherical division can be considered as a special case of a straight division having with no axial component (e.g., axial surface). A spherical division may have no axial fusion and it may be fragmentable into a plurality of pieces. In some embodiments, a spherical division may be radially fragmentable into pieces that can be assembled via radial fastening conveyances from an anchor zone in the spherical division.

[0194] As described above, in some embodiments, the divisions of a layered robotic system may form a network of interconnected divisions referred to as division web and such division web may comprise characteristics of a graph (e.g., cycles, connectedness, and the like). The bone layer of the robotic system (humanoid) shown in Figures 2A-2C can be an example of a division web.

[0195] As with graphs, in some embodiments, web divisions may comprise cycles (e.g., a closed circuits formed by web divisions), e.g., formed by bent and / or branched divisions. In some implementations, the division webs may be divided into three categories of types based in cycles formed therein: open webs, closed webs, and mixed webs. In some examples, an open division web can be a web that none of its vertices are part of a cycle (or are involved in formation of a cycle). In some examples, a closed division web can be a web that all of its vertices are part of one or more cycles (or are involved in formation of one or more cycles, e.g., a toroid). In some examples, a mixed division web can be a web where at least one of its vertices is part of a cycle (or is involved in formation of a cycle, and at least one of its vertices in not part of any cycle. In some cases, a closed division web may not include a terminal axial surface and an open or mixed division web may include no terminal axis or any number of terminal axial surfaces.

[0196] As with graphs, in some embodiments, web divisions may be categorized based on a level or degree of connectedness. In some implementations, the web divisions may be divided into two types or categories: connected or disconnected. In some examples, a connected division web can be a web where each pair of its vertices are connected at least via one path of web-edges. In some examples, a disconnected division web can be a web including at least one pair of vertices that are not connected via any path of web-edges. In some examples, a disconnected division web may comprise two or more sub-webs (e.g. subgraphs) that do not have a web-edge between them.

[0197] In various implementations, characteristics of a division web may be determined based on various design and implementation constraints and criteria. For example, a division web or a portion of a division web associated with a layered robotic system may bedesigned to be connected or disconnected and / or to be open, closed or mixed, to reduce structural complexity, accommodate certain distribution of gadgets, provide and support certain zonal hierarchy and the like. In some cases, a web may be designed to be disconnected to simplify the structure and interconnections of a layered robotic system. For example, it can be easier to confine utilities in separate sub-webs to avoid the complexity of merging zonal hierarchies (e.g., when two or more branches are connected by relays). In some cases, a web may be designed to be disconnected to support a specific arrangement of gadgets (e.g., utility sources). For example, if a link has two pairs of opposing joints on either side of the link, and two mutually exclusive sets of gadgets and utility conveyances, each set associated with a different joint pair, then two parallel divisions may carry and structurally support those exclusive sets of utilities and gadgets, respectively, without any web-edge between them, and as such the corresponding division web may be disconnected.

[0198] Figure 4A schematically illustrates example division webs (or division web portions) that may be formed in a layered robotic system. The division web 404 is a connected web having three straight bone divisions 404b and a flesh layer 404a surrounding all bone divisions 404b. The division web portion 406 is a connected web having a straight division and a bent division. The division web 402 is a disconnected web having two straight bone divisions 402b and a flesh layer 402a surrounding the bone divisions 402b. In the example shown, the flesh layer comprises a middle portion surrounding both bone divisions 402b and two branched flesh portions separately surrounding end regions of each of the bone divisions 402b. The division web 408 is another disconnected division web comprising three connected bone divisions 408b, 408c, 408d, and a separate bone division 408a. In the example shown bone division 408b and 408d are straight bone divisions and bone division 408c is a branched bone division connecting the bone divisions 408b and 408d. Bone division 408a is a straight bone division extended substantially parallel to the division web portion formed by the three connected bone divisions 408b, 408c, 408d. A flesh layer 408e surrounds the divisions of the division web 408. In the example shown, the flesh layer 408e comprises a middle portion surrounding all divisions and two branched flesh portions separately surrounding two end regions of the bone division 408a and one end region of each of the bone divisions 408b, 408c, and 408d.

[0199] In various implementations, a portion of the flesh layer may be extended around a portion of the bone layer symmetrically or asymmetrically. For example, a bone division can be closer to an outer boundary of the corresponding flesh layer extended around the bone division. As such, a radial thickness of the flesh layer over different angular portions of a bone division can be different. With reference to FIG. 4A, in the division web 402 the bone division 402bis asymmetrically positioned with respect to a cylindrical portion of the flesh layer 402a surrounding the bone division 402b resulting in a thin flesh covering the left side of the bone division 402b.

[0200] Figure 4B schematically illustrates example division webs (or division web portions) that may be formed in a layered robotic system and include closed surfaces and cycles. The division web 410 is a closed web formed by two straight bone divisions 410a and four bent bone divisions 410b. A closed flesh layer 410c surrounds the closed web. The division web 412 is a closed web formed by one straight bone division 412a and four bent bone divisions 412b. A closed flesh layer 412c surrounds the closed web. The division web 414 is a mixed web comprising a cycle 414a formed by a branched bone division 414b and several bent and straight bone divisions. The division web 414 further includes two open ended branches 414c, 414d formed by the divisions connected to the branched bone division 414b. A flesh layer 414e surrounds the cycle 414a and at least partially the web branches 414c, 414d. In some cases, a portion 418 of a layered robotic system may comprise a spherical bone division 418a surrounded by a closed flesh layer 418b. In some cases, a portion 416 of a layered robotic system may comprise a spherical division 416a connected to a straight bone division 416b via a connector mount 416d, surrounded by a closed flesh layer 416c.

[0201] As described above, in various embodiments, the flesh layer of a layered robotic system may comprise a tissue layer, a shell layer, and a skin layer (each referred to generically as an envelope). Figure 5A schematically illustrates three-dimensional views of portions of a layered robotic system depicting envelopes formed around the corresponding bone layers. In some examples, a straight link 502 may include a straight bone layer that can comprise multiple zones and a flesh layer surrounding the bone layer. Cross-sectional views of the flesh layer in two transverse planes 504 at two different axial positions depict the tissue, shell, and skin layers (e.g., envelopes) 51 , 52, 53, of the flesh layer. In some examples, a branched division 506 may include a base portion and two branches 503 and a flesh layer surrounding the base portion and two branches 503. Cross-sectional views show the flesh layer in two transverse planes 508a and 508b within the base portion and the branched portion, respectively. In this example, tissue, shell, and skin layers 51 , 52, 53, comprise continuous regions at different transverse planes along the branched division. In some examples, a branched division 510 may comprise one or more features described above with respect to the branched division 506; however, as depicted by the cross-sectional views of the flesh layer (in two transverse planes 512a and 512b), tissue and shell layers 51 , 52 each comprise two separate regions in the transverse plane 512b located within the branched division. As such as the bone layer splits into multiple branches, in some cases, aportion of the flesh layer may also split to multiple regions each formed around the respective branch. In some cases, one of the branches of the branched division 510 may be coupled to another link by a joint 513.

[0202] Figure 5B schematically illustrates lateral (or transverse) cross-sectional views of example portions of a layered robotic system depicting two-dimensional arrangements of corresponding envelopes in transverse planes perpendicular to corresponding axial directions. The cross-sectional view 501 shows a division 507 surrounded by a flesh layer having continuous tissue, shell, and skin layers 51 , 52, 53. The cross-sectional view 514 shows four divisions, subdivisions (e.g., branches) surrounded by a flesh layer having two separated pairs of shell and skin regions each pair surrounding a pair of divisions or subdivisions, and four separated tissue regions each surrounding one of the divisions or subdivisions. The cross-sectional views 516, 518, 520 show four divisions, subdivisions (e.g., branches) surrounded by a flesh layer having continuous tissue, shell, and skin layers 51 , 52, 53 surrounding the four divisions or subdivisions.

[0203] In various embodiments, envelopes can take on any shapes around the divisions. In some examples, an envelope may maintain its shape across two or more divisions of the bone layer.

[0204] In some cases, tissue layer may be the closest layer to the bone layer compared to other layers of an envelope. The tissue may partially or completely surround a division or a link. In some embodiments, most of the gadgetry may reside in the tissue layer. In various implementations, placement of gadgetry with respect to different layers of the envelope may depend on the type of a gadget, the utilities provided or received by the gadget, and the design of the layered robotic system near the gadget, among other constraints and design considerations.

[0205] In various implementations, a gadget may be positioned, mounted, or otherwise mechanically stabilized within an envelope (e.g., within tissue layer), with respect to the bone layer and the robot frame, using a mounting structure or through a direct or indirect connection to the bone layer. In some examples, a gadget being attached to an envelope may be indirectly mounted onto the bone layer (e.g., a link or division of the bone layer) by virtue of the shell itself being directly or indirectly mounted on the bone layer. In some examples, a space between the gadgetry, and / or around the periphery of the tissue region, can be empty, or filled with a filler material (e.g., padding, fire retardant, insulation, etc.). In some cases, the choice of the filler material will depend on the design and the environment in which the robot is to operate. The mechanism of attachment of the filler material may also vary, depending on the material and the amount of packing used.

[0206] In some embodiments, the shell layer may completely or partially surround the tissue layer, primarily to protect the tissue layer and the gadgets placed in the tissue layer. However, in various implementations, the shell layer may additionally serve other functions including, but not limited to, aesthetics, insulation, waterproofing, weatherproofing, housing and / or mounting support to embeddable gadgetry (like heat sensors, displays, LEDs, etc.), providing secure access to gadgets housed in the tissue, venting (for exhaust gasses, thermally consumed air, etc.), or other functions.

[0207] In some embodiments, the shell layer may form a structural boundary and, in some cases, at least a portion of a visual boundary of a link. In some examples, the shape or form of the shell layer may not match or conform with that of the tissue layer or bone layer that it envelops or surrounds. Advantageously, the shell layer may be configured to provide a desired shape to a link or a portion of a robotic system substantially independent of the shape of the tissue layer and the bone layer of the corresponding link.

[0208] In some cases, the shell layer may comprise a single layer or multiple sublayers, in some cases, comprising different materials. In some examples, a sub-layer of the shell layer may be directly or indirectly fastened (e.g., using a mounting structure, compressive wrapping, or the like) onto an underlying layer or sub-layer (e.g., of the shell itself, or the tissue or bone). In some cases, the shell layer may comprise multiple fragments that individually cover different regions of an underlying layer. In some such cases, alignment and mounting features may be formed on the fragments or the underlying layers to facilitate positioning shell fragments and assembling the shell layer.

[0209] In some embodiments, different sub-layers and / or fragments of the shell layer may serve different purposes with respect to the underlying layers and the layered robotic system in general. In some embodiments, one portion (e.g., fragment or sub-layer) of a shell layer may house a gadget, another portion may provide insulation, and yet another portion may provide waterproofing. In various examples, hardness, flexibility and / or other physical properties of the shell layer of a layered robotic system may vary across its sub-layers and / or fragments. For example, the outer sub-layers of the shell layer may be rigid, while the inner sub-layers comprise a soft padding formed or disposed over the underlying portion of the tissue layer.

[0210] In some embodiments, a layered robotic system may comprise a mounting structure configured to place and mechanically support gadgetry in the shell layer, and / or support utility conveyance to the shell layer. In some examples, such mounting structure can be different from another mounting structure used to mount and position gadgetry in the tissue layer or another layer of the layered robotic system.

[0211] In various embodiments, gadgetry placed or positioned in the shell layer may include, but not be limited to, sensors (e.g., pressure sensors, impact sensors, and the like), human-computer interfaces (e.g., displays, speakers, keypads, and the like), functional interfaces (e.g., access points for replacing or topping up pneumatic cylinders, replacing batteries, and the like), emergency interface (e.g., a stop button, an emergency panel, or the like), charging sockets, or other gadgets that may be accessed by a user or otherwise be closer to the environment surrounding the robotic system.

[0212] In some embodiments, the skin layer can be the outermost region that at least partially envelopes the shell layer. In some examples, the skin layer can be a continues or partially continuous layer configured to maintain its continuity across joints, movable parts, or other portions of the layered robotic system. In some examples, the skin may comprise a flexible layer, a deformable layer, or at least a deformable region configured to adapt to a shape, deformation, and / or movement of an underlying layer (e.g., shell layer, tissue layer, or bone layer). In some examples, the shell layer may include or provides one or more of the following features and functionalities:• tactile features (such as texture, surface friction, etc.)• cosmetic features (such as color, sheen, etc.)• functional features (such as sealing, waterproofing and protecting devices / interfaces embedded along the external surface of the shell, etc.)• housing embeddable gadgetry (like touch sensors, etc.)

[0213] In some embodiments, the shell layer may provide a structural boundary for a layered robotic system and the skin layer may provide a tactile boundary (and potentially all, or part, of its visual boundary). In some examples, a portion of the skin layer may closely match or conform with the shape of the underlying shell. In some examples, the skin layer may provide additional contours for tactile or aesthetic purposes (e.g., covering joints or other movable regions of a robotic system).

[0214] In some cases, the skin layer may comprise a single layer or multiple sublayers, in some cases, comprising different materials. In some examples, a sub-layer of the skin layer may be directly or indirectly fastened (e.g., using a mounting structure, compressive wrapping, or the like) onto an underlying layer or sub-layer (e.g., of the skin itself, or the tissue or bone). In some cases, the skin layer may comprise multiple fragments that individually cover different regions of an underlying layer (e.g., the shell layer). In some such cases, alignment and mounting features may be formed on the fragments or the underlying layers to facilitate positioning skin fragments and assembling the skin layer.

[0215] In various embodiments, the sub-layers or fragments of the skin layer may each serve a different purpose. For example, the first or outermost sub-layer of the skin layer may offer tactile features, the second sub-layer under the first sub-layer may provide cosmetic features, the third sub-layer under the second sub-layer may provide functional features, and similarly other sub-layers may provide other functionalities. In some cases, two sub-layers may provide the same functionalities and may comprise different characteristics (e.g., material composition). Characteristics of the skin layer (e.g., flexibility, opacity and / or other physical properties) may vary across its sub-layers and / or fragments. For example, an inner sub-layer of the skin on a humanoid robot may be opaque, colored and highly flexible and may maintain continuity (e.g., by being stretched and / or deformed) across joints, and an outer sub-layer may be transparent, provide high level of friction and, in some cases, be confined to certain links, regions of links or portions of the robotic system (e.g., over multiple links).

[0216] In some cases, gadgets placed, at least partially, in the skin layer may include various types of sensors (e.g., touch sensors, optical, etc.).

[0217] In some embodiments, at least a portion of a layered robotic system may not include one or both of a shell layer or a skin layer.

[0218] Figures 6A-6B schematically illustrate a transverse cross section of a bone or bone division (e.g., in a cut plane perpendicular to the corresponding axial direction) comprising a plurality of nested zones. In the example shown, the bone division comprises a central zone 602 and seven non-overlapping zones 604, 606, 608, 610, 612, 614, 616 formed around the central zone 602 in a nested manner. In some cases, a zone may be extended between an outer boundary and inner boundary. In some cases, an inner boundary of a zone may comprise the outer boundary of the largest zone nested therein. In some cases, a gap may exist between the inner boundary of a zone and the outer boundary of the largest zone nested therein. The projection of the outer and inner boundaries on the cut plane may comprise non-crossing closed curves. In some cases, the inner and outer boundaries may comprise elongated shells extending along the axial direction. The cross-sectional area of a zone may comprise an area (in the cut plane) within the outer boundary of the zone excluding the area occupied by the zones that are nested within the zone.

[0219] In the example shown, the first (central) zone 602 is configured to carry and distribute electric power and provide network connections (e.g., for data communication), the second zone 604, formed around the first zone 602, is configured to provide radial fastening support for other zones, gadgets or other components housed within or passing through different zones, the third zone 606, formed around the second zone 604, is configured to distributemechanical force, the fourth zone 608, formed around the third zone 606, is configured to provide heat management to various gadgets (e.g., by supporting cooling air flow), the fifth zone 610, formed around the fourth zone 608, is configured to transfer fluids across the robotic frame (e.g., for weight redistribution), the sixth zone 612, formed around the fifth zone 610, is configured to provide control and signaling (e.g., by transporting electric signals across the robot frame, the seventh zone 614, formed around the sixth zone 612, is configured to axially attach the bone division to another bone division or to an axial mount (e.g. a joint) and the eight zone 616, formed around the seventh zone 614, is configured to buffer (e.g. service loop) different utilities that may be provided by zones 602, 604, 606, 608, 610, and 612 to facilitate providing those utilities to the gadgets and to potentially also provide additional radial fastening to support those gadgets (e.g. in the tissue layer) or other components (e.g. shell). It should be understood that the nested zonal arrangement described with respect to Figure 6A is a non-limiting example, and the nested arrangement and the types of utilities conveyed via each zone can be different in different layered robotic systems, within a layered robotic system, in different divisions of a link and, in some cases, at different axial positions across a division.

[0220] Various factors may be considered with respect to design, geometry (e.g., shape and size), hierarchy, and arrangement of nested zones in a division and the utilities conveyed by different zones. For example, a number or type of utilities conveyed across a joint, zone arrangement in immediately adjacent divisions, structure and type of relays that may be used within the division, and other factors may be considered.

[0221] In some embodiments, a zone having a lower position in the zonal hierarchy of a division (e.g., being surrounded by a larger number of zones) may have a smaller volume (e.g., compared to the surrounding zones), include smaller number of fragments, can extended along a longer portion of the bone layer, may include a smaller number of relays of utilities from inner zones, and / or can be connected to a corresponding zone of an adjacent link via a less complex crossover configuration comprising a lower extent of flexion of the corresponding crossover utility during a rotary motion (if applicable) of the intermediary joint.

[0222] In contrast, in some embodiments, a zone having a higher position in the zonal hierarchy of a division (e.g., being surrounded by a smaller number of zones) may have a larger volume (e.g., compared to the zones therein), include larger of number of fragments, may be extended along a shorter portion (e.g., radial portion) of the bone layer, may include a larger number of relays (e.g., from inner zones), and / or may be connected to a corresponding zone of an adjacent link via a more complex crossover configuration comprising a high extent of flexionof the corresponding crossover utility during a rotary motion (if applicable) of the intermediary joint.

[0223] In one embodiments, the first zone 602 can be a logic zone, the second zone 604 can be an anchor zone, the third zone 606 can be a mechanical transition zone, the fourth zone 608 can be a thermal or heat management zone, the fifth zone 610 can be a fluid transfer zone, the sixth zone 612 can be a control and signaling zone, the seventh zone 614 can be a fusion zone, and the eight zone 616 can be a staging zone.

[0224] In some embodiments, two different utilities may be conveyed by the same zone. In some embodiments, zones can have different shapes and geometries. For example, two- dimensional (2D) projection of a zonal boundary may have an oval, circular, elliptical, rectangular, or other shapes. Figure 6B schematically illustrates a transverse cross section of another bone division (e.g., in a cut plane perpendicular to the corresponding axial direction) comprising a plurality of nested zones. In the example shown, the bone division comprises six nested zones where the first and second zones 602, 604 have circular shapes, the third and fourth zones 606, 608 have irregular shapes, the fifth zone 610 has a rectangular shape, and the sixth zone 612 has a rounded rectangular shape. In some embodiments, the 2D cross-sectional shape and size of a zone may vary along the axial direction within a division. Figure 6C schematically illustrates a three- dimensional (3D) view of a bone or bone division shown in Figure 6A showing the 3D arrangement of the plurality of nested zones. Figures 6D-6G schematically illustrate cross- sectional views of different bone divisions in transverse planes depicting example zonal hierarchies an arbitrary axial position of a layered robotic system. Figure 6D schematically illustrates three nested zones comprising a first zone 621 (central zone) contained in (or surrounded by) a second zone 622, and a third zone 623 containing (or surrounding) the second zone 622. In some cases, the first zone 621 may be referred to as a child zone and the second zone 622 may be referred to as a parent zone. In some embodiments, each division comprises a hierarchical nesting of hollow-cylinder-like regions with child zones occupying the space within the hollow region of a parent zone, and the remaining space (or a portion thereof) of the parent zone (outside the child zones) forming the body of the parent zone. A parent-child relationship may imply a radial nesting (child inside parent), while a sibling relationship may imply zones within the same outer (parent) zone.

[0225] Figure 6E schematically illustrates an outer zone 624 containing or surrounding a pair of nested zonal structures each similar to the nested zonal structure shown in Figure 6D. Figure 6F schematically illustrates an outer zone 631 containing a zone 630, a first nested zonal structure 629 and a second nested zonal structure 628 where the first nested zonalstructure 629 comprises two nested zones, and the second nested zonal structure 628 contains another single zone 627 and a third nested zonal structure 626 comprising four nested zones. In various embodiments, a nested zonal structure may comprise one or more single zones and one or more nested zones and a plurality of nested zones may comprise a central zone contained in a first, where the first zone is contained in a second zone, the second zone is contained in a third zone and so on. In some cases, a cross section of two nested zones in a transverse plane within a certain axial region of the bone layer may comprise a closed curve completely contained in a second closed curve, while each of the nested zones is extended in the axial direction and an end of the inner zone may extend beyond an end of the surrounding (outer) zone and thereby may not be contained within the surrounding zone. Figure 6G schematically illustrates an outer zone 634 containing a single zone 632 a first nested zonal structure 633 and a second nested zonal structure 635 where the first nested zonal structure 633 comprises two separated single nested zones, and the second nested zonal structure 635 comprises one nested zone.

[0226] In some cases, a zonal hierarchy may be represented by a tree-like structure. Tree structures TS-D, TS-E, TS-F, and TS-G shown as insets, represent hierarchies for zonal hierarchies shown in Figures 6D-6G, respectively. It should be understood that cross-sectional shapes of a zone or a nested zonal structure may comprise any shapes and zonal boundaries are not limited to circular, oval, or elliptical shapes shown in Figures 6D-6G.

[0227] In some examples, zones may comprise a closed surface e.g., a sphere, spherical surface, ellipsoid, or any other closed surface. In some such examples, two nested zones may comprise an outer closed surface that completely contains the inner zone and the volume within the inner zone.

[0228] In some embodiments, a division may not include a zone dedicated to a utility conveyed by other divisions in the layered robotic system. In some embodiments, a division may include more than one zone dedicated to the same utility. In some such embodiments, two zones in a division may be configured to convey a similar utility using two different types of carriages. For example, in a first zone of a division, mechanical force may be carried by cables and in a second zone of the same division, mechanical force may be carried by a fluid channel (e.g., for hydraulic actuation). In some embodiments, two zones in a division may be configured to convey different portions of the same utility using the same type of carriage. For example, in some embodiments of a division, there may be two instances of a power carrying zone; one carrying the wires connected to a positive power source and the other carrying wires connected to a negative power source, for the same target device.

[0229] In some embodiments, a gap may exist between two zones or two zonal boundaries. For example, a gap may emerge between neighboring / adjacent zones, as a consequence of their relative shapes. In some cases, such gaps may comprise an empty space, may be filled with a rigid material, may be filled with a flexible material, may house one or more accessories (which may or may not be related to any utility or utilities conveyed by the neighboring zones), or any combinations thereof. In some embodiments, the shape and content of the gap may vary across the gap (e.g., along a radial direction, axial direction, or a combination thereof). In some embodiments, at least a portion of a relay may pass through or overlap with a gap. In some examples, a gap may comprise components or provide a channel for axial and / or radial conveyance of a utility. In various implementations, geometry and configuration of zones and gaps formed between them, may be configured to provide and / or maintain structural integrity of the bone layer.

[0230] In some embodiments, a zone may be extended along the entire length of a division (in the axial direction). In some embodiments, a zone may be extended along a portion of a division (in the axial direction).

[0231] In various implementations, the internal structure of a zone may depend on factors including, but not limited to, the type of utility that is conveyed, the characteristics of the corresponding division (for example, such as a straight, a bent, a branched or a spherical division), the offset along the division, and the like.

[0232] In various embodiments, zonal hierarchy may differ along a single division, between different divisions of a link, or divisions or two links connected via joint. For example, zones may swap their carried utilities with other zones (e.g., using relays) resulting in different longitudinal portions of a zone to carry different utilities. As another example, a zone may emerge out of or terminate into a gap formed between other zones, in which case the corresponding utility may be relayed into or out of those zones, respectively.

[0233] In some embodiments, a zonal hierarchy may be maintained at least along a characteristic length of a bone or division. In some cases, the characteristic length can be from 5% to 10%, from 10% to 20%, from 20% to 30%, from 30% to 40%, from 40%, to 50%, from 50% to 60%, from 60% to 70%, from 70% to 80%, from 80% to 90%, or 90% to 100% of the length of the bone or division, or other ranges formed by these values.

[0234] In some examples, a zonal boundary (e.g., separation between zones) may not comprise a physical boundary. For example, in some cases, a zonal boundary may be implied by a change of carriages from a radial location to another radial location at the same axial location. In some examples, boundary of a zone may include a portion comprising a physical boundary(e.g., a barrier configured to separate two regions) and another portion implied by a structural change, e.g., a change of the carriage type.

[0235] In some embodiments, a zone may comprise an accessory that is not related to the utility carried by the zone or any other utility. In some embodiments, a zone may comprise an accessory that does not play any role in the transport apparatus of the utility carried by that zone. In some cases, a zone may include certain gadgetry (e.g., an inertial measurement unit), which is not associated with any utility conveyance, but that for legacy reasons (such as compatibility with other systems, etc.), or other reasons (such as technical or engineering requirements, etc.), may be positioned at a specific location within the bone layer. In some cases, a zone may not comprise any element (e.g. carriage) that plays any role in carrying a utility along the axial direction, however the zone may comprise relays or accessories associated with a relay of a utility carried by another zone or may fulfill a structural purpose (such as vibration damping, and the link). In some cases, such zones may be referred to as 'imposter' zones. In some cases, a gap can be considered an imposter zone.

[0236] In various embodiments, a zone may convey a utility through a carriage extended along a path resulting in net displacement in the axial direction but may be constrained by maintaining a structural integrity over its length or maintaining the overall structural integrity of the corresponding divisions or link. In some embodiments, a carriage can be positioned or extended asymmetrically with respect to a zone within which it is housed. In some embodiments, a carriage may comprise multiple passageways or channels. In some examples, the position of a carriage within a zone or a division may be configured to reduce space utilization, avoid overlap with relays, or facilitate utility conveyance to target gadgets within the division or link.

[0237] In some embodiments, the end region (e.g., an end surface) of a bone division may comprise one or more features configured to facilitate or control the alignment and / or positioning between the bone division and another bone division that is connected to the bone division to form a link or a portion of a link. In some cases, these features, herein referred to as alignment features, may be engaged with corresponding alignment features of the other bone division to align one or more zones of the division with the other division and to maintain continuity of utility conveyance through different zones of these divisions across a junction formed between the two divisions. In some embodiments, matching alignment features formed at the two end regions of two divisions may be configured to uniquely enforce one or both radial and axial alignment of respective zones of the two divisions during assembly of a link in a layered robotic system. Figure 7A schematically illustrates example matching alignment features formed on the end regions 702a, 702b of two divisions of a link 701 where each end region comprises anundu lating surface region having a plurality of peaks and valleys. In some embodiments, the two undulating surfaces may be configured such that aligning and engaging the matching peaks and valleys of the two surfaces results in alignments of the zones of the two divisions, e.g., both in radial and axial direction. In some examples, an undulating surface 703 may comprise peaks and valleys (or depressions and protrusions) arranged in a rectangular matrix. In some examples, an undulating surface 704 can be cylindrically symmetric and may comprise peak and valley arranged as concentric circular regions. However, embodiments are not so limited and other surface morphologies may be used as matching surfaces at the end regions of two divisions for zone alignment. In some embodiments, the end regions of two divisions may comprise a number of localized alignment features configured to uniquely enforce one or both radial and axial alignment of zones. The localized features on first and second end regions form matched pairs. In some cases, a matched pair may comprise a peak and a valley having rectangular shape 705a, triangular shape 705b, semicircular shape 705c, and the like. In some cases, a localized alignment feature may comprise at least two peaks or at least two valleys (e.g., a matched pair 705d one including two rectangular peaks and two rectangular valleys, or a matched pair 705e, one including a triangular peak and a circular peak and one including one triangular valley and one circular valley, or any other combinations).

[0238] Figure 7B schematically illustrates an example bone 707 of a layered robotic system formed by connecting four divisions 706 where the end surface of each division includes a facet (e.g., a ring-shaped facet) and four localized alignment features disposed on the facet. In the example shown, the four localized alignment features are disposed at the same radial position near the outer edge of a facet and angularly separated by a number of degrees (e.g., 30, 45, 60, 90 degrees or any other values). However, in various embodiments, any number of alignment features may be disposed at different positions. The division 706 of the bone 707 comprise two nested zones 708 and the localized alignment features can be configured to align the two nested zones 708 such the zonal boundary of each division is aligned with that of the immediately adjacent division.

[0239] In some embodiments, different divisions of a link, which are aligned by the alignment features, may be mechanically linked and connected to each other using one or more fastening features. In some examples, fastening can be a utility conveyed by one of the zones within each division.

[0240] Figure 7C schematically illustrates a bent bone 709 formed by connecting seven divisions. In some examples, the divisions of the bent bone 709 may include a hierarchy of one or more zones 712 surrounded by a zone 71 1 . In some cases, zone 711 may be surroundedby one or more zones (not shown) or it can be the last zone of the bone surrounded by the flesh layer. In some cases, the zone 711 can be an axial radial fastening zone (also referred to as a fusion zone) configured to axially fasten the adjacent divisions to form the bent bone 709. In some examples, the zone 711 can be a fusion zone comprising localized alignment features710 configured to align the zones or zone fragments of divisions of the bent bone 709 with respect to each other to form the bent bone 709. In some examples, the localized alignment features 710 may comprise one or more of features (e.g., geometrical features) described above with respect to the localized alignment features 705a-e. In some embodiments, other zones (not shown) may surround zone 712.

[0241] Figure 7D schematically illustrates another example link 714 formed by connecting seven divisions with unpatroned end regions (e.g., facets) comprising localized alignment features formed therein. In this example, each division comprises six zones and the localized alignment features are disposed at or near the zonal boundaries. As outer zonal boundaries are longer, the corresponding facet regions may include more alignment features compared to those of the inner zonal boundaries.

[0242] As described above, the end regions where two divisions mate with each other may not be a flat plane or a facet and may comprise any irregular surface (e.g., curved, sinusoidal, or the like). In some examples, the morphology and shape of the end region or end surface of a division may be constrained or adapted to the utilities that are conveyed across the end surface such that the conveyance is not obstructed, perturbed, or interrupted. In some examples, such constraint may comprise a matched zonal hierarchy between the two mating surfaces to allow continuity of the utility being carried. In some cases, two mating surfaces having a matched zonal hierarchy may be referred to as congruent surfaces.Fragmentation

[0243] In some embodiments, a zone may comprise a plurality of non-overlapping sections, herein referred to as fragments. In various embodiments, dividing a zone into multiple fragments may facilitate fabrication and positioning the carriages and / or relays across one or more zones and the overall assembly of a division. As such, in some implementations, a zone may be manufactured as multiple fragments that come together to form the zone. In some examples, individual zones, groups of zones, or an entire division or link may be divided into jigsaw-like sections that are assembled to form the zones, groups of zones, or the entire division or link. In some embodiments, zone fragments may be manufactured separately (e.g., independent of each other). In some cases, a sub-set of zones may be manufactured together,and another sub-set of zones may be manufactured separately (e.g., independent of each other). Advantageously, such configuration of zone fragments may allow or facilitate access to different portions of a zone, bone, or link positioned along the interior of a zone. In various embodiments, fragmentation may be used to fulfill various design objectives or constraints, including, but not limited to, ease of manufacturing or assembly or parallelism thereof, and / or upgradability of the layered robotic system. In some implementations, dividing a zone into multiple fragments, herein referred to as fragmentation, may be categorized based on a dimension (e.g., axial or radial) along which the zone is divided into two or more fragments. In one embodiment, zone fragmentation can be radial, axial, or crossed. Axial fragmentation yields axially re-attachable fragments, radial fragmentation yields radially re-attachable fragments, and cross fragmentation yields a combination of both.

[0244] In some embodiments, a radially fragmented zone may comprise at least two radially separated fragments, herein referred to as axial fragments. In some cases, a boundary between the two radial fragments may comprise a surface substantially parallel to the axial direction (e.g., along x-axis). Radial fragmentation may allow a portion of the bone layer (e.g., a division or link or even azone) to be assembled in a radial order (e.g., inner to outer or vice versa). In some cases, two or more radial fragments may be used to assemble a zone over an underlying zone (e.g., in a reverse nesting order). Figure 8A schematically illustrates cross-sectional views (e.g., in z-y plane) of example zones 802. Zone 802 comprises two radial fragments 802a, 802b, before (right) and after (left) assembling the corresponding division. In some embodiments, the zone 802 shown in Figure 8A may be configured to carry utilities via channels 802c (e.g., cable channels) and may be radially divided into two radial fragments 802a, 802b where a mating surface comprises a portion of a channel for a utility carriage (e.g., a cable). When two mating surfaces are combined, they form a complete channel for a utility carriage (e.g., a cable channel for a cable to pass through). This way, one such fragment of the zone may be detached to grant access to the carriages (e.g., cables) within the zone. In some embodiments, two radial fragments may be connected to or mechanically coupled to each other or to an internal nested zone, using radial fastening.

[0245] In some embodiments, an axially fragmented zone may comprise at least two axially separated fragments, herein referred to as axial fragments. In some cases, a boundary between two axial fragments may comprise a surface substantially parallel to the radial direction (e.g., in z-y plane). Axial fragmentation may allow a portion of the bone layer (e.g., a division or link) to be assembled in an axial order. Figure 8B schematically illustrates a 3D view of an axially fragmented zone 804 comprising two axial fragments 804a, 804b before (right) and after (left)assembling the corresponding zone. In some embodiments, two axial fragments may be connected or mechanically coupled to each other using axial fastening. In some embodiments, axial fragmentation of zones may comprise division of utility relay channels (e.g., cable relay channels) into incomplete portions (along the surfaces of mating axial fragments) that form complete channels when the mating surfaces of the axial fragments are combined.

[0246] In some embodiments, a cross-fragmented zone may comprise at least two axial fragments and two radial fragments. Cross fragmentation may allow a portion of the bone layer (e.g., a division or link) to be assembled in radial and axial orders. Figure 8C schematically illustrates a 3D view of a cross fragmented zone 806 comprising a plurality of cross fragments 806b connected or mechanically coupled to each other using a combination of radial fastening features 806a and axial fastening features (not shown).

[0247] In some embodiments, a cross-fragmented region of bone (e.g. a division or link) may comprise radial fragmentation along the zonal boundaries, or between zonal boundaries (for example, to enable embedding accessories for the transport apparatuses of the corresponding zones) and axial fragmentation within the corresponding zones. In some such embodiments, the axial surfaces of radial fragments of adjacent zones may not be axial-offset- aligned with each other. Similarly, in some cases, the radial surfaces of axial fragments of adjacent divisions may not be radius-aligned with each other.

[0248] In some embodiments, a region of bone (e.g., a division) may be axially fragmented to allow embedding a utility relay across the region of bone. In some cases, when relaying a utility comprises an accessory, the corresponding region of bone may be axially fragmented. For example, for mechanical transmission using cables and pulleys, a zone may be axially fragmented to allow embedding the pulleys into the corresponding zone at positions where the cable transmission takes a turn into the relay and then along the transverse surfaces of the zones crossed by the relay, at positions where the cable transmission may take additional turns. In some embodiments, a zone may be radially fragmented to allow embedding a utility carriage. In some cases, when an accessory may be used for utility carriage, the corresponding zone region may be radially fragmented for placement of the accessory. For example, if a power, electric signal or optical signal utility might be available in shorter conveyance lengths than the axial length of the zone and multiple conveyances may be connected in sequence in an axial direction, the corresponding zone may be radially fragmented to allow embedding connectors into the zone at positions where the conveyances may be connected (e.g., a molex connector to connect 2 matched sets of power cables together).

[0249] Figure 8D schematically illustrates a cross-sectional view (e.g., in z-y plane) of another example of radial zone fragmentation. In some examples, zone 803 (e.g., a central zone of bone) may comprise two radial fragments 803a, 803b. In some cases, the two fragments 803a, 803b may be individually fabricated and then assembled to form zone 803. In some embodiments, zone 803 shown in Figure 8D may be configured to transport utilities using utility carriages (e.g., power cables or mechanical transmission cables) placed inside two carriage channels 805a, 805b formed in zone 803. In some cases, at least one of the carriage channels 805a, 805b, may be radially divided into two channel portions each channel portion formed in a different one of the two radial fragments 803a, 803b. In some such embodiment, when the two radial fragments 803a, 803b, are joined to form the zone 803, the two carriage channels 805a, 805b, are formed by the channel portions. As such, the radial fragments 803a, 803b, may not individually serve as a zone.

[0250] Figure 8E schematically illustrates a cross-sectional view of an example bone division 810 composing three zones A, B, C, two of which are radially fragmented. In this nonlimiting embodiment, zone A (the central zone) is unfragmented, zone B and C each has two fragments (e.g., near concentric radial fragments); as such, bone division 810 comprises five fragments. In some examples, the two fragments of zone B may be separated by a first boundary 814a, and the two fragments of zone B may be separated by a second boundary 814b. The first and second boundaries 814a, 814b, can be near-circular and / or near concentric boundaries. In some cases, fragments can be fabricated as separate components (e.g., 3D printed component) and then assembled to form bone division 810. In some embodiments, zones B and C may be configured to axially convey first and second utilities, respectively. In some such embodiments, zone B may include a first channel 816a configured to house a carriage of the first utility and zone C may include a second channel 816b configured to house a carriage of the second utility. In some embodiments, a portion of each channel may be formed in different ones of the two fragments of a zone such that the corresponding channel is formed when the two fragments are combined or connected to form the zone. As such, the two fragments of a zone may not be used as two individual zones, as the fragments are not individually configured to house a utility carriage. In some embodiments, the fragmentation of zones B and C can be along the first and second boundaries 814a, 814b, (e.g., radial boundaries) configured to allow access to the first and second channels 816a, 816b, during assembly of the division 810 (e.g., for placement of a utility carriage, e.g., a transmission cable, and / or a utility transport accessory, e.g., a routing pulley, for mechanical transmission).

[0251] In one embodiment ("as-is fabrication"), the five fragments 820, 822, 824, 826, and 828 may be fabricated as-is, to provide five individual fabricated parts (as shown in the first row below division 810) and then assembled to form division 810. In some embodiments ("combined fabrication"), e.g., where a mating boundary between two immediately adjacent fragments does not include channel portions (e.g., boundary 812a between zones A and B, or boundary 812b between zones B and C), the two fragments may be fabricated as individual components or parts (as shown in the second row below division 810). For example, fragments 822, 820 may be fabricated as a first fragment 830, and fragments 826, 824, may be fabricated as a second fragment 832, and the first and second fragments 830, 832, may be combined with the fifth fragment 828 to form the division 810. In some embodiments, features of both fabrication methodologies above may be employed. In some embodiments, similar fabrication methods may be used to form a division by combining axial fragments and / or crossed fragments.

[0252] In some examples, when a larger number of accessories are used to relay a utility, the corresponding regions of the bone may comprise a higher level of fragmentation. As such, a region of bone configured to relay multiple utilities may comprise a larger number of relays and thereby a larger number of fragments. In some implementations, a number of fragments in a zone or region of bone may be reduced (e.g., minimized) by tailoring the arrangement of multiple relays conveying different utilities. In some examples, such tailored arrangement may comprise synchronized relays of one or more utilities such that respective accessories can be embedded along the same fragment surface or the same set of fragmented surfaces. Since different conveyances may have different relay mechanisms spanning a single plane or multiple planes, in some embodiments, such tailored arrangement, herein referred to as zonal rearrangement, may span multiple planes referred to as rearrangement windows. In some embodiments, a region of bone (e.g., a division or a link) may have multiple zonal rearrangement windows. In some examples, a zonal rearrangement window may be located in the region of bone immediately preceding a joint plug or a joint socket. In some embodiments a zonal rearrangement window may allow transition from the zonal arrangement preceding the joint plug or joint socket into a zonal arrangement that comprises an outer set of zones carrying utilities may be used for the operation of the joint itself (called the joint-set) and an inner set of zones that matches the organizational hierarchy of the utilities that cross over the joint (called the crossover-set).Branching

[0253] As described above, a layered robotic system may comprise branching different utility conveyances to convey utilities to different locations of the robot frame, e.g., towarda kinematic chain. In some embodiments, branching may be provided by a branched division configured to distribute or divide carriages of one or more incoming divisions into a number of branches (called subdivisions) configured to convey the corresponding utilities (e.g., portions of the corresponding utilities) to two or more outgoing divisions connected to these branches. In various embodiments, a branched division may have a branching ratio, expressed as N:M, where N is the number of incoming branches (incoming subdivisions) configured to be connected to incoming divisions (e.g., N incoming divisions), M is the number of outgoing branches (outgoing subdivisions) configured to be connected to outgoing divisions (e.g., M outgoing divisions), where N is equal to or greater than 1 and M is greater than 1 . In some cases, N:1 , M:1 , and N:M branched divisions may represent flipped version of the branched divisions 1 :N, 1 :M, and M:N, respectively.

[0254] In various embodiments, branching of a portion of a layered robotic system may be provided using different methods and arrangements of conveyances (i.e., carriages and / or relays) for conveying utilities carried by the one or more incoming divisions to two or more outgoing divisions depending on the structural properties and zonal arrangement of the incoming and outgoing branches, the conveyances involved, and structural properties of the corresponding portion of the layered robotic system. In some embodiments, branching may comprise distributing utilities from one or more base or initial subdivisions (also referred to as base portions of a branched division) into two or more branches having the same or different number of zones and zonal arrangements compared to the base subdivisions. In some such embodiments, branching may comprise structurally dividing the one or more base or initial subdivisions into two or more branches to form a branched division. In some embodiments, branching a subdivision (and consequently the utilities carried by it) may comprise providing one or more of the utilities conveyed by a base subdivision of the division to another subdivision or to a branch (e.g., subdivision portion of the same branched division) using a carriage, a relay, or a combination thereof. In some such embodiments, the base subdivision and the other subdivision may be extended between substantially the same axial locations within a link (e.g. substantially parallel with each other). In some examples, a branch or subdivision portion that receives a utility from the base division portion may be extended in an axial direction from the base division portion to an outgoing division. In some cases, various branching methods and corresponding embodiments of branched divisions may be categorized based on how the utilities and the corresponding carriages are conveyed and distributed from a base subdivision portion to a branch or another subdivision. In some implementations, different branching configurations in a layered robotic system may be categorized as relay branching and split branching.Split branching

[0255] In some embodiments, split branching, herein referred to as “recursive branching”, may comprise splitting a zone of a base division portion into two or more zones, each residing within a different outgoing subdivision or branch emerging from the base division. Split branching may comprise topological transformation of one or more zones within the base division portion to respective zones of a resulting branch or division portion of the corresponding branched division. In some embodiments, a recursive split branching structure may comprise an amalgamation of one or more features similar to those of the of biological cell division or meiosis. In a rudimentary example, a split branched division may be configured to split a single incoming division into to two or more outgoing divisions or vice versa. Such branching or branched division may be labeled as “1 :N” or “N:1 ” branching or branched division. In some implementations, a higher order branched division configured to split N incoming divisions into M outgoing divisions (where N is equal or greater than 1 , and M is greater than 1 ) may comprise two or more 1 :N branched divisions, wherein the base division portions (or singular branch) of the 1 :N branched divisions are at least partially overlapped in a belly region of the resulting higher- order branched divisions. As such, in some embodiments, higher order branching, or forming a higher order branched division, may be reduced to forming a set of two or more split branched divisions having a single base division portion (a branching ratio of 1 :N) and then combining (e.g., overlapping or merging) the single base division portions of the resulting branched divisions. For example, 3:4 split branching (or forming a 3:4 split branched division) may comprise a sequence of 3:1 split branching of a first base division portion, a 1 :4 split branching of a second base division portion, and overlapping the first and second base division portions (thereafter represented as 3:1 :4) to form a 3:4 split branched division. As another example, a 3:3 split branching (or forming a 3:3 split branched division) may comprise a sequence of 3:1 split branching of a first base division portion, a 1 :3 split branching of a second base division portion, and overlapping the first and second base division portions (represented by 3:1 :3) to form a 3:3 split branched division. In some embodiments, a split branched division may comprise one or more incoming branches (incoming subdivisions or division portions), a belly or common region wherein the zone-splitting and utility distribution may occur, and one or more outgoing branches (outgoing subdivisions or division portions). The carriages of the incoming branches and the outgoing branches may be connected via the belly region to provide continuous conveyance of the corresponding utilities from the incoming branches to the outgoing branches and vice versa.

[0256] In some embodiments, a branched division within which split branching is implemented may control various aspects of formation of the corresponding branches, such as arate (i.e., per unit of axial distance) of progression (e.g., substantially in an axial direction), orientation of branches with respect to a base division portion, and degree of parallelism that may be maintained between stages of branching in different branches (or subdivisions), among other aspects.

[0257] In various embodiments, split branching may comprise splitting one or more zones of a base division or an incoming branch. Accordingly, a branched division may comprise a transition of a zone in the base division portion (or an incoming branch) into two or more zones, each within different outgoing branches (e.g., extended in a net axial direction). In some embodiments, when the incoming and outgoing branches comprise nested zones, the transition may be configured such that the splitting of different zones are initiated and completed at different axial positions. For example, splitting of an inner zone of a base division portion (e.g., incoming branch) may be initiated at an axial position higher than that of an outer zone (e.g., surrounding the inner zone) and may be completed at an axial position lower than that of the outer zone. In some embodiments, the initial stage of splitting a zone may comprise formation (e.g., gradual formation with respect to an axial progression) of two or more tears (or gaps) in the zone (e.g., along a net radial direction), spatial separation of zone portions formed by the tears into two or more separate zones, and formation of a missing portion of each zone (resulting from the tear) to provide separate zones in the corresponding outgoing branches that, in some cases, may have the same zonal hierarchy and / or configuration as the incoming branch or base division portion. In some cases, split branching may not involve the formation of tears / gaps in the base branch. In some examples, two branches may have different zonal hierarchies and / or configurations. In some examples, at least one of the branches may have a different zonal hierarchy and / or configuration with respect to the incoming branch (the base division portion).

[0258] Figures 9A-9C schematically illustrate different regions and stages of branch formation and zonal splitting of an example split branched division having a branching ratio of 1 :2. Figure 9A shows a three-dimensional view of base division portion 900a of the example split branched division and sequential formation of gaps in different zones. Figure 9B shows cross- sectional views of different regions of the split branched division within transverse planes (e.g., planes perpendicular to the x-axis) at different axial positions along the split branched division. Figure 9C shows a three-dimensional view of the belly region and the two branches 900b of the split branched division.

[0259] In the example shown, the base division portion 900a comprises four zones: a first, or central, zone 902, a second zone 904 surrounding the first zone 902, a third zone 906 surrounding the second zone 904, and a fourth zone 908 surrounding the third zone 906. At aninitial axial position XO, the zones of the base division portion may comprise four nested cylindrical shells. The progression of branching along the axial direction (e.g., parallel to the x-axis) and zone splitting may start at a first axial position X1 above the initial axial position XO where gaps or discontinuities (e.g., two gaps) are formed in the fourth zone 908. In the example shown, the two gaps are positioned at opposite sides of the fourth zone 908 (e.g., with respect to a center point of the zone); however, it should be understood that the embodiments are not so limited an in various implementations the two gaps can be formed at different angular positions with respect to each other. In some cases, each gap may comprise a removed angular section of the fourth zone 908 having an angle from 5 to 10 degrees, 10 to 30 degrees, 30 to 60 degrees, 60 to 90 degrees, or any ranges formed by these angular values or larger or smaller angular values. In the example shown, the two angular sections are rotated by 180 degrees with respect to each other (e.g., mid angular sections may be at 0 and 180 degrees with respect to the center of the corresponding cylindrical shell). However, in various implementations, the two angular sections are rotated by an angle, e.g., from 10 to 180 degrees. The axial progression of zone splitting may continue with formation of gaps (e.g., two gaps) in the third zone 906 at a second axial position X2 above the first axial position X1 , followed by formations of gaps (e.g., two gaps) in the second zone 904 at a third axial position X3 above the second axial position X2 and formation of gaps (e.g., two gaps) in the first zone 902 at an axial position (not shown) above the third axial position X3. In Figures 9B and 9C, the angular size of a removed angular section of a zone may increase with progression of splitting along the axial direction, resulting in larger gaps within the zone within transverse planes at greater axial positions. In some cases, at the angular position X5 above the fourth axial position X4, all zones are divided into two separate zone portions (e.g., two spatially separated, incomplete zones). From the fifth axial position X5 to a sixth and seventh axial positions X6, X7, where the two branches have complete zonal structure, the missing portion of the zones may be formed starting with completion (or closing) of the first zone 602, followed by completion (or closing) of the second, third, and fourth zones at greater axial positions. In some cases, an outer zone may be closed at a higher axial position compared to an immediate neighboring inner zone, however the embodiments are not so limited, and the zones may be closed in different orders.

[0260] In various embodiments, splitting a zone may comprise formation of a tear along the zone boundary that gradually grows larger (e.g., along some combination of axial and radial directions) and morphing of the zone boundary gradually into its targeted branching ratio. In some examples, the length of a tear (along the axial direction) and the depth of a tear (alongthe radial direction) may be determined based on an external access to a utility carried by a zone and the corresponding utility carriage.

[0261] In the examples shown in Figures 9A-9C, the length (along the axial direction) of the tear or gap formed in the fourth zone 908 is longer than that of the third zone 906, and the length of the tear or gap formed in the third zone 906 is longer than that of the second zone 906. A gap in a zone may provide external access to an underlying zone, and overlapping gaps in different zones may provide access to deeper zones. For example, assuming the fourth zone is the last zone of a division or bone layer, an overlap between a gap in the fourth zone 908 with a gap in the third zone 906 may provide external access to the second zone 904, and an overlap between gaps in the fourth, third, and second zones 908, 906 and 904 (respectively) may provide external access to the first zone 902. In some embodiments, external access to a zone may be used to relay utilities from that zone. As such, in some cases, locations and geometries of gaps in the zones of a split branched division may be configured based at least in part on locations of gadgets that may receive utilities from the split branched division.

[0262] Figure 9D schematically illustrates cross-sectional views of a zonal portion of three different split branched divisions 910, 912, 914 within four transverse planes at four different axial positions depicting axial progression of gap formation and zone splitting for a central zone (e.g., the first zone) of the corresponding split branched division - called the “base case”. In the examples shown, the split branched divisions 910, 912, 914 have branching ratios of 1 :2, 1 :3, and 1 :4, respectively.

[0263] The first cross-sectional view 910a of the first split branched division 910 at a first axial position shows the central zone before formation of gaps / tears. The second cross- sectional view 910b of the first split branched division 910 at a second axial position above the first axial position shows the central zone is divided into two zone portions by formation of two gaps (e.g., gaps tapered along the radial direction). The third cross-sectional view 910c of the first split branched division 910 at a third axial position above the second axial position shows that the two zone portions are transformed into two nearly complete sub-zones sharing a boundary. The fourth cross-sectional view 91 Od of the first split branched division 910 at a fourth axial position above the third axial position shows that two sub-zones are spatially separated into two separate zones, each residing in a different branch of the two branches of the first split branched division 910.

[0264] The first cross-sectional view 912a of the second split branched division 912 at a first axial position shows the central zone before formation of gaps / tears. The second cross- sectional view 912b of the second split branched division 912 at a second axial position abovethe first axial position shows the central zone is divided into three zone portions by formation of three gaps (e.g., gaps tapered along the radial direction). The third cross-sectional view 912c of the second split branched division 912 at a third axial position above the second axial position shows that the three zone portions are transformed into three nearly complete sub-zones, with each sub-zone sharing a boundary with the other two sub-zones. The fourth cross-sectional view 912d of the second branched division 912 at a fourth axial position above the third axial position shows that three sub-zones are spatially separated into three separate zones, each residing in a different branch of the three branches of the second split branched division 912.

[0265] The first cross-sectional view 914a of the third split branched division 914 at a first axial position shows the central zone before formation of gaps / tears. The second cross- sectional view 914b of the third split branched division 914 at a second axial position above the first axial position shows the central zone is divided into four zone portions by formation of four gaps (e.g., gaps tapered along the radial direction). The third cross-sectional view 914c of the third split branched division 914 at a third axial position above the second axial position shows that the four zone portions are transformed into four nearly complete sub-zones, with each sharing a boundary with at least two other sub-zones. The fourth cross-sectional view 914d of the third branched division 914 at a fourth axial position above the third axial position shows that three sub-zones are spatially separated into four separate zones, each residing in a different branch of the four branches of the third split branched division 914.

[0266] In some embodiments, splitting of a portion of the bone layer having a nested arrangement of zones can be a non-trivial procedure and may comprise an element of recursion. In some cases, splitting the conveyance of different utilities and the corresponding carriages in one or more zones may comprise different features. For example, splitting a zone carrying cable transmissions may be different from splitting a zone carrying pneumatic transmissions or splitting another zone carrying networking cables. In various implementations of the layered robotic system disclosed here, different portions of a bone layer may comprise different sets of zones encapsulating different carriages. As such, the split branched divisions and the corresponding structures and methods (e.g., splitting processes) may be different.

[0267] In some embodiments, transition of a single base division portion (incoming subdivision or branch) into two or more division portions in a 1 :N split branched division may comprise a sequence of phases that, in some cases, may be initiated and / or completed at different axial positions. In some embodiments, phases of split branching along a split branch division may include one or more of: a separation phase, a recursion phase, and resolution phase. The separation phase may comprise splitting an initial zone into a number of zones to match thenumber of outgoing branches and spatially shifting or translating the zones towards the respective branches. The recursion phase may comprise splitting of one or more child zones to generate child zones to be nested within the respective branches of the initial zone. For example, recursion phases associated with the split branched divisions 910, 912, 914 (shown in Figure 9D) may comprise one or more cross-sectional views shown for the three split branched divisions 910, 912, 914. The resolution phase may comprise forming new zone portions around the newly- created child zones to close or complete the zone portions to form sub-zones and, in some cases, spatially separating the resulting sub-zones, to form branches comprising new zonal hierarchies split from the initial zone.

[0268] In various embodiments, closing or completing a torn zone may comprise gradual formation of a zonal boundary into a newly formed branch or gradual resolution of a morphed boundary into the boundaries of a newly formed branch. In some examples, the gradual formation of the zonal boundary or resolution of the morphed boundary may comprise gradual formation of the zonal boundary or gradual resolution of the morphed boundary along an axial direction away from the common, or belly, region of the corresponding split branched division.

[0269] Figure 9E schematically illustrates cross-sectional views of a zonal portion of three different split branched divisions 920, 922, and 924 within four transverse planes at four different axial positions depicting axial progression of the three phases of split branching for the corresponding split branched division in the case of a nesting of two or more zones - called the “recursive case”. In the examples shown, the split branched divisions 920, 922, and 924 have branching ratios of 1 :2, 1 :3, and 1 :4 respectively.

[0270] The pre-separation cross-sectional view 920a of the first split branched division 920, at a first axial position, shows a first zone (the central zone) 921 surrounded by a second zone 923. In some cases, the first zone 921 may not be the central zone and may include a nesting of multiple zones. The post-separation and pre-recursion cross-sectional view 920b of the first split branched division 920, at a second axial position above the first axial position, shows the second zone 923 (parent zone) divided into two zone portions by a formation of two gaps (e.g., gaps tapered along the radial direction). The post-recursion and pre-resolution cross- sectional view 920c of the first split branched division 920, at a third axial position above the second axial position, shows that the first zone 921 is divided into two sub-zones and the two zone portions of the second zone 923 are spatially separated and geometrically transformed in preparation for the resolution phase. The first post-resolution cross-sectional view 920d of the first split branched division 920 at a fourth axial position above the third axial position shows the two zone portions of the second zone 923 are closed to surround the two sub-zones split from the firstzone 921 and to form two pairs of nested zones. In some examples, the outer zones of each pair of nested zones may share a boundary. The second post-resolution cross-sectional view 920e of the first split branched division 920 at a fifth axial position above the fourth axial position shows that the two pairs of nested zones are spatially separated such that each pair resides in a different branch of the two branches of the first split branched division 920.

[0271] The pre-separation cross-sectional view 922a of the second split branched division 922, at a first axial position, shows a first zone (the central zone) 921 surrounded by a second zone 923. In some cases, the first zone 921 may not be the central zone and may include a nesting of multiple zones. The post-separation and pre-recursion cross-sectional view 922b of the second split branched division 922, at a second axial position above the first axial position, shows that the second zone 923 (parent zone) is divided into three zone portions by formation of three gaps (e.g., gaps tapered along the radial direction). The post-recursion and pre-resolution cross-sectional view 922c of the second split branched division 922, at a third axial position above the second axial position, shows that the first zone 921 is divided into three sub-zones and the three zone portions of the second zone 923 are spatially separated and geometrically transformed in preparation for the resolution phase. The first post-resolution cross-sectional view 922d of the second split branched division 922 at a fourth axial position above the third axial position shows the three zone portions of the second zone 923 are closed to surround the three sub-zones split from the first zone 921 forming three pairs of nested zones. In some examples, the outer zones of each pair of nested zones may share a boundary with those of the other pairs of nested zones. The second post-resolution cross-sectional view 922e of the second split branched division 922 at a fifth axial position above the fourth axial position shows the three pairs of nested zones are spatially separated such that each pair resides in a different branch of the three branches of the second split branched division 922.

[0272] The pre-separation cross-sectional view 924a of the third split branched division 924, at a first axial position, shows a first zone (the central zone) 921 surrounded by a second zone 923. In some cases, the first zone 921 may not be the central zone and may include a nesting of multiple zones. The post-separation and pre-recursion cross-sectional view 924b of the third split branched division 924, at a second axial position above the first axial position, shows that the second zone 923 (parent zone) is divided into four zone portions by formation of four gaps (e.g., gaps tapered along the radial direction). The post-recursion and pre-resolution cross- sectional view 924c of the third split branched division 924, at a third axial position above the second axial position, shows that the first zone 921 is divided into four sub-zones and that the four zone portions of the second zone 923 are spatially separated and geometrically transformedin preparation for the resolution phase. The first post-resolution cross-sectional view 924d of the second split branched division 924 at a fourth axial position above the third axial position shows that the four zone portions of the second zone 923 are closed to surround the four sub-zones split from the first zone 921 and to form four pairs of nested zones. In some examples, the outer zones of each pair of nested zones may share a boundary with those of at least two other pairs of nested zones. The second post-resolution cross-sectional view 924e of the third split branched division 924 at a fifth axial position above the fourth axial position shows that the four pairs of nested zones are spatially separated such that each pair resides in a different branch of the four branches of the third split branched division 924. Without loss of generality, the division of first zone 921 into multiple sub-regions (as per the branching factor) may be considered a recursive step that undergoes the same conceptual splitting operation (with the same branching factor) as is being illustrated in figures 9D and the present figure 9E - that is, a conditional split based on whether the first zone 921 is a singular zone (which may be considered a ’’base case”, as illustrated in Fig 9D) or whether the first zone 921 is a nested zone, itself comprising a nesting of one or more zones (which may be considered a “recursive case” as illustrated in Fig 9E). In some embodiments, the first zone 921 of the split branched divisions 920, 922, 924, described above can be a zonal region comprising multiple zones (e.g., nested zones) and thereby the branches of these split branched divisions.

[0273] Figure 9F schematically illustrates cross-sectional views of a zonal portion of a split branched division, having a branching ratio of 1 :5, within six transverse planes at six different axial positions depicting axial progression of split branching for the corresponding split branched division. Each column illustrates the three phases of a split branching at a single zonal depth identified by the expression in the column header, the innermost zone being at depth 0. The number indicates the zone depth with respect to the outer zone shown in the middle column (herein labeled as having a depth M). In the example shown, there are a total of M+N nested zones (i.e. depth) involved in the split branching, where M >= 4 and N >= 1 . The cross-sectional views shown in each column illustrate the zonal hierarchy of the entire depth corresponding to that column, but do not illustrate the outer zones (i.e. at a higher depth). The zonal region 966, across all cross-sectional views, comprises an arbitrary nesting of M-3 inner zones (not shown). Each column is a vertical sequence of 3 logical regions corresponding to the three phases of a split branching, respectively, for the corresponding zone. For example, the first region for the M+1thcolumn comprises the transverse plane of cross-sectional view 952 and some of its neighboring transverse planes (not shown), and corresponds to the separation phase of the splitbranching of the M+1thzone. The second region for the M+1,hcolumn is implied to comprise thetransverse planes (not shown) along region 964 and corresponds to the recursion phase of the split-branching of the M+1thzone. The third region for the M+1thcolumn comprises the transverse plane of cross-sectional view 962 and some of its neighboring transverse planes (not shown), and corresponds to the resolution phase of the split-branching of the M+1,hzone. In the separation stage, the given zone is split and un-rolled. At an axial location where the immediately adjacent inner zone splits, the given zone portions are intentionally not shown, but are implied. In each column (i.e. zone), the recursion phase of the split-branching of the corresponding zone may axially encompass the entire split branching progression of the inner zone, illustrated by the column on the immediate right, if any. For example, the recursion phase (i.e. region 964) of the M+1,hzone may encapsulate the entire split-branching progression of the Mthzone. Without loss of generality, the general progression of the recursive phases in regions 964, 966, 968, is illustrated for different branching factors in Figure 9E (i.e., 920c, 920d for a 1 :2 branching factor, 922c, 922d for a 1 :3 branching factor, and 924c, 924d for a 1 :4 branching factor). As such, the axial progression of a split-branching phase for a zone may involve conveyance-specific rearrangement of the carriages within the corresponding zone (not shown). In some embodiments, transitions between a split-branching phase of an outer zone, and a split-branching phase of an inner zone (or vice versa), may be discrete. In some embodiments, such transitions may not be discrete, but rather, may span over multiple transverse planes (not shown). For example, at an axial position along a recursion phase of an inner zone, a resolution phase for an outer zone may begin, wherein the outer zone is sequentially rolled back and ultimately surrounds the underlying inner zones to form the individual copies of nested zones for each branch. As indicated in the figure, the corresponding split branched division may comprise more zones not shown in the figure. Figure 9F shows selected axial portions of the belly region of the split branched division depicting a portion of each of the separation, recursion and resolution phases. The pre-recursion cross-sectional views 952, 954, 956, at first, second, third axial positions (each greater than the previous one), show splitting of zones formed around a central zonal region 966. As shown, from left to right, zones 951 over zone 953, zone 953, and a zone 955 (immediate inner zone with respect to zone 951 ) are sequentially divided into zone portions (two zone portions in this case) and are unrolled. The post-recursion cross-sectional view 958 of the M-1,hzone, at a fourth axial position greater than the third axial position, shows zone 957, and zonal region 966, within zone 955 are divided into five separate nested zone pairs. The post-recursion cross- sectional views 960, 962, at fifth and sixth axial positions greater than the fourth axial position, show formation of new zones around each of the five nested zone hierarchies corresponding to original zone 953 and original zone 951 , respectively.

[0274] In some embodiments, the complexity of the 1 :N split branched division may be further reduced by front-loading the splitting of a set of the innermost zones of the zonal hierarchy into N sibling hierarchies (under their parent zone) within the straight or bent divisions prior to the belly (called pre-splitting). In some examples, the pre-splits may allow for the corresponding recursive step in the belly region to be shortened. In some implementations, increasing the number of inner zones that are pre-split can decrease the axial length of the belly portion. In some cases, pre-splitting may comprise splitting all of the nested zones inside an outer zone into N entirely separate sibling hierarchies (within the outer zone) at an axial location prior to the belly region of the split branched division. In some such cases, the belly region may serve as a juncture wherein the new zonal hierarchies emerge as independent divisions in their respective branched directions. In some cases, pre-splitting may allow the belly region of a branched division to have a shorter and, in some cases, less complex structure.

[0275] Figure 9G schematically illustrates cross-sectional views of a zonal portion of another split branched division, having a branching ratio of 1 :2, within six transverse planes at six different axial positions depicting axial progression of the three phases of split branching for the corresponding split branched division. Figure 9G may comprise one or more features described above with respect to Figure 9F. In this example the inner most zone portion 931 is pre-split to make the branching more efficient and the axial length of the corresponding split branched division shorter than that of a counterpart split branched division that does not include a pre-split central zone. The pre-recursion cross-sectional views 932, 934, 936, at first, second, third axial positions (each greater than the previous one), show splitting of zones formed around a central zone portion 931 . In this example the central zone portion 931 comprises a pre-split central zone, split in advance (axially) of a 1 :2 split branching. As shown, from left to right, zones 933 over zone 935, zone 935, and a zone 937 (immediate inner zone with respect to zone 935) are sequentially divided into zone portions (two zone portions in this case) and are unrolled. The post-recursion cross-sectional view 938, at a fourth axial position greater than the third axial position, shows the two portions 949 of the pre-split inner zone portion 931 separated into two zone hierarchies, each including the other portion 949 of the pre-split central zone. The post-recursion cross-sectional views 940, 942, at fifth and sixth axial positions greater than the fourth axial position, show formation of new zones around each of the two nested zone hierarchies corresponding to original zone 935 and original zone 933, respectively.

[0276] In various embodiments, the characteristics of conveyance shifting in a split branched division (e.g., shifting of a torn zone) may be determined based on the utility conveyance or conveyances, and the corresponding carriages / relays, carried by the zone. In variousimplementations, conveyance shifting may comprise one or more of a simple redirection of a carriages within the corresponding division (e.g., redirection of a pneumatic transmission, power cables and the like), a complex routing of carriages (e.g., redirection of cables associated with a cable transmission conveyance, or the like), providing new carriages in different locations combined with gradual dissolution of previous carriages, or splitting of carriages, each into two or more carriages, and extending them to the corresponding new branches such that they can be connected to the carriages in the divisions following the split branched divisions (e.g., when splitting the fusion zone into two or more zones). An example of zone shifting for redirecting cable transmission carriages is shown in Figure 18, and an example of conveyance shifting by splitting an axial fastening carriage (in this case, the zone itself being the carriage) into two carriages (zones) and attaching additional fastening conveyances (e.g., screw-nut fasteners) in different locations is shown in Figures 27A-27B below.

[0277] In some embodiments, various phases described above with respect to a split branched division may proceed independently for two or more zones of a division. In some such embodiments, these phases may proceed in parallel without any topological dependency (e.g., one of the three split branching phases of one zone within a zonal hierarchy may occur at substantially the same axial position as one of the three split branching phases of another zone within the same hierarchy). In some cases, such parallelism may be exploited to make the split branching more efficient (e.g., reducing an axial length of a branched division or distributing a utility to the target divisions and branches within a shorter axial portion of a bone layer).

[0278] In some embodiments, various phases of split branching of zones in a division of two or more zones may depend on each other and may not progress independently. In some such embodiments, these phases may proceed in sequence and may be topologically dependent (e.g., a separation phase of a nested zone may begin substantially at an axial position where the separation phase of the adjacent outer zone is completed) .

[0279] As such, in various embodiments, progression of different phases of split branching across different zones of a hierarchy of zones in a split branched division may be determined based on dependence of such progressions on each other and thereby may be topologically sorted into two or more subsets based on such dependence. For example, the splitting of zones of a subset may proceed in parallel, and the splitting of zones of another subset may proceed in sequence.

[0280] In some embodiments, transitions between sequences of split branching phases (described above with respect to dependent split branching phases and the three phases of split branching in general) may not be discrete. For example, in some cases, two phases, sub-steps of a phase, or two portions of a phase may overlap (e.g., proceed together at the same or different rates of progression), at least along a portion of the split branching progression (e.g., substantially along the axial direction). In some examples, such progression may be viewed as a more fine-grained form of parallelism. The extent of an overlap between sequenced phases may depend on several factors, including, but not limited to, the carriages and accessories involved, the type of phases being overlapped, and other factors.

[0281] In some embodiments, the recursion phase, described above, can be an artifact of the structural hierarchy of zones nested within a given zone and may not be associated with an individual step of a discrete phase of split branching. For example, parallelism and overlapping of phases may occur across a recursion phase of a zone such that the branching process of an entire hierarchical nesting of zones inside the zone may proceed together, potentially at different rates and to different extents. In various implementations, the details of split branching progression within each phase, and in some cases, absence of certain phases, can be zone-specific, and different embodiments may utilize different branching strategies and configurations.Spherical branching

[0282] In some embodiments, a branched division may comprise a spherical division serving as a junction configured to provide utility connection between at least one division and two or more divisions. In other words, the spherical division may provide utility connection between at least one bone section of a bone to two or more bone sections of the same bone. In some cases, such a branched division, which is configured to branch utilities within a division web, may be referred to as a spherical branching division. In some implementations, a spherical branching division may serve as a transit point for utility carriages being rerouted to various directions in a layered robotic system via two or more divisions therein. In some cases, the spherical branching division may comprise multiple zones, herein referred to as junction zones, wherein an individual junction zone may be configured to allow a utility carriage of a first bone or division to be connected to a utility carriage within at least one other bone or division. In some cases, a junction zone within the spherical branching division may be configured to allow carriages of a first bone or division to be distributed and / or connected to utility carriages of two or more other bone or divisions. In some cases, a junction zone within the spherical branching division may be configured to allow carriages of M divisions to be distributed and / or connected to utility carriages of N other divisions, where M and N are integers larger than 1. In some embodiments, the spherical branching division may comprise a central junction zone, and one ormore junction zones formed around the central junction zone may be formed between two curved surfaces of two immediately adjacent junction zones. In some cases, a junction zone may be configured to allow a utility carriage to navigate through the curved surfaces of the junction zone. Advantageously, the branching factor of a spherically branched division can be different for different utility carriages.

[0283] Figure 9H schematically illustrates a nonlimiting example of a spherical branching division comprising a central junction zone 970 configured to distribute utility carriages received from a first division 972a (e.g., a zone of the first division 972a) to second and third divisions 972b, 972c. In the examples, central junction zone 970 may comprise a spherical, near- spherical, oval chamber or otherwise a closed surface / shell having a first region connected to the first division 972a, a second region connected to the second division 972b and a third region connected to the third division 972c. The first, second, and third regions may comprise opening or holes through which carriages received from the first division 972a can be rerouted to the second and third division 972b, 972c. In the example shown the central junction zone 970 is configured to distribute four cable transmissions 974 received from one or more zones of the first division 972a, e.g., vial holes 982), between the second and third divisions 972b, 972c, with cable pairs 976a and 976b being carried by the second and third divisions, respectively. In some embodiments, one or more of the first, second, and third divisions 972a, 972b, 972c, may be connected to the central junction zone 970 via a mount (e.g., tether or connector mount 973) and radial fastening mechanisms 984 (e.g., bolts and nuts).

[0284] In some examples, the central junction zone 970 may comprise a plurality of pulleys 980 (shown via the virtual cutout 978) configured to reroute a first and second transmission cables A1 , A2, from the first division 972a to the second division 972b, and third and fourth transmission cables B1 , B2, from the first division 972a to the third division 972c. The planes of the rotational axes of the pullies 980 may depend on the turn / curve being navigated within the central junction zone 970.

[0285] In various implementations, one or more additional junction zones may be formed adjacent to (nested within or around) the central junction zone 970 to reroute and / or distribute other utility carriages from the first division 972a to the second and third divisions 972b, 972c. As such, in some embodiments, a spherical branching division may comprise multiple spherical or near-spherical junction zones. In some examples, a spherical branching division may comprise a central spherical or near-spherical zone and multiple spherical or near-spherical shells formed around the central junction zone to form a nested zonal structure. In some cases, a junction zone may be configured to reroute and / or distribute one or more utility carriages receivedfrom one or more divisions to one or more other divisions. In some cases, a junction zone may comprise accessories positioned within the junction zone and configured to distribute or reroute one or more utility carriages. In various implementations, the central junction zone 970 and junction zones formed adjacent to (nested within or around) it may have similar or different shapes. In some cases, a junction zone of a spherical branching division may comprise a shell or chamber having a non-spherical shape.

[0286] Figure 91 schematically illustrates a cross-sectional view of another nonlimiting example of a spherical branching division within a division web of a layered robotic system, with a spherical division 985 providing spherical branching of multiple zones (e.g., anchor zone 604, staging zone 616, and three other zones 986, 988, 990 carrying any utilities) between two or more incident divisions (e.g., three divisions 987a, 987b, 987c). In this example, the connected divisions maintain the same zonal nesting / structure, with zone 990 being the centermost zone, followed by the zones 604, 988, 986 and 616, each surrounding the one before. In some embodiments, the number of zones, the zonal structure, or both may not be the same between one or more pairs of connected divisions shown herein.

[0287] In some embodiments, zones from divisions incident on the spherical division 985 may merge into (or attach to) similar or substantially similar junction zones (e.g., zombie zones, or zones similar in a type of utility carriage) in the spherical division such that the corresponding conveyances of the incident divisions are at least partially routed towards the desired target division through (e.g., around, along) the given near-spherical junction zones within the spherical division. In some embodiments, routing of utilities through the spherical division may utilize transport accessories (e.g., cable routing pulleys 980) depending on the utility conveyances being routed. In some embodiments, at least a portion (or portions) of the dotted regions 991 (comprising the dotted lines about the spherical division) may be an opening and not a solid boundary.

[0288] In some embodiments, the carriages 993 may represent any utility conveyance carriages (e.g., power cables, mechanical transmission cables, thermal management channels, fluid transfer tubing, network cables, control / signal cables, rigidity / fastening tethers, or the like). In some embodiments, one or more mounts (e.g., tether or connector mounts) 973 may attach an incident division 987a, 987b, 987c to the spherical division 985, to structurally connect one to the other, using any combination of anchor zones 604 within the connected divisions.

[0289] In some embodiments, one or more of divisions 987a, 987b, 987c may be a division portion of other split branched divisions (not shown).

[0290] In some cases, a fixed joint connecting two or more links may comprise one or more features of the spherical branching divisions described in Figures 9H and 91 to allow continuity of utility carriages and structural attachment between the bones of those links.Relay branching

[0291] In some embodiments, relayed branching may comprise using relays to convey utilities between divisions (or division portions) to provide a target utility distribution across two or more outgoing branches. In some cases, when a division (e.g., a branched division) is involved in a relayed branching configuration, the division may comprise two or more axial fragments (depending on the utilities being relayed and the accessories used).

[0292] In some embodiments, a relay branched division may be configured to distribute or divide carriages and the corresponding utilities between two or more branches or divisions using one or more relays. In some examples, a relay may convey a utility from a zone of a first branch or division to a second branch or division. In some such cases, the relay may be supported (e.g., mechanically supported) by a relay mount. In some examples, the relay mount may be connected (e.g., mechanically coupled) to one or both branches or divisions between which the relay conveys a utility.

[0293] In various embodiments, relay branched divisions may be used to provide different branching ratios based on different branching arrangements and topologies, depending on utilities being conveyed and carriages used, and depending on structural features of the layered robotic system in the vicinity of relay branched division, among other factors, criteria, and constraints.

[0294] In some embodiments, a relay branched division having a branching ratio of 1 :N (where N > 1 ) may comprise a base division portion (also referred to as an incoming branch) and two or more branch portions (hereafter referred to as “outgoing branches”). In some embodiments, at least one utility carried by one of the zones in a first branch portion may be relayed to a corresponding zone of a second branch using a relay. Figure 10A schematically illustrates an example relay branched division 1000 with a branching ratio of 1 :2. In some cases, the relay branched division 1000 may comprise a first branch 1007a and a second branch 1007b overlapping a base portion through which utilities are conveyed from an incoming division (not shown) to the first branch 1007a. In some cases, the incoming division, the first branch, and the base portion may comprise substantially the same zonal configurations and hierarchies, allowing for direct connection of carriages and conveyance of utilities from the incoming division to the first branch 1007a. In some cases, one or more utilities carried by the incoming division may not bedirectly conveyed to the second branch 1007b via the base portion. In some such cases, a utility that is not conveyed to the second branch 1007b, (e.g., by a carriage extending from base portion to the second branch 1007b) may be conveyed from the first branch 1007a to the second branch 1007b by a relay 1004. In some examples, the relay 1004 may be supported (e.g., mechanically supported) by a relay mount 1006. In some embodiments, the relay mount 1006 may comprise a structure at least partially surrounding the relay 1004 and mechanically coupled (e.g., connected to the first and second branches 1007a, 1007b). In some examples, two or more relays may be supported by a single relay mount.

[0295] In some embodiments, a portion, region, or link in a layered robotic system wherein a utility is distributed or otherwise exchanged between two links or divisions of the layered robotic system, may comprise two or more straight and / or bent divisions without any branched division or branch intersection. In some examples, each of the two or more divisions may independently receive utilities from two or more incoming divisions (e.g., via independent carriages). In some such examples, at least one of the divisions of the two or more divisions may provide at least a portion of the utilities received from an incoming division (e.g., directly via one or more carriages) and a utility received from the other one of the two or more divisions via a relay to an outgoing division. As such, the two or more divisions may be configured to provide utility conveyance between N incoming divisions and N outgoing divisions such that an outgoing division can receive utilities from any of the N incoming divisions via relayed conveyances established between different pairs of the two or more divisions. In some examples, the pairs of divisions can be selected to have close or similar utility content, zonal arrangement, and / or zonal hierarchy to reduce a number of relays used to provide utility distribution across the outgoing divisions. In some examples, such configuration of two or more divisions may be referred to as a division connection configuration having a branching ratio of N:N (where N > 1 ). Figure 10B schematically illustrates an example division connection configuration 1005 with a branching ratio of 2:2. In some cases, the division connection configuration 1005 may comprise a first bone division 1008 and a second bone division 1009 substantially extended in parallel along the axial direction of the corresponding link. In some cases, the first and second bone divisions 1008, 1009 may comprise substantially the same zonal configurations and hierarchies. However, the embodiments are not so limited and the first and second bone divisions 1008, 1009 may comprise different zonal configurations and hierarchies. In some cases, one or more utilities carried by the first bone division 1008 may be conveyed to the second bone division 1009 by a relay. For example, a utility (e.g., a utility that is not conveyed by a carriage of the second bone division 1009), may beconveyed from the first bone division 1008 to the second division 1009 by a relay 1004 that may be supported (e.g., mechanically supported) by a relay mount 1006.

[0296] In some embodiments, N:M branching (where N > 1 , M > 1 , and M > N) may be provided in a region of a layered robotic system (e.g., within a link having different number of parallel divisions within two different axial portions of the link). In some such embodiments, the N:M branching may comprise a combination of branched divisions and / or division connection configurations having 1 :N branching and N:N branching ratios. Figure 10C schematically illustrates an example division connection branching configuration 1007 having a branching ratio of 2:3 formed by combining an independent division 1010 with relay branched division 1000 described above with respect to Figure 10A. In some examples, a first group of relays 1011 may convey utilities from the independent division 1010 to the first branch 1007a of the split branched division 1000, and / or vice versa, and a second group of relays 1012 may convey utilities from the first branch 1007a to the second branch 1007b of the split branched division 1000, and vice versa. In some embodiments, a region within the bone or a link where one or more relays are positioned to convey utilities (e.g., along a net radial direction) may be referred to as relay runway. A relay runway may convey utilities between two branches of a branched division (e.g., a relay branched division), a branch and a division, or between other regions or a bone layer.

[0297] In some embodiments, in any of the relay based branching and utility distribution configurations described above, a type of a relay and the axial position of the relay runway with respect to a relay branched division or in general a division connection branching configuration may be selected to reduce a number of relays and / or the complexity of the relay structures formed between two divisions, two branches, or a division and a branch. In some embodiments, in any of the relay-based branching and utility distribution configurations described above, divisions (e.g., independent and / / or branched divisions) may be selected or grouped for utility exchange via relays based at least in part on similarity of utility content, zonal arrangement, and / or zonal hierarchy to reduce a number of relays used to provide utility distribution across the outgoing divisions.

[0298] In some cases, relay branching may impose a constraint on length (e.g., axial length) of a link depending on a number of relays that may be used. In some examples, when a link is too short to accommodate a certain number of relays, split branching or another type of branching may be used. In some implementations, a split branched division can be more complex, e.g., compared to relayed branched division, however the split branched division may include less axial fragmentation.Hybrid branching

[0299] In some embodiments, a combination of relay branching, and split branching may be used to convey or distribute utilities between branches of a branched division or between a branch of a branched division and another division. In some cases, a branched division or division connection region that comprises aspects of both relay branching and split branching may be referred to as a hybrid branched division or hybrid division connection region and the corresponding method may be referred to as hybrid branching. For example, at least one utility carried by a first zone in a first branch of a branched division may be conveyed (e.g., relayed) to a corresponding zone of a second branch of the same division using a relay, and at least a second utility carried by a zone of the base division portion of the division may be conveyed to a corresponding zone of a second branch of the same division. In some implementations, a hybrid branched division may comprise a split in its zonal hierarchy where at least one zone undergoes a reduced version of the split branching described above. For example, the splitting of the at least one zone may include separation, recursion, and consolidation phases, but not a shift of conveyances out of the original branch. In some such implementations, the conveyance of utilities out of the original branch may be relayed to a target branch via relay runway thereby providing a branched division and / or a desired utility distribution using a combination of relay and split branching. In various embodiments, other variations and combinations of the aforementioned types of branching may also be used.

[0300] In various embodiments, in any of the branching and utility distribution configurations described above, relays may be supported using one or more of a relay mount, a tether mount, or a connector mount.

[0301] In some embodiments, a utility can be relayed from a zone of a bone layer to outer zones or the flesh layer surrounding the bone layer at discrete axial sections of the bone layer, each located at a different axial position. In some examples, the two ends of a relay that conveys a utility via an axial section may be substantially at the same axial position. In some examples, these axial sections may comprise substantially planar regions (e.g., thin cylindrical sections) extending perpendicular to the axial direction and may be referred to as transition surfaces. Figure 11 A schematically illustrates a portion of a bone layer (e.g., a portion of link or a division) depicting an example configuration for relaying utilities from inner zones to the outer zones of the bone layer or to the corresponding flesh layer (e.g., a tissue layer within the flesh layer) through four transition surfaces 1 102. In some examples each transition surface may comprise relays (e.g., wires) extending in a net radial direction from the carriages (e.g., electricand networking cables) in one or more zones toward the outer zone and the flesh layer to provide a utility (e.g., power and networking utility) to a gadget (e.g. an electromotor or a microprocessor).

[0302] In some embodiments, a utility (e.g., electric power and networking) can be relayed from a zone of a bone layer to outer zones or the flesh layer surrounding the bone through extended regions of the bone layer elongated in the axial direction, such that the two ends of a relay are at two different axial positions. Figure 11 B schematically illustrates a portion of a bone layer (e.g., a portion of link or a division) depicting an example configuration for relaying utilities from inner zones to the outer zones of the bone layer or to the corresponding flesh layer (e.g., a tissue layer within the flesh layer) through longitudinally extended regions of the bone layer. In the example shown, five relays 1104 convey a utility (e.g., electric power and networking) from three different axial portions of a zone 1105 (e.g., a logic zone) to five different axial locations in an outer zone or in the flesh layer (where they may be service looped for provision to a gadget such as an electromechanical device in the tissue region). A service loop is an extended relay of a cable, sometimes rolled into a space-saving loop and placed in an empty pocket within a staging zone so as to be able to organize the unused length (if any) of the cabling between the carriage and the gadget.Utilities

[0303] As described above, a layered robotic system can be configured to provide various types of utilities to different regions of a robotic system including but not limited to electrical power, networking and network connection, electric signals, optical signals, mechanical transmission, thermal management, fluid transport, fastening, mounting, staging, or any other utility that may be used to enable, support, modify or improve a function or service provided by the robotic system. In various implementations, multiple conveyances of each utility may be present in the bone layer (e.g., using different carriages and relays).Electrical

[0304] In some embodiments, electric power may be carried by different types of electric cables and wires from a port where the electric power is generated, amplified or modified, to another port where the electric power is consumed. In various implementations, electric power generation may comprise generation of voltage by a voltage source, generation of a current by a current source, or power by a power source. In various implementations, electric power consumption may comprise a voltage drop, reduction of current, and / or conversion of the electric power to heat, magnetic field, light, mechanical motion, force, and the like.Network connection

[0305] In some embodiments, conveyance of a physical network connection may provide data connection to and between different electronic gadgetry in the robotic system. In some embodiments, networking can be conveyed or carried alongside (e.g. parallel to) electric power conveyances. As such, in various embodiments a certain level of electromagnetic (e.g., conductive, capacitive, magnetic / inductive, and radiative) isolation may be provided to protect a carriage that conveys a networking signal from a power carriage. In various embodiments, networking conveyance and the corresponding carriages may comprise UART / Asynchronous serial (e.g., RS422, RS485, etc.), Synchronous serial (e.g., SPI, I2C, etc.), Optical cables (e.g. Fiber optic), USB, CAN Bus, Ethernet, EtherCAT, pulse width modulation (PWM), power line communication (PLC), or any other modality, platform, and corresponding carriages (e.g. different types of cables, cable assemblies, and the like). In some embodiments, where conveying a network connection comprises a directional conveyance of a networking signal, a networking port may provide a networking signal and another networking port may receive the networking signal. In some embodiments, where a gadget’s network connection comprises access to a network (e.g., a microprocessor connected to the network), enablement of the network (e.g. a router, hub or switch) or participation (e.g. as a networking node) in a shared network configuration (e.g. a LAN), a networking port may provide the gadget with that access.

[0306] Figure 12 schematically illustrates a cross-sectional view of an example division or bone 1200, in a plane perpendicular to an axial direction, depicting an electric power and networking relay configuration. Division or bone 1200 may comprise a logic zone 602, a staging zone 616 formed around the logic zone 602, and a mount cover 1208 formed around the staging zone 616. In this example, logic zone 602 can be the innermost zone through which power and data cables are relayed to the outer zones and terminated at access points along the staging zone 616, where they can be captured by the mount cover 1208. In some embodiments, electric power or network connections may be conveyed from the logic zone 602 to the staging zone 616 via one or more relays or relay portions comprising channels 1206 and wires or cables passing through the channels 1206.

[0307] In some cases, the electric power or network connections may be provided as service loops 1210 within the staging zone 616 and from the service loops 1210 to gadgets that can be positioned within the flesh layer. In some examples, a gadget can be mechanically connected to the mount cover 1208. In some examples, channels 1206 may be substantially extended within a plane perpendicular to the axial direction. In some embodiments the service loop may comprise an extended run of a flexible conveyance such as a power cable, networkcable, optical cable, or the like. In the example shown, a carriage in the logic zone 602 is electrically connected to a first gadget 25a (e.g., microprocessor) via a relay through a first channel 1206a and a first service loop 1210a and another carriage in the logic zone 602 is electrically connected to a second gadget 25b (e.g., an electromotor) via a relay through a second channel 1206b and a second service loop 1210b.Control / Sianaling

[0308] In some embodiments, conveyance of a control and signaling utility may electrically or optically connect various electronic gadgets (e.g., microcontrollers, sensors, general purpose input / output devices, electro-mechanical gadgets (e.g., sensors, actuators, or the like), electro-optical gadgets (e.g., sensors, detectors, light sources, and the like) , or otherwise gadgets that may generate an electronic signal or receive an electronic signal for control, feedback, monitoring or the like. Similar to networking conveyances, conveyances that convey control and signaling utility may be configured to be isolated from other carriages and relays (e.g., electric power relays and carriages), and certain gadgets, to prevent electromagnetic interference. In various implementations, isolation (e.g., electromagnetic isolation) may comprise separation (e.g., by a distance greater than a threshold distance determined by electrical characteristics of the isolated carriage and the interfering relay, carriage, and / or gadget). In some embodiments, separation from power conveyances (e.g., predominantly conveyed in axial direction) may be provided by channels formed in the control and signaling zone. In some embodiments, the carriage pattern (e.g., a path) of a control / signal cable may be configured to reduce or eliminate electromagnetic interference with another signal, a power line, or a gadget. In some embodiments where multiple signaling conveyances exist, multiple carriages may be used for those conveyances, to reduce or minimize interference with one another, with power conveyances, and / or with gadgets, by creating appropriate separations and / or relative orientations between the carriages and / or between the carriages and other gadgets. In some examples, isolation may comprise shielding a carriage or relay or the zone with proper shielding layer (e.g., a conductive cladding or sheet, a mu-metal sheet, and the like). In various implementations, a control and signaling utility and corresponding relays and carriages may include, but are not limited to, UART / Asynchronous serial links (e.g., RS232, etc.), synchronous serial links (e.g., SPI, I2C, etc.), PWM signals (pulse width modulation), and analog voltages.

[0309] Figure 13 schematically illustrates a division portion 1300 comprising a control and signaling zone 612 formed around a logic zone 602. In some embodiments, the control and signaling zone 612 may comprise protrusions 1303 over a cylindrical portion of the control andsignaling zone 612 and configured to form channels for arranging, organizing, separating, and / or rerouting wires for conveying control signals along a substantially axial direction within the control and signaling zone 612. In some embodiments the inner boundary signaling zone 612 may comprise the inner surface of the protrusions and the surface of the channels and the outer boundary may comprise a virtual surface that is aligned with the upper surfaces of the protrusions. In some embodiments, wires carried along control and signaling zone 612 may be relayed in a substantially radial direction to connect with gadgets that generate or utilize the control and signaling utility. In some embodiments, such wires may be relayed within channels passing radially through outer zones that lie between the control and signaling zone 612 and the aforementioned gadget. In some cases, a first gadget at a first axial position along a link may be connected to a second gadget at a second axial position along the link by a control signal path comprising a carriage (e.g., a wire) that passes through the control and signaling zone 612 (e.g., through the channels provided by the protrusion 1303). In the example shown in Figure 13, a microcontroller 1304 is electrically connected to a first sensor 1306a and a second sensor 306b by first and second wires 1308a, 1308b, selectively, passing through the channels formed by the protrusions 1303 of the control and signaling zone 612. In various implementations, the channels formed by the protrusions 1303 may be configured to make one electrical path orthogonal to another electrical path, isolate two electrical paths, isolate an electrical path from a gadget or a carriage (e.g., in an inner or outer zone), prevent a wire to be extended substantially parallel to a power carriage (e.g., along the axial direction), etc. It should be understood that the protrusions 1303 formed on / in the control and signaling zone 612 and resulting channels, are not limiting examples and in various embodiments protrusions and the resulting channels may have different shapes and spatial distributions based on specific arrangements of the zones, gadgets, carriages, relays and other elements of the layered robotic system, to provide desired electrical paths and desired levels of isolation between those electrical paths and between those electrical paths and gadgets.Mechanical Transmission

[0310] In some embodiments, conveyance of mechanical force, torque, displacement, and control, referred to as mechanical transmission, may comprise conveyance of forces and / or torques between an actuator (e.g., an electro-mechanical actuator) and a movable portion of a robotic system (e.g., a join movably connecting two links). In various embodiments, an access apparatus of a mechanical transmission conveyance may comprise actuators, joints, and mechanical drives or the like, serving as ports. In some examples, mechanical drives may be provided between actuators and joints to mechanically couple different mechanical transmissionconveyances, to change a reduction ratio, to modify a compliance regime, or to provide other functionalities with respect to conveying mechanical force or torque. In various embodiments, mechanical transmission conveyances (e.g., carriages and relays) may non-exhaustively include: mechanical cables (e.g., wire ropes), fluid-based transmission elements (e.g., pneumatic tubing, hydraulic tubing), push-pull (Bowden) cables, flexible torsional / rotary shafts, belts, gears, chains, multi-stage multi-modal transmissions, or a combinations of one or more of these conveyances (e.g., by a mechanical coupling mechanism).

[0311] Figures 14A-14B schematically illustrate cross-sectional views 1400, 1401 of a region of a bone (e.g., within a division) comprising a mechanical transmission zone 606 formed around a logic zone 602. In some cases, the region of bone may comprise a third zone 1404 between the mechanical transmission zone 606 and the logic zone 602. Figure 14C schematically illustrates a three-dimensional view of the region of bone depicting the axial position of the cross- sectional views 1400, 1401 shown in Figures 14A-14B within the region of bone.

[0312] In the example shown, the mechanical transmission zone 606 comprises a plurality of cable portions 1402 (three of which are shown) substantially extended parallel to a transverse plane (perpendicular to the axial direction, x-axis) and configured to transport mechanical force (or torque) between two different regions of the transmission zone 606 within the transverse plane. As shown in Figure 14C, in some examples, each cable portion of the cable portions 1402 can be a transverse section of a cable 1406 that is extended in an axial direction above and below the transverse plane depicted by the cross-sectional views 1400, 1401. In various implementations, where a cable redirected in a mechanical transmission zone passes through a neighboring zone (e.g., inner zone), the neighboring zone may perturb, interrupt, or otherwise prevent transmission of mechanical force through the cable. For example, in the cable configuration shown in the cross-sectional view 1400, cable portions 1402a, 1402b, which do not overlap with the logic zone 602, can move substantially freely while the motion of the cable portion 1402c that at least partially overlaps with the logic zone 602 may be prevented and / or perturbed. To prevent an overlap between a cable and such a zone, overlap between cables, or otherwise perturbation of motion of a cable, in some embodiments, one or more mechanical accessories may be provided to reroute the cable. For example, a pulley may be used to reroute cable portion 1402 around logic zone 602. In the cable configuration shown in the cross-sectional view 1401 , none of the cable portions 1408a, 1408b, and 1408c overlap with the logic zone 602 and to prevent interference between cable portions 1408a, 1408b, and cable portion 1408c, cable portion 1408b is rerouted by one pulley 1412 and the cable portion 1408a is rerouted by two pulleys 1410. In some examples, the axis of rotation of pulleys 1410, 1412 can be substantially parallel to theaxial direction (e.g., along x-axis). In some cases, a cable rerouting arrangement comprising a cable portion having two end regions substantially located at or near a transverse plane, may be referred to as cable shifting. In some implementations, cable shifting may comprise rerouting a cable portion (e.g., between the two end regions) in a direction out of the transverse plane where the end region of the cable portion are located. In some such implementations, the axis of rotation of at least one pulley used to reroute the cable portion can be substantially parallel to the plane. A Pulley having rotational axis substantially parallel to a transverse plane may be referred to as a vertical pulley and a pulley having rotational axis substantially perpendicular to the transverse plane may be referred to as a planar pulley.

[0313] Figures 14D-14F schematically illustrate three different examples of singleplane cable shifting comprising different combinations of planar and vertical pulleys. Figure 14D shows a cable shifting arrangement comprising two vertical pulleys 1412a, 1412b configured to shift a cable portion parallel to a transverse plane. Figure 14E shows a cable shifting arrangement comprising two vertical pulleys 1412a, 1412b configured to shift a cable portion parallel to a transverse plane and a planar pulley 1414a configured to turn the cable portion away from the transverse plane. Figure 14F shows a cable shifting arrangement comprising two vertical pulleys 1412a, 1412b configured to shift a cable portion parallel to a transverse plane and two planar pulleys 1414a, 1414b to turn the cable portion away from the transverse plane. For a given turn, using additional pulleys to navigate the turn reduces the forces acting on each individual pulley, making for smoother cable motion and prolonged pulley life.

[0314] In some embodiments, a portion of cable extended between two different axial positions may be rerouted, e.g., shifted from a first position (e.g., a first radial position) at or near a first transverse plane at a first axial position to a second position (e.g., a second radial position) different from the first position at or near a second transverse plane at a second axial position. In some such embodiments, rerouting a cable or cable portion (e.g. a cable that conveys mechanical force or torque) extended between two transverse planes at two different axial positions may be referred to as multi-plane cable shifting. In some embodiments, multi-plane cable shifting may reduce forces acting on some of the pulleys compared to single-plane cable shifting. In some examples, implementing multi-plane cable shifting may comprise dividing a division into multiple axial fragments and replacing the planar pulleys with more vertically oriented pulleys to provide an axial heading to the cable during the shift operation.

[0315] Figures 15A-15B schematically illustrate a portion of an example mechanical conveyance apparatus comprising multi-plane cable shifting. Figure 15A schematically illustrates a cross-sectional view of a division in a first transverse plane 1504 at a first axial position depictinga portion of a mechanical transmission zone 606 formed around a logic zone 602. Figure 15B schematically illustrates a portion of a division comprising mechanical transmission zone 606 and logic zone 602 therein. In the example shown, mechanical transmission zone 606 houses four cables A, B, C, and D crossing the first transverse plane 1504 along a line at a first angular position 1502a. In some examples, the mechanical transmission conveyance apparatus may be configured to reroute cables A, B and C using a first group of vertical pulleys 1510 so that they cross a second transverse plane 1506 along a line at second angular position 1502b, and using a second of group of vertical pulleys 1512 so that they cross a third transverse plane 1508 along a line at a third angular position 1502c, where first, second, and third angular 1502a, 1502b, 1502c positions are different (e.g., each may comprise a counterclockwise rotation with respect to previous one). The first group of pulleys 1510 may be positioned near the transverse plane 1504 and the second group of pulleys 1512 may be positioned near the second transverse plane 1506. In some examples the second axial position can be axially separated from the first axial position by a first distance hi , and the third axial position can be axially separated from the second axial position by a second distance h2 that can be equal or different from hi .

[0316] In some embodiments, to position the first and second groups of pulleys 1510, 1512, near the first and second transverse planes 1504, 1506, the corresponding division may be divided into three more axial fragments, e.g., a first axial fragment axially extended to the first transverse plane 1504, a second axial fragment axially extended between the first and second transverse planes 1504, 1506, and a third fragment axially extended between the second and third transverse planes 1506, 1508. The first group of pulleys 1510 can be positioned between the first and second axial fragments near the transverse plane 1504 and the second group of pulleys 1512 may be positioned between the second and third axial fragments near the second transverse plane 1506. In some examples, the mechanical conveyance apparatus may further comprise a third group of vertical pulleys 1514 disposed near the third transverse plane 1508 to redirect the cables A, B, C, and D substantially along the axial direction to convey mechanical force (or torque) to a subsequent axial portion of the division or another link.

[0317] Figure 15C schematically illustrates four vertical pulleys disposed between two axial fragments of a division, each configured to reroute a cable extended in an axial direction within a lower axial fragment to a direction different from the axial direction within an upper axial fragment.

[0318] In various embodiments, single and / or multi-plane routing may be used to route cable transmissions to swap zones with another utility conveyance (e.g., conveyed in another zone) promote or demote a zone, reorient and / or reposition a cable within a zone (e.g., along alink connecting a pitch joint to a yawn joint), or to relay a mechanical cable transmission between two divisions, two branches, and / or a branch and a division.

[0319] Figure 15D schematically illustrates a three-dimensional view (right) and a cross-sectional view (left) of a portion of an example split branched division comprising splitting of a mechanical transmission zone into two branches. In the example shown, a plurality of cables (e.g., six cables) passing through the base portion of the split branched division are rerouted such that a first group of cables (e.g., four cables) are redirected to a first branch and a second group of cables (e.g., two cables) are redirected to a second branch. In some examples, the split branched division may comprise five axial fragments 1520 and groups of pulleys (e.g., vertical pulleys) are disposed between adjacent fragments to reroute each cable in a step wise manner comprising three discrete rerouting steps each provided by a group of pulleys at substantially the same axial position different from the axial position another group of pulleys.

[0320] In various embodiments, a conveyance apparatus of a mechanical transmission utility in a layered robotic system may comprise one or more mechanical drives that are configured to provide a mechanical coupling mechanism, transfer mechanical force / torque, provide mechanical reduction and / or provide mechanical advantage, improve compliance, provide back drivability, or the like. In some cases, a mechanical drive may transform or redirect mechanical motion, force, or torque as it transfers mechanical force / torque. For example, a mechanical drive may provide linear-to-linear, linear-to-rotary, rotary-to-linear, and rotary-to- rotary transfers.

[0321] In some embodiments, a mechanical conveyance apparatus may comprise a mechanical drive configured to transmit, modify or multiplex mechanical inputs such as force, torque, motion, or displacement. In some embodiments, a mechanical drive may comprise N input ports configured to receive N mechanical inputs and M ports configured to transmit or output M mechanical outputs modified with respect to the N mechanical inputs, where M and N can be greater than or equal to 1. In various examples, a mechanical drive may comprise assemblies (e.g., rigs) of one or more gadgets (e.g., mechanical gadgets such as friction, drives, gears, belts, cables, and the like) that individually or in combination modify the mechanical inputs to provide the mechanical outputs. In various implementations, the mechanical inputs / outputs may be conveyed using carriages or relays, comprising pneumatic, cable, hydraulic, belted, chained, flexible rotary shaft or Bowden cable transmissions. In various implementations, other types of mechanical transmission may be used. In some embodiments, the mechanical drive may be placed within the flesh layer. In some embodiments, a mechanical input may be relayed from a carriage in the bone layer to the mechanical drive in the flesh layer and mechanical outputgenerated by the mechanical drive may be relayed from the mechanical drive to a carriage in the bone layer.

[0322] Figure 16A schematically illustrates a portion of a layered robotic system including an example mechanical conveyance apparatus comprising a mechanical drive 1602 positioned in the flesh layer 12, mechanical transmission carriages (also called mechanical carriages), 1604, 1606 placed in a mechanical transmission zone 1608 and two mechanical transmission relays (also called mechanical relays) 1610, 1612. In some embodiments, the mechanical drive 1602 may be configured to modify a mechanical input to improve modularity of the mechanical conveyance apparatus, prevent backlash, change conveyance medium / mechanism, provide back drivability, change a ratio between force and torque, improve compliance, or support another form or type of change, or improvement, in the mechanical conveyance apparatus. In the example shown, a mechanical input is conveyed to the mechanical drivel 602 via an input port from a first carriage 1604 by a first relay 1610 and the mechanical output (e.g., modified mechanical input) is conveyed from an output port of the mechanical drive 1602 to a second carriage 1606 by a relay 1612.

[0323] Figure 16B schematically illustrates a portion of a layered robotic system including another example mechanical conveyance apparatus comprising a mechanical drive 1614 positioned in the flesh layer 12, mechanical carriages 1604, 1606 placed in a mechanical transmission zone 1608 and three mechanical relays 1610, 1612, and 1616. In some embodiments, the mechanical drive 1613 can have one input port and two output ports and can be configured to provide mechanical multiplexing. In the example shown, a mechanical input is conveyed to the mechanical drive 1613 by a first carriage 1604 and a first relay 1610 to the input port of the mechanical drive 1613 and the two mechanical outputs are conveyed from the mechanical drive 1613 to second and third carriages 1606, 1618 by second and third relays 1612, 1616, respectively.

[0324] In some embodiments, a mechanical drive may be placed in a joint (e.g., a fixed or movable joint) between two links. Figures 16C-16D schematically illustrate portions of a layered robotic system including an example mechanical conveyance apparatus comprising a mechanical drive positioned between two divisions 1614a, 1614b of two different links coupled by a joint 18. In some examples, the mechanical drives 1622, 1624 may comprise one or more features described above with respect to the mechanical drives 1602, 1613 in Figures 16A-16B. The mechanical drive 1622 may receive a mechanical input from a first carriage 1604 in a first mechanical transmission zone 1608a of the first division 1614a and provide a mechanical output to a second carriage 1606 in a second mechanical transmission zone 1608b of the second division1614b. The mechanical drive 1624 may receive a mechanical input from a first carriage 1604 in a first mechanical transmission zone 1608a of the first division 1614a and provide two mechanical outputs to second and third carriages 1606, 1618 in a second mechanical transmission zone 1608b of the second division 1614b.

[0325] In various examples, the first and second carriages 1604, 1606 can be of the same or different types. In some examples, the first, second, and third carriages 1604, 1606, and 1618 can be of the same type. In some examples, at least two of the first, second, and third carriages 1604, 1606, and 1618 can be of different types.

[0326] In some embodiments, a mechanical transmission conveyance apparatus may comprise accessories for providing and / or controlling mechanical tension along one or more mechanical transmission conveyances receiving the mechanical utility. In various embodiments, mechanical tensioning (e.g., cable transmission tensioning) may comprise a static force associated with stretching a cable, a kinetic force, e.g., resulting from rotation and / or translation of a joint when the cable transmission passes through a joint cross-over, or generally rotation and / or translation of a pulley of the mechanical conveyance apparatus, or a change or adjustment of tension in a cable when switching between loose and stiff compliance regimes. In some examples, mechanical tension in a mechanical conveyance apparatus may be generated, controlled, or changed using a tensioning idler.

[0327] Figure 16E schematically illustrates a portion of a layered robotic system including an example mechanical conveyance apparatus (e.g. cable transmission apparatus) comprising a first tensioning idler 1630 placed in the flesh layer near a first division 1614a and a second tensioning idler placed in a joint 18 that couples the first division 1614a to a second division 1614b. In some examples, the first tensioning idler 1630 may control the tension in a cable 1631 that conveys mechanical force, generated from a first cable capstan 1636 placed in the flesh layer, through a mechanical conveyance zone 1608a of the first division 1614a to a mechanical load 1638 (e.g., placed within the joint 18 between the first division 1614a and a third division). In the example shown, the two ends of cable 1631 are connected to mechanical load 1638 and the cable 1631 passes through the tensioning idler 1630. In some examples, the second tensioning idler 1632 may control the tension in a cable 1635 that conveys mechanical force, generated from a first cable capstan 1634 placed in the flesh layer, through a mechanical conveyance zone 1608b of the second division 1614b to a mechanical load 1639 (e.g., placed in the joint 18). In the example shown, the two ends of cable 1635 are connected to the mechanical load 1639 and the cable 1635 passes through the tensioning idler 1632 (placed in the joint 18). In any of these examples, the idler may change the tension of the respective cable to transmit aforce to the respective mechanical load. In some cases, a tensioning idler can be a linear tensioning idler configured to control the tension in a cable using a translational motion or displacement. In some cases, a tensioning idler can be a rotary tensioning idler configured to control the tension in a cable using a rotational motion.

[0328] Figure 16F schematically illustrates an example linear tensioning idler 1640 and an example rotary tensioning idler 1641. The linear tensioning idler 1640 may comprise an idler pulley 1642 mounted on a linear stage configured to allow the pulley 1642 to move along a substantially linear path (withing the slot 1644) to increase or decrease the tension in a cable passing through the pulley 1642 (idler pulley). The rotary tensioning idler may comprise an idler pulley 1642 mounted on a rotational stage configured to allow the pulley 1642 to move along a substantially circular path to increase or decrease the tension in a cable passing through the pulley 1642. In some embodiments of a cable transmission, a movable part of a tensioner might be operated by a second mechanical transmission conveyance (not shown) to increase or decrease the tension in the cable transmission. In some embodiments of a cable transmission, two or more such tensioners may be utilized.

[0329] In some embodiments, a mechanical conveyance apparatus (e.g., a cable transmission apparatus) may comprise at least one actuated (or manually adjustable) tensioning mechanism configured to control the tension in a cable (e.g. when the rotating tensioner arm 1648 is actuated to rotate the idler pulley 1642 into the cable). In some embodiments of a cable transmission, a tensioner might comprise a second cable capstan to increase or reduce the length of the cable at play, so as to increase or decrease the tension in the cable, respectively. Figure 16G schematically illustrates a portion of a layered robotic system including an example mechanical conveyance apparatus comprising a first actuated tension controller (ATC) 1650a placed in the flesh layer near a first division 1614a of the layered robotic system , a second ATC 1652 placed in a first joint 18a that couples the first division 1614a to a second division 1614b, and a third ATC 1650b placed in the flesh layer near a third division 1614c coupled to the second division 1614b via a second joint 18b. In some examples, the first ATC 1650a may control tension of cable portions 1661 a, 1661 b that convey mechanical force, generated from a first cable capstan 1654 placed in the flesh layer, through a mechanical conveyance zone 1608a of the first division 1614a to a mechanical load 1638 (e.g., placed within a joint between the first division 1614a and a fourth division). In the example shown, a first cable portion 1661a is extended between the mechanical load 1638 and ATC 1650a and a second cable portion 1661 b is extended between the mechanical load 1638 and the first cable capstan 1654.

[0330] In some examples, the second ATC 1652 may control the tension in a cable 1662 that conveys mechanical force, generated from a third cable capstan 1656 placed in the flesh layer, through a mechanical conveyance zone 1608b of the second division 1614b to a mechanical load 1639 (e.g., placed within the first joint 18a). In the example shown the two ends of cable 1662 are connected to the mechanical load 1639 and the cable 1662 passes through the third cable capstan 1656 and the second ATC 1652. In some examples, the third ATC 1650b may control the tension of a two cable portions 1663a, 1663b that convey mechanical force through a mechanical conveyance zone 1608c of the third division 1614c to a mechanical load 1637 (e.g., placed within the second joint 18b) and using a pulley 1658 placed in the flesh. In the example shown, a first cable portion 1663a is extended between the mechanical load 1637 and ATC 1650b and a second cable portion 1663b is extended between the mechanical load 1637 and the pulley 1658.

[0331] Figure 17A schematically illustrates a cross section of bone and tissue layers of a link in a layered robotic system in a transverse plane, depicting utility conveyance from a mechanical actuation source 1702, to a receiving gadget 1704 via a mechanical transmission (e.g., force or torque) zone 606 in the bone layer, where both the mechanical actuation source 1702 and the gadget 1704 are placed in the tissue layer 53. In the example shown, the mechanical transmission zone 606 is separated from the tissue layer 53 by a fusion zone 614, a thermal management zone 608, and a staging zone 616. The mechanical utility (e.g., force or torque) may be conveyed from zone 606 to the gadget 1704 using one or more relays and carriages placed within the mechanical transmission zone 606 and fusion zone 614. In some examples, mechanical relays and carriages may comprise cables. For example, two cable portions 1705a and 1705b may be extended from the mechanical actuation source 1702 to the gadget 1704 using a plurality of vertical and horizontal pulleys 1706 configured to reroute cable portions via the intervening zones. In various examples, the mechanical actuation source 1702 and a receiving gadget or 1704 can be at the same or different axial positions. As such, mechanical conveyance between the mechanical actuation source 1702 and the gadget 1704 may comprise axial cable transmission through mechanical transmission zone 606.

[0332] Figure 17B schematically illustrates a 3D view of the bone and tissue layers of the division shown in Figure 17A at a different axial location along the division, depicting a relay system for utility conveyance from a mechanical actuation source 1712, placed in the tissue layer 53, to the mechanical transmission zone 606. The mechanical actuation source 1712 has an elongated shape extending between two different transverse planes at two different axial positions such that a first cable portion 1708 connected to the mechanical actuation source 1712 entersthe mechanical transmission zone 606 along the upper transverse plane and a second cable portion 1710 connected to the mechanical actuation source 1712 enters the mechanical transmission zone 606 along the lower transverse plane using a plurality of pulleys 1706 configured to reroute the cable portions 1708, 1710 via the intervening zones. Within mechanical transmission zone 606 the cable portions 1708, 1710 are rerouted along the axial direction (e.g., using vertical pulleys) and serve as carriage of the mechanical transmission utility along the mechanical transmission zone 606. In some examples, the vertical pulleys of the relay systems shown in Figures 17A and 17B may be replaced by a sequence of partial (incremental) turns over multiple planes to keep the turning angles below an upper limit (e.g., less than 90 degrees) to avoid wearing out the pulleys. In some examples, vertical turns can be spread over multiple planes and horizontal turns can be spread across a single plane. In some such examples, a single pulley may be used for each incremental turn. In some examples, multiple pulleys may be used for each incremental turn.

[0333] Figure 18 schematically illustrates cross-sectional views of a zonal portion of a split branched division comprising a mechanical transmission zone within seven transverse planes at seven different axial positions depicting axial progression of an example embodiment of recursive branching for the mechanical transmission zone of the corresponding split branched division. In the example shown, the split branched division has a branching ratio of 1 :2. The diagram on the right illustrates a side-view of the corresponding split branched division depicting the axial positions of the transverse planes associated with the cross-sectional views shown on the left. The axial progression of recursive branching shown in Figure 18 may comprise one or more features described above with respect to split branched division 910 shown in Figure 9D.

[0334] The first cross-sectional view 1802 at a first axial position shows the mechanical transmission zone before formation of gaps / tears (the base portion of the branched division). In the example shown, the mechanical transmission zone is formed around one or more inner zone(s) and comprises six mechanical carriages extended orthogonal to the transverse plane and radially distributed along a line in the corresponding transverse plane. The second and third cross-sectional views 1804, 1806 at second and third axial positions above the first axial position show formation of a tear in the mechanical transmission zone toward the inner zones dividing the mechanical transmission zone into two zone portions, e.g., left and right zone portions, where three cables are located in the left zone portion and three cables are located in the right zone portion. The fourth cross-sectional view 1808 at fourth axial position above the third axial position shows that the inner zone(s) are divided into two separate zones or two zonal regions and some of the cables (e.g., one cable in left zone portion and two cables in the rightzone portion) are rerouted to different angular and radial positions in preparation for regrouping the cables within the branches. The fifth cross-sectional view 1810 at fifth axial position above the fourth axial position shows that the gaps between two zonal portions of the mechanical transmission zone have grown larger, the distance between the two separated inner zones has increased and the cables, previously rerouted, are further rerouted such that two cables previously located in the right zone portion are placed in the left zone portion and one cable previously located in the left zone portion is placed in the right zone portion. The sixth cross- sectional view 1812 at a sixth axial position above the fifth axial position, shows that the two zonal portions are transformed into two separate, e.g., left and right, mechanical transmission zones and the cables are regrouped such that the left mechanical transmission zone contains four cables and the right mechanical transmission zone contains two cables, where two of the cables in the left zone were on the right side in the base portion of the branch and one of the cables in the right zone was on left side in the base portion of the branch. The seventh cross-sectional view 1814 at a seventh axial position above the sixth axial position, shows that the two mechanical transmission zones are completely separated and displaced with respect to each other such that each is located in one of the branches of the branched division shown on the left.Thermal Management

[0335] In some embodiments, conveyance of a thermal management utility may comprise conveying a fluid or solid channel configured to transfer thermal energy into or out of a gadget or in general a region of a robotic system. In various embodiments, conveyance of thermal management utility may heat or cool a portion of a robotic system to maintain the temperature of that portion within an operation temperature range for the gadgets used by the robotic system. In some embodiments, the conveyance apparatus for thermal management utility may comprise an open or closed system. The specific solid or fluid channel used for thermal management and whether an open or closed system should be used may depend on characteristics of the robotic system and the layered robotic system and an environment within which the robotic system is designed to operate. In some examples, a closed thermal management conveyance apparatus may be hermitically sealed (e.g., include hermetically sealed fluidic channels). In some examples, an open thermal management conveyance apparatus may be a non-hermitically-sealed system.

[0336] In various embodiments, thermal energy (e.g. heat) may be transferred through various physical processes and mechanisms including, but not limited to: conduction, convection, or other specialized mechanisms tailored to conform with characteristics of a robotic system (e.g., chemical reactions, latent heat transfer through phase transitions, quantum mechanicalphenomena like second sound, and the like). The transport apparatus for conveying thermal transport and management utility may comprise different types of carriages and relays comprising fluidic or solid channels or a combination thereof. In some embodiments, thermal management may comprise two cycles, e.g., a consumption cycle wherein thermal energy is exchanged between a substance or medium and a gadget or a region of the robotic system whose temperature is controlled and a return cycle wherein a substance or medium exchanges thermal energy with the surrounding environment or a heating / cooling element such that it can be used for a subsequent consumption cycle. In some such embodiments, the transport apparatus used for conveying a thermal transport and management utility may comprise a return apparatus to return a thermally consumed substance to a sink for recycling, reuse, or disposal. In some embodiments, the two cycles may utilize different conveyance mechanisms.

[0337] In some embodiments, thermal management may be conveyed using convection where heat is transferred through the movement (e.g., bulk movement) or flow of a fluid from a port or a utility source (e.g., a fan, a pressurized cylinder, a pump, or received from an adjacent link, heater, and the like) to a port thermally coupled to a gadget (e.g., positioned in the flesh) to cool or heat the gadget, and then to a sink. In various embodiments, the port may be housed within the same or different links of a robotic system. In some embodiments, a media or substance used in a convective thermal management conveyance apparatus may include, but not be limited to, air, a gas mixture different from air, a gas (e.g., freon or nitrogen), and the like. In some embodiments, accessories and devices of a convective thermal management conveyance apparatus may include, but not be limited to, check valves, pressure reducers, filters, inline pressure boosters, and the like. In various embodiments, a fluid that has been thermally utilized (e.g., exchanged thermal energy with a gadget) may flow through a return or an exhaust path, depending on the specific arrangement of a thermal management conveyance apparatus of the robotic system and type of fluid (among other factors). In some cases, the fluid flow in a convective thermal management conveyance apparatus may be terminated (sunk) locally to an exhaust / outlet connected to an external environment with respect to the layered robotic system (e.g., through an opening in the shell or skin) or a waste compartment for offline cleaning and / or eventual replacement, or may be provided to a recirculation device that can clean, cool, heat, or otherwise prepare the fluid for another cycle and provide it back to a the fluidic circuit of the thermal management conveyance apparatus (e.g., via a port). In some embodiments, the fluid flow in a convective thermal management conveyance apparatus may be recursively sunk to an upstream or downstream link for usage in a similar or different thermal management conveyanceapparatus, which, in some cases, may be connected to, or be a part of, the thermal management conveyance apparatus of the original link.

[0338] In some embodiments, thermal management may be conveyed using conductive heat transport through a material, substance, or a medium comprising a high level of heat conductance without any bulk movement or mass transport. In various examples, the medium used for conductive heat transport may comprise a solid, stagnant fluid, or a combination thereof. In some implementations, a conductive thermal management conveyance apparatus may comprise a thermal source (e.g., a heat generating gadget), a heat sink (e.g., a cooling or heat dissipating gadget), and a thermal path established between the heat source and the heat sink by a conductive medium that is extended axially along the thermal management zone (within the bone layer) and radially from the thermal management zone to the heat source ad heat sink. In some examples, thermal connection between the thermal source (or the heat sink) and a relay of the thermal management transport apparatus may be provided by a port of the thermal management access apparatus. In some embodiments, thermal management may be conveyed using a combination of conductive, convective and / or other specialized heat transfer mechanisms (e.g., heat pipes which use a combination of conduction, convection and phase transition) and may be handled in a substantially similar way as one of the solid or fluidic conveyances discussed herein.

[0339] In some examples, a heat dissipating gadget may comprise plates, extrusions (like needles, fins, or bellows commonly found in commercial heat sinks), sheets (e.g., film), or other shape, depending on the level of heat dissipation and the structure and shape of a corresponding portion of the robotic system. In some examples, thermally conductive medium used for heat transfer and fabrication of heat dissipating gadgets may comprise metals, ceramics, graphite, or other materials having a high level of thermal conductivity and other characteristic that may facilitate, simplify, or reduce the cost of forming a conductive heat transport channel between two locations. In some examples, a heat generating gadget may include a microcontroller, a microprocessor, a motor, a heating filament, or other elements used for generating heat, controlling heat flow, controlling temperature, or supporting safe operation of the heat generating gadget, and the like.

[0340] In various embodiments, a convective or conductive thermal management apparatus may be used for one or both heating and cooling gadgets in a layered robotic system. In some embodiments, for heating, the heating element can be thermally coupled to or serve as a source, and the gadget receiving heat can be thermally coupled to or serve as a sink; for cooling,the cooling element can be thermally coupled to or serve as a sink, and the gadget being cooled can be thermally coupled to or serve as a source.

[0341] Figures 19A-19C schematically illustrate a portion of a layered robotic system comprising a thermal management zone that uses convective heat transport for conveyance of a thermal management utility. Figure 19A shows a cross-section view of the corresponding division in a transverse plane depicting the zonal arrangement and the position of thermal management zone 608 with respect to other zones within a nested structure where a fusion zone 614 surrounds the thermal management zone 608, a control and signaling zone 612 surrounds the fusion zone 614, and a staging zone 616 surrounds the control and signaling zone 612. In the example shown, a thermal management utility may thermally manage (e.g., cool) one or more gadgets (not shown) that reside in the flesh layer (e.g., in the tissue layer 1908 between the staging zone 616 and the shell layer 1910) by routing convective air flow 1904 (e.g., flowing axially) through a channel axially extended within the thermal management zone 608 and relayed to the one or more gadgets via one or more relay channels (e.g., air flow conduits) 1906 that may be substantially extended along radial directions at different angles. A relay channel 1906 may pass through the intervening zones of the bone layer to reach a portion of the tissue layer 1908 where one or more gadgets that require thermal management (e.g., cooling) are positioned. In some examples, the relay channel 1906 may be captured and supported by a mount in staging zone 616. The staging zone 616 can be configured to support or facilitate an interface between the relay channel 1906 and the gadget (e.g., using one or more accessories connected to the staging zone 616). In some cases, once the air (e.g., cooled air) comes into contact with the gadget, it becomes exhaust air (e.g., warmed air) and may be exhausted through a part of the shell layer to a surrounding environment. In some examples, the thermal management apparatus shown in Figures 19A-19C can be a non-hermetically-sealed system. Figure 19B shows a vertical cross-sectional view (e.g., within a sagittal or frontal plane), and Figure 19C shows a 3D view of a portion of the thermal management apparatus shown in Figure 19A.

[0342] In some embodiments, to connect thermal management zones of two links that are coupled or connected by a joint, the conveyance apparatus (e.g., the channels that direct a fluid along the links) may be rearranged near the joint to avoid interference between the joint structure (and corresponding mechanical accessories) and the crossover of the thermal management utility (e.g., flow of fluid) across the joint. In some embodiments, near the joint, larger channels or vents extended within the thermal management zone leading into the joint may be spatially confined into one or more regions in the thermal management zone closer to the joint such that the fluid flow can hermetically cross over the joint via a number of conduits (e.g., flexibletubes) configured to provide a hermetic fluidic connection between the fluidic channels of the two different links without limiting the movement or range of motion of the joint. Figures 20A-20B schematically illustrate an example embodiment of a joint crossover configuration for transporting thermal management utility (e.g., cooling) over a joint (e.g., a movable joint). Figure 20A shows a 3D view of a portion of the thermal management conveyance apparatus close to a joint (e.g., a socket of a joint) within a link depicting transverse cross sections of the fluidic channels (e.g., air flow ducts) of the thermal transport apparatus at three different axial positions 2004a, 2004b, and 2004c along the link. In the example shown, two fluidic channels (or ducts) 2002a, 2002b that occupy nearly the entire thermal management zone at first axial position 2004a away from the joint may be gradually confined to two smaller regions of the thermal management zone at a second axial position 2004b and to two nearly-circular regions at a third axial position 2004c very close or right before the joint such that they can be hermetically connected to two tubes 2006a, 2006b (e.g., flexible tubes), configured to hermetically transmit the thermal utility (e.g., cooled air) across the joint to the subsequent link. As shown, the original channels (e.g., ducts 2002a, 2002b are gradually narrowed to funnel air toward the crossover channels (e.g., flexible tubes to maintain pressure and continue flow while allowing the link to move (e.g., rotate) with respect to the joint or other link that receives the air flow. Figure 20B schematically illustrates a cross-sectional view of another example thermal management zone in a transverse plane at an axial position close to or right before a joint, depicting confinement of the corresponding fluidic channels into three nearly-circular regions such that they can be hermetically connected to three flexible tubes that cross over the joint to a subsequent link.

[0343] In some embodiments, a thermal utility may be provided by positioning the thermal management source (e.g., a heat generating gadget) or a sink (e.g., an exhaust, a cooling gadget, a thermal connection with the surrounding environment, or a heat sink) in the flesh layer of a layered robotic system close to a target (e.g. a gadget that needs cooling or heating) without using a carriage and utility transport through the bone layer. Figure 21 A schematically illustrates an example of such embodiments depicting an arrangement 2102 for thermally managing (e.g., cooling) a target 2112 (e.g., a heat generating gadget) located in the flesh layer 12 using a sink 2108 (e.g., heat sink) placed in the flesh layer 12 near the target 21 12 and closer to an interface between the flesh layer 12 and the surrounding environment. In some examples, a target 21 12 and a sink 2108 (e.g., heat sink) can be thermally connected by a thermal transport channel 2110a (e.g., a thermal conductor or a fluidic channel) 2110a. In some embodiments, a (e.g., heat sink) 2108 that actively exchanges thermal energy with the target 2112 (e.g., an electrically poweredcooler) may receive a utility (e.g., electric power) from a zone in the bone layer via a relay 2113 (e.g., an electric wire).

[0344] For example, a thermoelectric cooler (TEC) may be placed in the flesh layer 12 and positioned such that its cooling side is in thermal contact with a heat generating gadget (e.g., an electronic circuit that may comprise a microprocessor), which in this example is the target 2112, through a thermally conductive medium (e.g., thermal paste), which in this example is the thermal transport channel 21 10a, and its hot side is thermally connected or exposed to a surrounding medium.

[0345] Figure 21 B schematically illustrates an example of a convective thermal utility conveyance arrangement 2104 for thermally managing (e.g., cooling) a target 21 12 (e.g., a heat generating gadget) located in the flesh layer 12 within a link. In this arrangement, the target 2112 receives thermal utility from a source 21 14 (e.g., cooling gadget) configured to transmit thermal utility (e.g., cooling or heating) via relays and a carriage channel 2110b passing through a thermal management zone in the bone layer 10. In various implementations, the source and target may be placed in the same link (at two different axial positions, or at different angular positions at the same axial position) or in different links. In this embodiment, a fluid flow 2115 that is used for thermal transport may be received by the source 2114 from a reservoir or surrounding environment and after interacting with the target 21 12 may be exhausted out of the flesh layer 12. As such, the thermal utility conveyance arrangement 2104 comprises an open system. For example, the source 2114 may comprise a fan that ingests air from the surrounding medium and generates an air flow that is provided to the target 21 12 via the channel 21 10b (e.g., a duct axially extended in the bone layer 10) and exhausted out of the flesh layer 12 after thermally interacting with (e.g., absorbing heat from, and thereby cooling) the target 2112.

[0346] In various examples, solid conveyances may either be fully solid or may have a solid exterior and any kind of interior. For example, heat pipes (which use an internal convective mechanism) would still fall under the solid conveyance category since they have a solid exterior. Given the typically rigid nature of such conveyances, their crossover across joints may not be feasible, but crossover is certainly a possibility as less rigid (but thermally efficient) conductive mechanisms are invented. Alternatively, such a conveyance could be coupled with convective conveyances to navigate the crossovers. In the absence of crossovers, the access apparatuses of solid conveyances may reside on the same link. In various implementations, solid conductive conveyances include (but are not limited to): heat pipes (even through these include a convective mechanism within), flat heat sinks, thermally superconductive material, and the like.

[0347] Figure 21 C schematically illustrates an example of a conductive thermal utility conveyance arrangement 2106 for thermally managing (e.g., cooling) a target 21 12 (e.g., a heat generating gadget) located in the flesh layer 12 within a link. In this arrangement, the target 2112 is thermally connected to a sink 2108 (e.g., cooling gadget or a cooled zone) configured to exchange thermal energy with the target 21 12 via relays and a carriage channel 211 1 passing through a thermal management zone in the bone layer 10. In various implementations, the source and target may be placed in the same link (at two different axial positions, or at different angular positions at the same axial position) or in different links. In this embodiment, the relays and the carriage channel 2111 may comprise a solid medium having a high thermal conductivity that allows the heat to flow between the target 2112 and the sink 2108 via thermal conduction. In some examples, sink 2108 may comprise an electric cooling device (e.g., a TEC) and may receive electric power via a relay 2113 (e.g. a wire) from a power zone in bone layer 10.

[0348] Figure 21 D schematically illustrates an example of a hybrid thermal utility conveyance arrangement 21 16 (e.g., using a combination of thermal conduction and convection conveyances in conjunction) for thermally managing (e.g., cooling) a target 2112 (e.g., a heat generating gadget) located in the flesh layer 12 within a link. In this arrangement, the target 2112 is thermally connected to a source 21 18 (e.g., a gadget that provides a fluidic flow) and to a sink 2120 (e.g., a cooling gadget that cools a fluid), via two separate thermal channels 2124, 2126 respectively, passing through the bone layer 10. In some cases, a local heat sink 2117 may thermally connect the target 2112 to the source 21 18 and sink 2120. For example, the local heat sink 21 17 may be thermally managed (e.g., cooled) by a fluidic flow provided by the source 2118 and sink 2120 via thermal channels 2124, 2126, respectively. In some implementations, the source 2118 and the sink 2120 may be placed close to each other within a first section 21 15a of a layered robotic system and the target 2112 (e.g., a heat generating gadget) and local heat sink2117 (e.g., heat sink) may be placed within a second section 2115b axially separated from the first section 2115a. In some embodiments, sink 2120 may be configured to exchange thermal energy with a fluid, and the source 21 18 may be configured to provide fluid flow. The source2118 and sink 2120 may receive a utility (e.g., electric power) via relays 21 13 (e.g., electric wires) from a zone in bone layer 10. For example, sink 2120 may comprise an electrically powered cooler that cools a hot fluid received from the local heat sink 2117 via the hot thermal channel 2126, cools the hot fluid, and then provides that cooled fluid back to the source 2118. In some cases, source 21 18 may pump the cooled fluid back to the local heat sink 2117 via the cold thermal channel 2124. In various cases, the first and second sections 2115a, 2115b can be in the same or different links. In some embodiments, the source 2118 and sink 2120 may form first portion2122a of the thermal conveyance apparatus and the target 2112 and local heat sink 2117 may form a second portion 2122b of the thermal conveyance apparatus, where the first and second portions 2122a, 2122b are thermally connected by the thermal channels 2124, 2126 to form the thermal conveyance apparatus.

[0349] Figure 22 schematically illustrates cross-sectional views of a zonal portion of a split branched division comprising a thermal management zone (e.g., comprising fluidic channels) within eight transverse planes at eight different axial positions depicting axial progression of an example embodiment of recursive (split) branching of the thermal management zone in the corresponding split branched division. In the example shown, the split branched division has a branching ratio of 1 :2. The axial progression of recursive branching shown in Figure 22 comprises one or more features described above with respect to Figure 18 and Figure 9D.

[0350] The first cross-sectional view 2202 at a first axial position shows the thermal management zone before formation of gaps / tears (the base portion of the branched division). In the example shown, the thermal management zone is formed around one or more inner zone(s) and may comprise four separate fluidic channels along the axial direction, each at a different angular position around the thermal management zone. The second cross-sectional view 2204 shows a second axial position above the first axial position wherein the two fluidic channels on the left may be merged to form a left single fluid channel and the two fluidic channels on the right may be merged to form a right single fluidic channel. The third cross-sectional view 2206 at a third axial position above the second axial position shows formation of a tear (e.g., in the radial direction) in the thermal management zone toward the inner zones. The fourth cross-sectional view 2208 at a fourth axial position above the third axial position shows splitting of each of the left and right single fluidic channels into two sections and enlargement of the tear both in the angular direction and radial direction toward the inner zone(s) surrounded by the thermal management zone. As a result, the thermal management zone is divided into two zone portions (e.g., left and right zone portions), wherein two fluidic channels are located in the left zone portion and two fluidic channels are located in the right zone portion. The fifth cross-sectional view 2210 at a fifth axial position above the fourth axial position shows that the inner zone(s) are divided into two separate zones or zonal regions (e.g., each comprising several nested zones), wherein each of the two separated zones is located in one of the zone portions formed by splitting the thermal management zone. The sixth cross-sectional view 2212 at a sixth axial position above the fifth axial position shows that the two zonal portions are further separated, the distance between the two separated zones has increased, and the fluidic channels within each zone portion are extended around two angular positions (e.g., at 0 and 180 degrees). The seventh cross-sectionalview 2214 at a seventh axial position above the sixth axial position shows that the two thermal management zones are completely separated as two separate thermal management zones and displaced with respect to each other such that each is located within one of the branches of the branched division. The eighth cross-sectional view 2216 at an eighth axial position above the seventh axial position shows that each of the two fluidic channels of at least one of the separated thermal management zones in one of the branches are divided into separate fluidic channels into a total of four fluidic channels. In this example, the thermal management zone in each of the branches has substantially the same inner zonal structure and the same number of fluidic channels as the thermal management zone in the base portion of the branched division (shown in the first cross-sectional view 2202). However, in other embodiments, the thermal management zone in the branches may have a substantially different inner zonal structure with either a higher or lower number of fluidic channels compared to the thermal management zone in the base portion of the branched division.

[0351] In some embodiments, a split branched division may have the same zonal arrangement at the first, second, and third axial positions shown in FIG. 22. In other words, the thermal management zone may comprise four separate fluidic channels along the axial direction, each at a different angular position around the thermal management zone, when the tear is formed at the third axial position.

[0352] In some embodiments, the thermal management zone shown in Figure 22 may comprise carriages of convective thermal management conveyance apparatus (e.g., carrying cooling air). In various embodiments, the recursive branching progression described above with respect to split branching of a thermal management zone may be used to split a hermetic or non- hermetic thermal management zone. In some embodiments, this progression may be used to split a conductive (i.e., conduction based) thermal management zone. It should be understood that the cross-sectional views shown in Figures 18 and 22 are examples that show some of the features of the progression and may not be indicative of a stepwise, discretized progression. The progression from a single zone to multiple zones may occur gradually and continuously along the axial direction.Fastening & Framing

[0353] In various embodiments of a layered robotic system, fastening may be provided as a utility across a robotic system to mechanically fasten (e.g., connect, attach, couple, secure), radially or axially (or as a combination thereof), directly or indirectly, a component or a set of components, to each other, the layered robotic system, or both. In some embodiments,these components may include, but not be limited to, a gadget, a mount / rig, a relay, a carriage, a layer (e.g., shell or bone), zones, divisions, zone fragments, division fragments, accessories, portions or sections of the layered robotic system. In some embodiments, a fastening zone (within a division) may be configured to provide framing - that is, rigidity (or semi-rigidity), mechanical support / stability, structure, compactness, or the like, or a combination thereof - across at least a portion of the layered robotic system, to the components of the layered robotic system, and use fastening conveyances to radially and axially fasten the aforementioned components, directly or indirectly, to the zone. In some examples, a fastening zone may comprise an extended (e.g., radially, axially or both) rigid or semi-rigid material (e.g., the material of the zone itself), a mechanical substructure (e.g., chassis) that is embedded into (or along) the zone, or the like, or a combination thereof, which may be referred to as a fastening carriage, to provide fastening (and framing) by serving as the carriage for fastening relays (also generally called fastening conveyances, or just fasteners) relayed (e.g., radially, axially, or the like) from a fastening carriage to other parts of the layered robotic system (e.g., axial fragments, divisions, radial fragments, zones, gadgets, etc.).

[0354] In some embodiments, a fastening utility may be provided from a fastening zone (i.e., fastening carriage) via a rigid, semi-rigid, or flexible conveyance. In some embodiments, fastening conveyances may include, but not be limited to, screw-nut pairs, snap- fits, tethers (e.g., tie-downs, ropes, zip ties, elastics, etc.), magnets, adhesives and the like. In various embodiments, fastening of one or more components (e.g., a sequence of zones, divisions, fragments, mounts, gadgets or combinations thereof) may comprise one or more fastening conveyances (e.g., multiple screw-nut pairs, multiple tethers, or the like, or combinations thereof) distributed across the zones which collectively provide the fastening utility. In some examples, the fastening conveyance used depends on the rigidity of the zone, the component(s) being fastened, the fastening distance, the force used, and the like, or a combination thereof. In some embodiments, fastening accessories, relays / carriages or the fastening zones may have various levels of deformability, rigidity, and / or elastic properties from highly flexible to highly rigid, depending on the fastening needs. For example, in some cases a fastening element, relay / carriage or the fastening zone may comprise a shock-absorbing material and / or a shockabsorbing mechanism.

[0355] In some embodiments, a fastening zone may be configured to allow a utility relay (e.g., wire, cables, tubing, other fastening conveyance, etc.) from a zone on one side (e.g., an inner mechanical transmission zone) to extend unhindered over to the other side, either to another zone (e.g.,) or to the flesh (e.g., a gadget within the flesh layer).

[0356] In some embodiments, multiple fastening zones may be attached to each other to extend the fastening distance and / or the span of the frame.

[0357] In some embodiments, a fastening utility may not be conveyed (crossed over) across a movable joint, however it may be conveyed (crossed over) across a fixed joint.

[0358] In various embodiments, a zone of the bone layer that provides a fastening utility may be referred to as a fastening zone (for example, a radial fastening zone or an axial fastening zone). In some embodiments, a fastening utility provided in a net radial direction may be referred to as radial fastening utility, and the corresponding fastening zone called a radial fastening zone (also called anchor zone). In some embodiments, a fastening utility provided or conveyed in a net axial direction may be called an axial fastening utility, and the corresponding fastening zone called an axial fastening zone (also called fusion zone). In some embodiments, a fastening utility provided in one or both of net radial and net axial directions may be called a staging utility, and the corresponding fastening zone called a staging zone.Radial fastening

[0359] In some embodiments, radial fastening, radial fastening utilities, and radial fastening zones may comprise one or more features described above with respect to fastening (and framing), fastening utilities and fastening zones, respectively. In some embodiments, radial fastening may comprise a mechanism that radially or semi-radially (e.g. at an angle with respect to the radial direction) fastens zones, zone fragments, radial mounts, gadgets (e.g., sensors, actuators, joints, etc.), and / or layers (e.g., a bone) to one another. In some examples, a radial fastening zone (also called anchor zone) may be configured to fasten (frame, mechanically support) a mount, a gadget, other zones, accessories, and the like, via one or more radial fastening mechanisms. In other words, various components of the robotic system may be radially fastened to the anchor zone. In some cases, a layered robotic system may comprise multiple anchor zones located at different radial positions of the zonal structure of a division. In some such cases, two or more of these anchor zones may be radially fastened to each other. In some examples, a first anchor zone may provide greater rigidity than a second anchor zone, and the first and second anchor zones may be radially fastened together to provide support to the second anchor zone. In some examples, the first anchor zone may be at an inner radial position of a division, and the second anchor zone may be at an outer radial position of the division. In some examples, the first anchor zone may be at an outer radial position of a division, and the second anchor zone may be at an inner radial position of the division.

[0360] In some embodiments, a plurality of anchor zones at different radial positions of the zonal structure (that is, with one or more other zones in between) may be radially fastened to each other to distribute rigidity across a bone. For example, 15 radial fastening elements (conveyances) could be split across 3 zones (e.g., 5 conveyances per zone), with each zone radially proceeded by a subset of the remaining zones, radial fragments, or combinations thereof, which are radially fastened to it. In some cases, a subsequent anchor zone may be radially fastened to another (inner or outer) anchor zone. In such cases, radial fastening elements (conveyances) may span shorter radial distances because the framing support is staggered across the participating anchor zones. In some examples of staggered anchor zones, intermediary zonal fragments or other accessories may be radially fastened to either an inner or an outer anchor zone.

[0361] In some examples, a single radial fastening conveyance may radially attach one or more zones, radial fragments, or a combination thereof, to an anchor zone. For example, a radial fastening conveyance (also called a radial fastening element) may comprise a screw and nut pair where the nut may be immovably secured within the anchor zone, and the screw may serve as a relay that may extend through one or more zones and fasten those zones together.

[0362] In some examples, relays of a radial fastening conveyance apparatus may terminate either within the bone or within the flesh (e.g., ...

Claims

WHAT IS CLAIMED IS:1 . A layered robotic system for conveyance of utilities accessed by gadgets and mounting of the gadgets in a robotic system, the layered robotic system comprising: a bone layer comprising a plurality of zones axially extending in the bone layer, each zone of the plurality of zones comprising a carriage, the carriage configured to axially convey a utility, wherein at least two zones of the plurality of zones are nested such that a first zone of the at least two zones is enclosed by a second zone of the at least two zones; a tissue layer positioned about the bone layer; a shell layer positioned about the tissue layer, the shell layer configured to at least partially insulate the tissue layer; and a skin layer positioned about the shell layer, wherein the skin layer is flexible, wherein a gadget is positioned at least partially in the tissue layer, the shell layer, or the skin layer, the gadget connected to at least one zone of the plurality of zones via a relay, the relay configured to radially convey the utility of the at least one zone between the gadget and the at least one zone, the utility of the at least one zone configured to be accessed by the gadget to perform a function of the layered robotic system.

2. The layered robotic system of claim 1 , wherein the utility of the first zone is radially conveyed through the second zone to the tissue layer.

3. The layered robotic system of claim 1 or 2, wherein the utility of the at least one zone is connected to another gadget, the other gadget configured to provide the utility to the at least one zone that is accessed by the gadget to perform the function of the robotic system.

4. The layered robotic system of any one of the preceding claims, wherein the at least one zone includes the utility and another utility, wherein the at least one zone is split into at least one other zone, wherein the utility is axially conveyed in the at least one zone and the other utility is shifted from the at least one zone to be axially conveyed in the at least one other zone.

5. The layered robotic system of any one of the preceding claims, wherein the utility comprises electrical power, control and signaling, heat transfer, fluid transfer, or mechanical transmission.

6. The layered robotic system of any one of the preceding claims, wherein a shape or a cross-sectional size of each zone of the plurality of zones depends on a type of the utility of the corresponding zone.

7. The layered robotic system of any one of the preceding claims, wherein the utility of the at least one zone expands or contracts within the at least one zone along an axial extent of the at least one zone.

8. The layered robotic system of any one of the preceding claims, wherein the bone layer is configured to house at least one gadget of the robotic system.

9. The layered robotic system of any one of the preceding claims, wherein the shell layer is configured to house at least one gadget of the robotic system.

10. The layered robotic system of any one of the preceding claims, wherein the relay is configured to convey the utility unidirectionally between the gadget and the at least one zone.11 . The layered robotic system of any one of the preceding claims, wherein the relay is configured to convey the utility bidirectionally between the gadget and the at least one zone.

12. The layered robotic system of any one of the preceding claims, wherein the bone layer is relatively rigid relative to the tissue layer, the shell layer, and the skin layer to provide structural support to the layered robotic system.

13. The layered robotic system of any one of the preceding claims, wherein the utility of the first zone is different from the utility of the second zone.

14. The layered robotic system of any one of the preceding claims, wherein the utility of the first zone is a same type of utility as the utility of the second zone.

15. The layered robotic system of any one of the preceding claims, wherein the first zone is configured to provide structural support to the layered robotic system, the second zone connected to the first zone to provide structural support to the second zone.

16. The layered robotic system of any one of the preceding claims, wherein the second zone is configured to provide structural support to the layered robotic system, the first zone connected to the second zone to provide structural support to the first zone.

17. The layered robotic system of any one of the preceding claims, wherein the second zone is connected to the first zone via a fastener radially extending from the second zone to the first zone.

18. The layered robotic system of any one of the preceding claims, wherein the gadget is connected to the second zone to position the gadget within the tissue layer.

19. The layered robotic system of any one of the preceding claims, wherein the utility of the at least one zone comprises control and signal wires, wherein the at least one zone comprises channels in serpentine pattern, wherein the control and signal wires are conveyed through the channels.

20. The layered robotic system of any one of the preceding claims, wherein the second zone comprises an opening, the first zone extending through the opening of the second zone to branch the first zone from the second zone.

21. The layered robotic system of any one of the preceding claims, further comprising padding between the first zone and the second zone.

22. The layered robotic system of any one of the preceding claims, wherein the first zone is separate from the second zone.

23. The layered robotic system of any one of the preceding claims, wherein the first zone is separated from the second zone by a wall.

24. The layered robotic system of any one of the preceding claims, wherein the at least one zone is fragmented into a first fragment and a second fragment, wherein the first fragment and the second fragment are connected via a fastener, wherein the fastener comprises a first fastener portion secured to the first fragment and a second fastener portion secured to the second fragment, and wherein the fastener is elastic to provide a force against the first and second fastener portions to provide a tensioning force between the first and second fragments.

25. The layered robotic system of any one of the preceding claims, wherein the utility of the at least one zone is split to be axially conveyed in the at least one zone and to be axially conveyed in at least one other zone of the plurality of zones.

26. The layered robotic system of claim 25, wherein the utility is duplicated in the at least one other zone relative to the utility in the at least one zone.

27. The layered robotic system of any one of the preceding claims, wherein the gadget is connected to the bone layer via a mount, the mount secured to the bone layer and comprising the relay for conveying the utility of the at least one zone between the gadget and the at least one zone.

28. The layered robotic system of claim 27, wherein the mount is secured to the bone layer via a fastener extending from the mount to the bone layer.

29. The layered robotic system of any one of the preceding claims, wherein the first zone comprises a first channel housing the carriage of the first zone.

30. The layered robotic system of claim 29, wherein the second zone comprises a second channel housing the carriage of the second zone.

31. The layered robotic system of any one of the preceding claims, wherein the at least one zone is fragmented into a first portion and a second portion, wherein the utility of the at least one zone comprises a cable for providing kinematic motion for the robotic system, wherein a pulley is positioned between the first portion and the second portion and configured to direct thecable between the first portion and the second portion in a radial direction with the cable axially conveyed between the first portion and the second portion.

32. The layered robotic system of claim 31 , wherein the pulley is configured to direct the cable in a radial direction with the at least one zone branching into two zones.

33. The layered robotic system of any one of the preceding claims, wherein the second zone is connected to the first zone via a fastener.

34. The layered robotic system of claim 33, wherein the fastener comprises a snap fit configured to connect the first and second zones.

35. The layered robotic system of any one of the preceding claims, wherein the utility of the second zone comprises a cable for providing kinematic motion for the robotic system, wherein the second zone comprises a first pulley and a second pulley configured to direct the cable in a radial direction in the second zone, wherein the second zone comprises a third pulley between the first pulley and the second pulley, the third pulley configured to direct the cable about the first zone in the radial direction.

36. The layered robotic system of any one of the preceding claims, wherein the utility of the second zone comprises a cable for providing kinematic motion for the robotic system, wherein the second zone comprises a pulley configured to tension the cable.

37. The layered robotic system of claim 36, wherein the pulley is positioned on a track configured to provide movement to the pulley along the track for the pulley to tension the cable.

38. The layered robotic system of any one of the preceding claims, wherein each zone of the plurality of zones comprises a plurality of utilities.

39. The layered robotic system of claim 38, wherein a shape or a cross-sectional size of each zone depends on a number of the plurality of utilities of the corresponding zone.

40. The layered robotic system of any one of the preceding claims, wherein the bone layer comprises two bone divisions axially extended between two axial positions, wherein a first bone division comprises the plurality of zones and a second bone divisions comprises a second plurality of zones having an additional zone compared to the plurality of zones.41 . The layered robotic system of claim 40, wherein the additional zone of the second bone layer is connected to the least one zone of the first bone division via another relay, the other relay configured to radially convey the utility between the at least one zone of the first bone division and the additional zone of the second bone division.

42. The layered robotic system of claim 40 or 41 , wherein the first and second bone divisions are connected to each other bone via a mount, the mount comprising the other relay, the mount configured to secure the second bone division to the first bone division.

43. The layered robotic system of any one of claims 40 to 42, wherein the first bone division is connected to the second bone division via a mount, the mount configured to secure the second bone division to the first bone division.

44. The layered robotic system of any one of the preceding claims, wherein the plurality of zones comprises a fluid transport zone, wherein the fluid transport zone comprises a fluid carriage for conveying a utility comprising fluid transport, and wherein the fluid carriage comprises a fluid channel configured to convey a volume of a fluid from a first axial position to a second axial position along the fluid transport zone to change mass distribution across the layered robotic system.

45. The layered robotic system of claim 44, further comprising a connection to a surrounding environment and the fluid channel is configured to expel volume of the fluid from the layered robotic system to the surrounding environment.

46. The layered robotic system of claim 45, wherein the fluid channel extends in an axial direction along the fluid channel, and wherein a relay comprises another fluid channel connected to the fluid channel to allow a fluid flow between the fluid channel and the other fluid channel, the other fluid channel configured to expel volume of the fluid from the layered robotic system to the surrounding environment.

47. The layered robotic system of claim 46, wherein a T-junction connects the fluid channel and the other fluid channel, the T-junction comprising a valve configured to control one or both of a direction and / or a magnitude of fluid flow through the T-junction.

48. The layered robotic system of any one of the preceding claims, further comprising a second carrier configured to axially convey a second utility to a second gadget via the second relay, the second relay configured to convey the second utility between the second gadget and the second carrier.

49. The layered robotic system of claim 48, wherein the second gadget comprises a utility source configured to provide the second utility to second gadget via the second carrier.

50. The layered robotic system of claim 48 or 49, wherein a second relay is connected to a port positioned in the tissue layer and configured to receive the utility and convey the utility received by the port to the second gadget.51 . The layered robotic system of any one of the preceding claims, wherein the bone layer comprises a first bone section and a second bone section, wherein the first bone section is connected to the second bone section via a mount, the mount configured to secure the first bone section and the second bone section to each other to provide structural support between the first bone section and the second bone section.

52. The layered robotic system of claim 51 , wherein the mount is configured convey a utility between the first bone section and the second bone section.

53. The layered robotic system of claim 51 or 52, wherein the mount connects a side of the first bone section to the second bone section.

54. The layered robotic system of any one of claims 51 to 53, wherein the mount connects an axial surface of the first bone section to an axial surface of the second bone section to axially connect the first bone section and the second bone section.

55. The layered robotic system of any one of the preceding claims, wherein the utility of the at least one zone comprises mechanical transmission for providing kinematic motion in the robotic system and the carriage comprises a cable at least partially extended in the at least one zone and mechanically connected to a mechanical drive configured to receive a mechanical input from the cable and use the mechanical input to provide a mechanical output to at least one zone the plurality of zones.

56. The layered robotic system of claim 55, wherein the mechanical input comprises a force, torque, motion, or a displacement, and wherein the mechanical output comprises a modified force, torque, motion, or a displacement, respectively.

57. The layered robotic system of claim 55 or 56, wherein the mechanical drive is configured to provide two mechanical outputs to at least two zones of the plurality of zones, wherein the at least two mechanical outputs comprise portions of the mechanical input.

58. The layered robotic system of any one of claims 55 to 57, wherein the mechanical drive is positioned at least partially in the tissue layer.

59. The layered robotic system of any one of claims 55 to 58, wherein the mechanical drive is positioned at least partially in a joint between two divisions of the bone layer.

60. The layered robotic system of any one of the preceding claims, wherein the utility of the at least one zone comprises mechanical transmission for providing kinematic motion in the robotic system and the carriage comprises a cable at least partially extended in the at least one zone and mechanically connected to a tensioning idler configured to control a tension of the cable.

61. The layered robotic system of claim 60, wherein tensioning idler comprises a pulley mounted on translational or rotational stage configured to control the tension of cable by moving the pulley.

62. The layered robotic system of claim 60 or 61 , wherein at least one zone of the plurality of zones comprises a partitioned tube comprising one or both an angular partition formed by a radially extended wall and a radial partition formed by an angularly extended wall, wherein theangular and the radial partitions divide the tube into at least two axially extended channels separated by the radially extended wall or the angularly extended wall.

63. The layered robotic system of any one of the preceding claims, wherein the bone layer at least partially forms a first link, wherein the first link is connected to a second link via a joint configured to allow the first link to move relative to the second link.

64. The layered robotic system of claim 63, wherein a zone of the plurality of zones is configured to convey a fluidic flow via a fluid channel extended across at least a portion of the zone.

65. The layered robotic system of claim 64, wherein at least in the first link, the fluid channel is tapered along an axial direction from a first axial position to a second axial position, wherein the second axial position is closer to the joint relative to the first axial position.

66. The layered robotic system of claim 65, wherein across the joint the fluidic flow is carried by a flexible tube connected to the tapered end of the fluid channel in the first link, the flexible tube configured to flow fluid between the first and second links with the first and second links moving with respect to each other.

67. The layered robotic system of any one of the preceding claims, wherein the bone layer comprises at least two bone divisions comprising a plurality of carriages configured to carry one or more utilities through the two divisions, wherein the two bone divisions comprise a first bone division axially extended from a first end to a second end, and a second division is axially extended from the second end of the first division to a third end, wherein a plurality relays in the first division convey utilities between the carriages and the gadget.

68. The layered robotic system of claim 67, wherein a first utility conveyance is established between the gadget and a second gadget by a first carriage of the plurality of carriages via a first relay in the second division.

69. The layered robotic system of claim 68, further comprising a third division axially extending from the third end of the second division to a fourth end of the third division, wherein a second utility conveyance is established between the gadget and a third gadget by a second carriage of the plurality of carriages via a second relay in the third division.

70. The layered robotic system of claim 69, wherein a first and second utility conveyances comprise the same utility.

71. The layered robotic system of claim 69 or 70, wherein a first and second utility conveyances comprise different utilities.

72. The layered robotic system of any one of the preceding claims, wherein the at least one zone is fragmented for assembly of the at least one zone to form the at least one zone within the bone layer.

73. The layered robotic system of claim 72, wherein the at least one zone is axially fragmented.

74. The layered robotic system of claim 72 or 73, wherein the at least one zone is radially fragmented.

75. The layered robotic system of any one of claims 72 to 74, wherein the at least one zone is fragmented about a center of the at least one zone.

76. The layered robotic system of any one of claims 72 to 75, wherein the at least one zone is fragmented about along a diameter about the center of a fragment of the at least one zone.

77. The layered robotic system of any one of claims 72 to 76, wherein the at least one zone is fragmented into a first portion and a second portion, wherein the first portion comprises a first surface configured to connect to a corresponding surface of the second portion to engage the first portion with the second portion to at least partially form the at least one zone.

78. The layered robotic system of claim 77, wherein the first portion at least partially encloses the second portion.

79. The layered robotic system of any one of claims 72 to 78, further comprising padding positioned between fragments of the at least one zone.

80. The layered robotic system of any one of claims 72 to 79, wherein the fragmented at least one zone is assembled via at least one of a fastener, a snap fit, or a magnet.81 . The layered robotic system of any one of the preceding claims, wherein the utility of the at least one zone comprises thermal management of the gadget and the carriage, the relay comprise heat transport channels configured to transport heat between the gadget and different axial positions along the bone layer.

82. The layered robotic system of claim 81 , wherein the gadget is thermally connected one or both the relay and the carriage by a local heat sink positioned at least partially in the tissue layer and in contact with the gadget.

83. The layered robotic system of claim 81 or 82, further comprising a heat sink positioned in the tissue layer, and wherein the relay and the carriage are configured to thermally connect the gadget to the heat sink, wherein the heat sink is thermally connected to an environment surrounding the layered robotic system.

84. The layered robotic system of claim 83, wherein the gadget is positioned at a first axial position with respect to the layered robotic system, the heat sink is positioned at a second axial position different from the first axial position, and the gadget is thermally connected to the heat sink at least partially through the bone layer.

85. The layered robotic system of claim 83 or 84, wherein the heat sink comprises an electric cooling device.

86. The layered robotic system of claim 85, wherein the plurality of zones comprises a power zone configured to convey electric power and the electric cooling device is electrically connected to a carrier of the power zone via a relay.

87. The layered robotic system of claim 85 or 86, wherein heat transport channels comprise a thermally conductive material.

88. The layered robotic system of claim 87, wherein the electric cooling device comprises a thermoelectric cooler.

89. The layered robotic system of any one of claims 85 to 88, wherein the heat transport channels comprise tubes containing a fluidic flow.

90. The layered robotic system of claim 89, wherein electric cooling device comprises a heat exchanger.

91. The layered robotic system of any one of the preceding claims, wherein the second zone comprises a split in the second zone at a first axial position to split the second zone into a first split zone and a second split zone, wherein at a second axial position the first zone branches into a first branched zone and a second branched zone, and wherein the first split zone encloses the first branched zone and the second split zone encloses the second branched zone.

92. The layered robotic system of claim 91 , wherein the first zone branches into the first branched zone and the second branched zone at or after the split of the second zone.

93. The layered robotic system of claim 91 or 92, wherein the first zone branches into the first branched zone and the second branched zone in the second zone before the split of the second zone.

94. The layered robotic system of any one of claims 91 to 93, wherein the second zone is split into a third split zone, wherein the first zone branches into a third branched zone, and wherein the third split zone encloses the third branched zone.

95. The layered robotic system of claim 94, wherein the first zone branches into the third branched zone at or after the split of the second zone.

96. The layered robotic system of claim 94 or 95, wherein the first zone branches into the third branched zone in the second zone before the split of the second zone.

97. The layered robotic system of any one of claims 94 to 96, wherein a third zone of the plurality of zones encloses the second zone, wherein the third zone comprises a split in the third zone to split the third zone into a fourth split zone and a fifth split zone, and wherein the fourth split zone encloses the first split zone and the fifth split zone encloses the second split zone.

98. The layered robotic system of claim 97, wherein the third zone is split into a sixth split zone, wherein the sixth split zone encloses the third split zone.

99. The layered robotic system of any one of the preceding claims, wherein the bone layer comprises a plurality of bones interconnected via a plurality of joints and connector mounts.

100. The layered robotic system of claim 99, comprising a plurality of interconnected links, wherein an individual link comprises a bone of the plurality of bones and respective portions of the skin layer, the tissue layer, and the shell layer positioned about the bone.

101. The layered robotic system of claim 99 or 100, wherein at least one joint is a movable joint configured to allow two bones of the plurality of bones to be displaced or rotated with respect to each other.

102. The layered robotic system of any one of claims 99 to 101 , wherein a first bone is connected to second and third bones by a connector mount configured to provide utility connection between the first bone and the second and third bones.

103. The layered robotic system of claim 102, wherein the connector mount is configured to convey a first utility of a first zone of the first bone to a corresponding zone of the second bone.

104. The layered robotic system of claim 103, wherein the connector mount is configured to convey the first utility of a first zone of the first bone to a corresponding zone of the second bone via first carriage and to a corresponding zone of the third bone via a second carriage.

105. The layered robotic system of claim 103 or 104, wherein the connector mount is configured to convey a second utility of a second zone of the first bone to a corresponding zone of the second bone.

106. The layered robotic system of any one of the preceding claims, wherein a third zone of the plurality of zones is enclosed by the tissue layer, the third zone separate from the first zone and the second zone.

107. The layered robotic system of claim 106, wherein a fourth zone of the plurality of zones is enclosed by the tissue layer, wherein the fourth zone encloses the first zone, the second zone, and the third zone such that the first zone, the second zone, the third zone are nested within the fourth zone.

108. The layered robotic system of claim 106 or 107, further comprising a gap in the bone layer between the third zone and at least one of the first zone or the second zone.

109. The layered robotic system of any one of claims 106 to 108, wherein the utility of the third zone is radially conveyed via a relay into the second zone to be axially conveyed in the second zone.

110. The layered robotic system of any one of claims 106 to 109, wherein the utility of the second zone is radially conveyed into the third zone to be axially conveyed in the third zone.

111. The layered robotic system of any one of the preceding claims, wherein the utility of the first zone comprises providing rigidity to the bone layer, wherein a plurality of fasteners are connected to the first zone and radially extend through the second zone, wherein the plurality of fasteners are connected to a third zone of the plurality of zones, wherein a plurality of mount pedestals are connected to the third zone, and wherein at least one mount pedestal of the plurality of mount pedestals is configured to connect to the gadget.

112. The layered robotic system of claim 111 , wherein the utility of the third zone comprises supporting the plurality of mount pedestals in a desired position relative to the first zone.

113. The layered robotic system of claim 11 1 or 1 12, wherein the third zone comprises a mount plate at least partially about the second zone, the plurality of mount pedestals configured to connect to the mount plate.

114. The layered robotic system of claim 113, wherein the mount plate comprises a plurality of openings, wherein one or more utilities of the plurality of zones passes through the plurality of openings.

115. The layered robotic system of claim 1 14, wherein one or more of the plurality of fasteners pass through the plurality of openings.

116. The layered robotic system of any one of claims 1 11 to 1 15, wherein the tissue layer is positioned about the third zone.

117. The layered robotic system of any one of claims 11 1 to 116, wherein the plurality of fasteners and the plurality of mount pedestals radially extend up to the same radial extent relative to the first zone.

118. The layered robotic system of claim 117, wherein a mount cover is positioned at the same radial extent about the third zone, the plurality of fasteners and the plurality of mount pedestals radially extending through the mount cover.

119. The layered robotic system of claim 118, wherein the plurality of fasteners support the mount cover relative to the first zone.

120. The layered robotic system of claim 118 or 1 19, wherein the mount cover supports the plurality of mount pedestals.

121. The layered robotic system of any one of claims 1 18 to 120, wherein the mount cover comprises a plurality of openings configured to provide access to one or more utilities of the plurality of zones.

122. The layered robotic system of any one of claims 118 to 121 , wherein one of the plurality of mount pedestals is coaxially positioned in a corresponding fastener of the plurality of fasteners.

123. The layered robotic system of any one of claims 11 1 to 122, wherein one or more mount pedestals of the plurality of mount pedestals are elastic to provide a tensioning force between the first zone and the third zone.

124. The layered robotic system of any one of claims 111 to 123, wherein the first zone comprises a magnetic fastener and the third zone comprises a magnetic fastener, the first zone and the third zone connected via the magnetic fastener.

125. The layered robotic system of claim 124, wherein the second zone comprises a magnetic fastener, the first zone, the second zone, and the third zone connected via the magnetic fastener.

126. The layered robotic system of any one of the preceding claims, wherein the bone layer at least partially forms a link, wherein the link is connected to another link via a joint.

127. The layered robotic system of claim 126, wherein the joint is configured to allow the link to move relative to the other link.

128. The layered robotic system of claim 126 or 127, wherein the utility of the at least one zone comprises a cable configured to articulate the other link relative to the link.

129. The layered robotic system of any one of claims 126 to 128, wherein the joint comprises a mount connected to the link and another mount connected to the other joint.

130. The layered robotic system of claim 129, wherein the mount comprises a first rig connected to the other mount of the other link.

131. The layered robotic system of claim 130, wherein the other mount comprises a second rig connected to the first rig.

132. The layered robotic system of claim 131 , wherein the first rig comprises a plug connector and the second rig comprises a socket connector, the plug connector interfacing with the socket connector to at least partially form the joint.

133. The layered robotic system of any one of claims 130 to 132, wherein the mount comprises a third rig connected to the first rig, wherein the first rig moves the other link relative tothe link in one degree of freedom and wherein the third rig moves the other link relative to the link in another degree of freedom.

134. The layered robotic system of any one of claims 126 to 133, wherein the plurality of zones of the bone layer of the link are different from another plurality of zones of a bone layer of the other link, wherein the joint conveys one or more utilities of the plurality of zones to one or more utilities of the other plurality of zones to crossover utilities between the link and other link.

135. The layered robotic system of any one of the preceding claims, wherein the bone layer comprises one or more divisions.

136. The layered robotic system of claim 135, the one or more divisions comprises a first division and a second division configured to be assembled to at least partially form a bone of the layered robotic system.

137. The layered robotic system of claim 136, wherein the first division comprises a structural feature configured to connect to a corresponding structural feature of the second division such that the plurality of zones in the first division are aligned with the plurality of zones in the second division.

138. The layered robotic system of claim 137, wherein the structural feature of the first division and the corresponding structural feature of the second division are configured to radially align the first division with the second division.

139. The layered robotic system of claim 137 or 138, wherein the structural feature of the first division and the corresponding structural feature of the second division are configured to axially align the first division with the second division.

140. The layered robotic system of any one of claims 137 to 139, wherein the structural feature of the first division comprises a protrusion and the corresponding structural feature of the second division comprises a detent.

141. The layered robotic system of any one of claims 137 to 140, further comprising padding between the first division and the second division.

142. The layered robotic system of any one of claims 137 to 141 , wherein the utility of the at least one zone is connected to another gadget, wherein the gadget corresponds to the first division and the other gadget corresponds to the second division.

143. The layered robotic system of any one of claims 136 to 142, wherein the first division and the second division are axially connected by at least one of a fastener, a snap fit, or a magnet to form a bone section.

144. The layered robotic system of any one of claims 136 to 143, wherein the plurality of zones include a fastening zone and the at least one of a fastener, a snap fit, or a magnet to a magnet are disposed in the fastening zone.

145. The layered robotic system of claim 144, wherein the first division and the second division are axially connected via the fastener, wherein the fastener comprises a first faster portion secured to the first division and a second fastener portion secured to the second division, and wherein the fastener is elastic to provide a force against the first and second fastener portions to provide a tensioning force between the first and second divisions.

146. The layered robotic system of any one of claims 136 to 145, wherein the first division is connected to the second division via a mount, the mount configured to secure the first division and the second division to each other to provide structural support between the first division and the second division.

147. The layered robotic system of claim 146, wherein the mount is configured convey a utility between the first division and the second division.

148. The layered robotic system of claim 147, wherein the mount connects an end of the first division to the second division.

149. The layered robotic system of claim 147 or 148, wherein the mount connects the end of the first division to an end the second division.

150. The layered robotic system of any one of claims 147 to 149, wherein the mount connects the end of the first division to the end the second division at an angle axially between the first division and the second division.

151. The layered robotic system of any one of claims 147 to 150, wherein the angle is 180 degrees for the first division and the second division to extend straight relative to each other.

152. The layered robotic system of any one of claims 147 to 151 , wherein the angle is less than 180 degrees for the first division and the second division to extend bent relative to each other.

153. The layered robotic system of any one of claims 147 to 152, wherein the second division comprises a first bone section and a second bone section, wherein the mount connects the bone layer of the first division to the first and second bone sections of the second division.

154. The layered robotic system of any one of claims 135 to 153, wherein at least one division of the one or more divisions branches the bone layer into a first bone section and a second bone section.

155. The layered robotic system of claim 154, wherein the at least one zone and at least one other zone of the plurality of zones are branched into both the first bone section and thesecond bone section for the first bone section to include the at least one zone and the at least one other zone and the second bone section to include the at least one zone and the at least one other zone.

156. The layered robotic system of claim 154 or 155, wherein the at least one zone is directed into the first bone section and at least one other zone of the plurality of zones is directed into the second bone section.

157. The layered robotic system of any one of claims 154 to 156, wherein the at least one division comprises a spherical branching division configured to provide utility connection between an input bone section and the first bone section and to provide utility connection between the input bone section and the second bone section, the input bone section conveying the utilities of the first zone and the second zone to the spherical branching division.

158. The layered robotic system of claim 157, wherein the spherical branching division is configured to convey the utility of the first zone to the first bone section.

159. The layered robotic system of claim 158, wherein the spherical branching division is configured to convey the utility of the second zone to the second bone section.

160. The layered robotic system of claim 158 or 159, wherein the spherical branching division is configured to convey the utility of the first zone to the second bone section.161 . The layered robotic system of any one of claims 158 to 160, wherein the spherical branching division is configured to convey the utility of the second zone to the first bone section.

162. The layered robotic system of any one of claims 158 to 161 , wherein the spherical branching division comprises a chamber having a first opening through which the utilities of the first and second zones are received, and wherein the chamber comprises a second opening through which the utility of the first zone or the second zone is conveyed and a third opening through which through which the utility of the first zone or the second zone is conveyed.

163. The layered robotic system of claim 162, wherein the chamber comprises accessories positioned within the chamber and configured to distribute or reroute the utilities for the first and second zones.

164. The layered robotic system of any one of claims 158 to 163, wherein the first zone and the second zone extend through the spherical branching division.

165. The layered robotic system of any one of claims 135 to 164, wherein at least one division of the one or more divisions is spherical.

166. The layered robotic system of any one of claims 135 to 165, wherein at least one division of the one or more divisions is cylindrical.

167. The layered robotic system of any one of claims 135 to 166, wherein at least one division of the one or more divisions is straight.

168. The layered robotic system of any one of claims 135 to 167, wherein at least one division of the one or more divisions bends.

169. A layered robotic system for conveyance of utilities accessed by gadgets and mounting of the gadgets in a robotic system, the layered robotic system comprising: a first layer comprising a plurality of zones axially extending in the first layer, each zone of the plurality of zones conveying a utility; and a second layer positioned about the first layer, wherein a gadget is positioned at least partially within the second layer, the gadget connected to at least one zone of the plurality of zones via a relay, the relay configured to convey the utility of the at least one zone between the gadget and the at least one zone, the utility of the at least one zone configured to be accessed by the gadget to perform a function of the robotic system.

170. The layered robotic system of claim 169, wherein at least two zones of the plurality of zones are nested such that a first zone of the at least two zones is enclosed by a second zone of the at least two zones.

171. The layered robotic system of claim 169 or 170, wherein the second layer comprises: a third layer positioned about the first layer, wherein the gadget is positioned at least partially within the third layer; a fourth layer positioned about the third layer, the fourth layer configured to at least partially insulate the third layer; and a fifth layer positioned about the fourth layer, wherein the fifth layer is flexible.

172. The layered robotic system of any one of claims 169 to 171 , wherein at least one utility is at least partially conveyed in a zone of the plurality of zones along a wall or surface at least partially defining the zone.

173. The layered robotic system of any one of claims 169 to 172, further comprising any one or more features recited in any one of claims 1 to 168.

174. A layered mechatronic system for conveyance of utilities accessed by gadgets and mounting of the gadgets in a mechatronic system, the layered mechatronic system comprising: a first layer comprising a plurality of zones axially extending in the first layer, each zone of the plurality of zones conveying a utility; and a second layer positioned about the first layer, wherein a gadget is positioned at least partially in the second layer, the gadget connected to at least one zone of the pluralityof zones with the utility of the at least one zone conveyed between the gadget and the at least one zone, the utility of the at least one zone configured to be accessed by the gadget to perform a function of the mechatronic system.

175. The layered mechatronic system of claim 174, further comprising any one or more features recited in any one of claims 1 to 173.

176. A mechatronic joint system for conveyance of utilities for performance of functions in a mechatronic system, the mechatronic joint system comprising: a first bone section comprising a first plurality of zones axially extending in the first bone section, each zone of the first plurality of zones conveying a utility; a second bone section comprising a second plurality of zones axially extending in the second bone section, each zone of the second plurality of zones conveying a utility; and a joint connecting the first bone section and the second bone section, the joint convey one or more utilities between the first plurality of zones and the second plurality of zones, wherein at least one utility of the first plurality of zones or the second plurality of zones is configured to move at least one of the first bone section or the second bone section relative to the joint.

177. The mechatronic joint system of claim 176, wherein the at least one utility comprises a cable configured to move the first bone section or the second bone section relative to the other of the first or second bone section.

178. The mechatronic joint system of claim 176 or 177, wherein the joint comprises a third plurality of zones relaying the one or more utilities between the first plurality of zones and the second plurality of zones.

179. The mechatronic joint system of any one of claims 176 to 178, wherein the at least one utility is for operation of an actuator configured to move the first bone section or the second bone section relative to the other of the first or second bone section.

180. The mechatronic joint system of claim 179, wherein the actuator comprises a fluidic cylinder.181 . The mechatronic joint system of any one of claims 176 to 180, wherein the joint comprises one or more gears and an axle connected to the one or more gears, the one or more gears configured to be rotated by use of the at least one utility to move at least one of the first bone section or the second bone section relative to the joint, wherein the axle is configured to notrotate with the rotation of the one or more gears, the axle comprising one or more zones through which the one or more utilities are conveyed.

182. The mechatronic joint system of claim 181 , wherein the one or more gears comprises a first gear and a second gear, the first gear configured to be rotated by the at least one utility, the first gear configured to rotate the second gear, the second gear configured to move at least one of the first bone section or the second bone section relative to the joint.

183. The mechatronic joint system of claim 182, wherein the axle is rotatably connected to the first gear to not rotate with the rotation of the first gear.

184. The mechatronic joint system of claim 182 or 183, wherein the axle is connected to the second gear via a threaded connection for the second gear to axially move relative to the threaded connection to move at least one of the first bone section or the second bone section relative to the axle.

185. The mechatronic joint system of any one of claims 176 to 184, further comprising any one or more features recited in any one of claims 1 to 175.

186. A method for manufacturing a branched division of a layered mechatronic system for conveyance of utilities for performance of functions in a mechatronic system, the method comprising: axially extending a first zone and a second zone in a bone layer, the first zone axially extending in the second zone, the first and second zones each comprising a carriage configured to axially convey a utility for performing a function of the mechatronic system; splitting the second zone into a first split zone and a second split zone; branching the first zone into a first branched zone and a second branched zone; enclosing the first branched zone in the first split zone; and enclosing the second branched zone in the second split zone.

187. The method of claim 186, wherein the first zone is branched into the first branched zone and the second branched zone at or after where the second zone is split.

188. The method of claim 186 or 187, wherein the first zone is branched into the first branched zone and the second branched zone before the second zone is split.

189. The method of any one of claims 186 to 188, further comprising : splitting the second zone into a third split zone; branching the first zone into a third branched zone; and closing the third branched zone in the third split zone.

190. The method of claim 189, wherein the first zone is branched into the third branched zone at or after where the second zone is split.

191. The method of claim 189 or 190, wherein the first zone is branched into the third branched zone before the second zone is split.

192. The method of any one of claims 186 to 191 , further comprising: axially extending a third zone in the bone layer; axially extending the first zone and the second zone in the third zone; splitting the third zone into a fourth split zone and a fifth split zone; branching the first zone into a third branched zone; enclosing the first split zone in the fourth split zone; and enclosing the second split zone in the fifth split zone.

193. The method of claim 192, further comprising : splitting the third zone into a sixth split zone; and enclosing a third split zone in the sixth split zone.

194. The method of any one of claims 186 to 193, further comprising any one or more features recited in any one of claims 1 to 185.

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