Torso of a humanoid robot

Abstract

The present disclosure provides a torso assembly for a humanoid robot. The torso assembly includes a housing with a front skeleton and a rear skeleton, a shell assembly surrounding the housing, a waist coupled to a lower portion of the housing, an electronics assembly housed within the housing, and at least one sensor assembly positioned within the housing. The housing has a portion with a curvilinear trapezoidal shape defined by a curvilinear front extent with a front curvilinear length along a first line, substantially linear non-parallel side extents, and a curvilinear rear extent with a rear curvilinear" length along a second line. The first and second lines are co-planar, and the front curvilinear length is less than the rear curvilinear length.

Description

TORSO OF A HUMANOID ROBOTPRIORITY CLAIM AND CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is: (i) a continuation in pail of U.S. Patent Application No. 18 / 914,800, filed October 14, 2024, which is a continuation in part of U.S. Patent Application No. 18 / 904,332, filed October 2, 2024, (ii) a continuation in part of U.S. Patent Application No. 18 / 919,263, filed October 17, 2024, (iii) a continuation in part of U.S. Patent Application No. 18 / 919,274, filed October 17, 2024, (iv) a continuation in pail of U.S. Design Patent Application No. 29 / 928,748, filed February 15, 2024, which is a continuation in part of U.S. Design Patent Application No. 29 / 889,764, filed April 17, 2023, and (v) claims priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application No. 63 / 573,543, filed April 3, 2024, U.S. Provisional Patent Application No. 63 / 632,630, filed April 11, 2024, U.S. Provisional Patent Application No. 63 / 634,697, filed April 16, 2024, each of which is expressly incorporated by reference herein in its entirety.

[0002] Reference is hereby made to: (i) PCT Application Nos. PCT / US2025 / 012544, PCT / US2025 / 010425, PCT / US2025 / 011450, PCT / US2025 / 016930 (ii) U.S. Patent Application Nos. 18 / 919,263, 18 / 919,274, 19 / 006,191, 19 / 000,626, 19 / 038,657, 19 / 064,596, 19 / 066,122, (iii) U.S. Provisional Patent Application Nos. 63 / 626,030, 63 / 626,035, 63 / 626,028, 63 / 626,034, 63 / 564,741, 63 / 626,037, 63 / 707,547, 63 / 708,003, 63 / 557,874, 63 / 626,040, 63 / 696,533, 63 / 696,507, 63 / 626,039, 63 / 722 / 057, 63 / 626,105, 63 / 625,362, 63 / 625,370, 63 / 625,381, 63 / 625,384, 63 / 625,389, 63 / 625,405, 63 / 625,423, 63 / 625,431, 63 / 685,856, 63 / 700,749, 63 / 633,405, 63 / 635,152, 63 / 561,317, 63 / 634,599, 63 / 573,543, 63 / 574,349, 63 / 561,311, 63 / 561,313, 63 / 626,039, 63 / 633,920, 63 / 561,318, 63 / 556,102, 63 / 633,931, 63 / 633,941, 63 / 632,683, 63 / 634,697, each of which is expressly incorporated by reference herein in its entirety.TECHNICAL FIELD

[0003] This disclosure relates to a torso assembly of a robot, specifically a general-purpose humanoid robot. The torso assembly includes various pails, assemblies, and connections configured to operably couple the head, arms, and legs of the robot to provide the robot with the ability to substantially mimic the movements, functionality and capabilities of a human being.BACKGROUND

[0004] The contemporary labor market is experiencing an acute workforce shortage, with over ten million positions in the United States classified as hazardous or undesirable. To address this growing labor deficit, the development and deployment of advanced robotic systems capable of performing high-risk or labor-intensive tasks have become imperative. General-purpose humanoid robots are particularly well-suited for such applications, as they are engineered to operate within human-centric environments. These robots are designed to replicate human morphology and functional capabilities, typically incorporating a head, torso, aims, and legs to facilitate bipedal locomotion. To achieve biomechanical equivalence with human motion, humanoid robots employ a network of actuators strategically positioned to replicate human joint dynamics. The placement of these actuators is important, as it not only defines the robot’s range of motion but also directly impacts its ability to perform dexterous tasks, interact with dynamic environments, and maintain stability. Additionally, these actuation systems must function efficiently within the constraints of the robot’s power supply, durability requirements, and control architecture to ensure optimal performance.

[0005] Despite advancements in humanoid robotics, conventional designs exhibit several limitations that hinder their effectiveness in real- world applications. Many existing humanoid robots utilize a V-shaped torso configuration, which imposes significant constraints on their structural and functional capabilities. This design limits the integration of high-capacity battery systems and advanced processing units, thereby reducing operational endurance and computational efficiency. Furthermore, the V-shaped torso adversely affects the robot’s stability, making it less suitable for demanding occupational settings requiring extended operational durations and adaptability to varied tasks. Another limitation of conventional humanoid robots is their restricted range of motion, particularly in cross-body interactions and dynamic task execution. Many existing designs lack a narrowed frontal torso profile, which impedes arm articulation and limits the robot’ s ability to perform complex manipulations that require a high degree of dexterity.

[0006] Moreover, conventional humanoid robots often exhibit inadequate sensory integration across their structure. Insufficient distribution of sensory systems results in blind spots that degrade situational awareness, impeding the robot’s ability to navigate complex environments and interact safely with objects and humans. Additionally, many existing humanoid robotsstruggle with thermal dissipation challenges, leading to suhoptimal performance, reduced operational longevity, and increased maintenance requirements. Furthermore, conventional humanoid robot architectures frequently lack modularity and serviceability, complicating routine maintenance and component replacement. The absence of a scalable and easily maintainable design increases downtime and operational costs, further limiting the practical deployment of humanoid robots in high-demand industrial, commercial, and service applications.

[0007] Therefore, the is a need for an optimized torso design that is capable of housing high- capacity battery systems and advanced processing units, providing desirable range of motion capabilities, including adequate sensors, is able to overcome thermal dissipation challenges associated with the inclusion of the high-capacity battery systems and advanced processing units, is manufacturable at scale, and can be maintained over the life of the robot.SUMMARY

[0001] The present disclosure provides a torso assembly for a humanoid robot, comprising: a housing including a front skeleton and a rear- skeleton; a shell assembly surrounding the housing; a waist coupled to a lower portion of the housing; an electronics assembly housed within the housing; at least one sensor assembly positioned within the housing, wherein the housing has a potion that includes a curvilinear trapezoidal shape defined by: (i) a curvilinear’ front extent with a front curvilinear length along a first line, (ii) substantially linear non-parallel side extents, and (iii) a curvilinear rear extent with a rear curvilinear length along a second line; and wherein the first and second lines are co-planer and the front curvilinear length is less than the rear’ curvilinear length.

[0002] The present disclosure provides a torso assembly for a humanoid robot, comprising: a left arm actuator and a right arm actuator; a front skeleton coupled to the left and right arm actuators; a rear skeleton coupled to the front skeleton; a shell assembly surrounding the front and rear skeletons; a waist coupled to a lower portion of the front skeleton, the waist including a main body with a shallow parabolic shape and a projecting actuator housing extending downwardly from the main body; an electronics assembly housed within the front and rear- skeletons, the electronics assembly including a battery and a computer; at least one sensor assembly positioned within the torso assembly.

[0003] The present disclosure provides a torso assembly for a humanoid robot, comprising: a housing having arm actuator openings formed therein; a shell assembly surrounding the housing; a waist coupled to a lower portion of the housing; an electronics assembly housed within the housing; at least one sensor assembly positioned within the housing, wherein a lower extent of the torso assembly is larger than an upper extent of the torso assembly, and wherein a depth of the torso assembly does not substantially change between a bottom extent of an arm actuator opening and a bottom extent of the torso assembly.

[0004] The present disclosure provides a torso assembly for a humanoid robot, comprising: a housing including a front skeleton and a rear skeleton; a shell assembly surrounding the housing; a waist coupled to a lower portion of the housing, and including: (i) a height that extends from a first location, (ii) a width that extends at a second location, (iii) a depth that extends at a third location, (iv) a waist center point located at the intersection between the width and depth, and (v) a spine actuator housing having an opening with a housing center point located at a center of the opening, and wherein the height is less than 15% of the width, and the housing center point is offset forward of the waist center point.

[0005] The present disclosure provides a torso assembly for a humanoid robot, comprising: a housing including a front skeleton and a rear skeleton; a shell assembly surrounding the housing; a waist coupled to a lower portion of the housing; an electronics assembly housed within the housing; at least one sensor assembly positioned within the housing; and a cross band structure configured to provide a transitional load transfer path from arm actuators to the waist, the cross band structure comprising: a clavicle portion, and structural ribs coupled to the clavicle portion and extending to thickened regions in a lower portion of side portions of the front skeleton.

[0006] In one embodiment, the invention features a front skeleton incorporating a cross band structure with a clavicle portion from which two sets of structural ribs extend to respective thickened regions in the lower right and left portions of the front skeleton. These ribs are configured to disperse forces from the arm actuators laterally toward the side portions of the structure and may merge with stiffeners that receive forces from a battery mounted to the front skeleton, thereby forming an interconnected network that distributes loads across the side portions and around vent openings. In another embodiment, the front skeleton further includes an arm tube extending across the entire torso assembly, which houses the arm actuator assemblies, transfers torque from the shoulders and upper arms to the torso, and provides a primary structuralload path for torsional transfer. Additionally, alternative embodiments provide a waist comprising a main body with a shallow parabolic shape — characterized by a height of less than 30 mm and a width exceeding 225 mm — and a projecting actuator housing extending downwardly and offset toward the forward-most extent of the torso assembly, wherein the projecting housing includes an actuator receptacle and mount for coupling the torso to the pelvis. Further embodiments incorporate regions of variable thickness in the front skeleton, ranging from less than 1 mm to more than 20 mm, to optimize structural load paths and stress distribution.

[0007] Moreover, a shell assembly may include an energy-absorbing energy attenuation member surrounding an arm interface portion to protect the torso from accidental impacts. In alternative sensor embodiments, the torso assembly includes sensor assemblies with a front sensor offering a forward field of view between 50° and 145° and a rear sensor with a rearward field of view between 65° and 180°. Other embodiments describe a housing comprising both front and rear’ skeletons, with a maintained width-to-depth ratio in the shoulder- to- waist region and minimal variation between these regions, and an electronics assembly occupying over 45% of the torso volume. In some embodiments, the front skeleton further includes a casing and a gorget for load transfer from the neck and head, as well as curvilinear ridges and defined geometric relationships between curvilinear and linear non-parallel extents to further enhance load distribution and structural integrity.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The drawing figures depict one or more implementations in accord with the present teachings, by way of example only, not by way of limitation. In the figures, like reference numerals refer to the same or similar elements.

[0009] FIG. 1 is a perspective view of a first embodiment of a humanoid robot in an extended, upright standing position, and the robot includes: (i) an upper portion having the following parts: (a) a head / neck having a upper head sensor assembly and a lower head sensor assembly, (b) a torso having a frontal torso sensor assembly and a real- torso sensor assembly, (c) left and right shoulders, (d) left and right upper arm assemblies that each include an upper humerus, lower humerus, upper forearms, and lower forearms, (e) left and right wrists, and (f) left and right hands, (ii) a central portion having the following parts: (a) a spine, (b) a pelvis, (c) left and right hips, (d) left and right upper thighs, and (f) left and right lower thighs, and (iii) a lower portionhaving the following parts: (a) a left and right shins, (b) left and right talus, and (c) left and right feet; ;

[0010] FIG. 2 is a left side view of the torso of the robot of FIG. 1;

[0011] FIG. 3 is a rear perspective view of the torso of the robot of FIG. 1;

[0012] FIG. 4 is a front view of the torso of the robot of FIG. 1;

[0013] FIG. 5 is an exploded assembly view of the torso of the robot of FIG. 1, which shows:(i) a housing, (ii) a battery pack, (iii) a computer, (iv) a power distribution and control assemblies, (v) arm actuator assemblies, and (iv) a plurality of sensor assemblies;

[0014] FIG. 6 is a cross-sectional view of the torso of the robot of FIG. 1 taken along line 6-6 in FIG. 4;

[0015] FIG. 7 is a cross-sectional view of the torso of the robot of FIG. 1 taken along line 7-7 in FIG. 2;

[0016] FIG. 8 is a cross-sectional of the torso of the robot of FIG. 1 taken along line 8-8 in FIG. 3 along a plane that extends through a centerline of a right arm actuator assembly;

[0017] FIG. 9 is a perspective view of the torso housing of FIG. 5;

[0018] FIG. 10 is a front view of the torso housing of FIG. 5;

[0019] FIG. 11 is a rear view of the torso housing of FIG. 5;

[0020] FIG. 12 is a side view of the torso housing of FIG. 5;

[0021] FIG. 13 is a top view of the torso housing of FIG. 5;

[0022] FIG. 14 is a bottom view of the torso housing of FIG. 5;

[0023] FIG. 15 is an exploded assembly view of the torso housing of FIG. 5;

[0024] FIG. 16 is a cross-sectional view of the torso housing taken along line 16-16 of FIG.10;

[0025] FIG. 17 is a cross-sectional view of the torso housing taken along line 17-17 of FIG. 12;

[0026] FIG. 18 is a zoomed-in view of a first portion of FIG. 17;

[0027] FIG. 19 is a zoomed-in view of a second portion of FIG. 17;

[0028] FIG. 20A-20B is a cross-sectional view of the torso housing taken along line 20-20 in FIG. 12;

[0029] FIG. 21 is a cross-sectional view of the torso housing taken along lines 21-21 in FIG. 12;

[0030] FIG. 22 is a side perspective view of a front skeleton of the torso housing of FIG. 15;

[0031] FIG. 23 is a top perspective view of the front skeleton of FIG. 22;

[0032] FIG. 24 is a rear perspective view of the front skeleton of FIG. 22;

[0033] FIG. 25 is a rear view of the front skeleton of FIG. 22;

[0034] FIG. 26 is a left side view of the front skeleton of FIG. 22;

[0035] FIG. 27 is a cross-sectional view of the front skeleton taken along line Tl- l in FIG. 25;

[0036] FIG. 28 is a cross-sectional view of the front skeleton taken along line 28-28 in FIG. 25;

[0037] FIG. 29 is a cross-sectional view of the front skeleton taken along line 29-29 of FIG. 26;

[0038] FIG. 30 is a perspective view of a waist included in the torso of the robot of FIG. 1 ;

[0039] FIG. 31 is a top view of the waist of FIG. 30;

[0040] FIG. 32 is a rear view of the front skeleton, the gorget, and the waist;

[0041] FIG. 33 is a top view of the front skeleton and the waist;

[0042] FIG. 34 is a zoomed-in view of a portion of FIG. 32;

[0043] FIG. 35 is a cross-sectional view of the front skeleton and waist taken along line 35-35 in FIG. 33;

[0044] FIG. 36 is front perspective view of a real' interface panel of FIG. 1;

[0045] FIG. 37 is a rear view of the rear interface panel of FIG. 36;

[0046] FIG. 38 is a rear view of the rear interface panel and the front skeleton;

[0047] FIG. 39 is a zoomed-in view of a portion of FIG. 38, and showing the rear interface panel attached to the front skeleton;

[0048] FIG. 40 is a perspective view of a rear skeleton included in the torso housing of FIG. 5;

[0049] FIG. 41 is a front view of the rear skeleton of FIG. 40;

[0050] FIG. 42 is a zoomed in view of a portion of FIG. 41 ;

[0051] FIG. 43 is a bottom perspective view of the torso of FIG. 1 showing a lower sensor assembly facing out of a sensor opening formed in a lower end of the torso between the front skeleton and the waist;

[0052] FIG. 44 is a side view of portions of an electronics assembly including an upper head sensor assembly, a lower head sensor assembly, an upper torso sensor assembly, and a lower torso sensor assembly;

[0053] FIG. 45 is a front perspective view of one of the torso sensor assemblies of FIG. 44;

[0054] FIG. 46 is a rear perspective view of the torso sensor assembly of FIG. 45;

[0055] FIG. 47 is side view of the robot of FIG. 1 showing fields of view of each of the upper head sensor assembly, the lower head sensor assembly, the upper torso sensor assembly, and the lower torso sensor assembly.DETAILED DESCRIPTION

[0056] In the following detailed description, numerous specific details are set forth by way of examples in order to provide a thorough understanding of the relevant teachings. However, it should be apparent to those skilled in the art that the present teachings may be practiced without such details. In other instances, well-known methods, procedures, components, and / or circuitry have been described at a relatively high-level, without detail, in order to avoid unnecessarily obscuring aspects of the present disclosure.

[0057] While this disclosure includes several embodiments in many different forms, there is shown in the drawings and will herein be described in detail embodiments with the understanding that the present disclosure is to be considered as an exemplification of the principles of the disclosed methods and systems, and is not intended to limit the broad aspects of the disclosed concepts to the embodiments illustrated. As will be realized, the disclosed methods and systems are capable of other and different configurations and several details are capable of being modified all without departing from the scope of the disclosed methods and systems. For example, one or more of the following embodiments, in part or whole, may be combined consistent with the disclosed methods and systems. As such, one or more steps from the flow charts or components in the Figures may be selectively omitted and / or combined consistent with the disclosed methods and systems. Additionally, one or more steps from the flow charts or the method of assembling the shoulder and upper arm may be performed in a different order. Accordingly, the drawings, flow charts and detailed description are to be regarded as illustrative in nature, not restrictive or limiting.A. Introduction

[0058] The torso assembly disclosed in this Application is designed to be a component within a robot system, for example, a versatile and highly -functional humanoid robot. Said torso assembly extends between the waist, the shoulders, and head / neck and is designed to: (i) provide said robot 1 with a generally humanoid shape, (ii) provide structural and operable support for the arm assemblies and the head / neck, and (iii) house and protect the arm actuators and an electronic assembly (e.g., that includes a battery, a computing device, a power distribution assembly, sensors, etc.). To house and protect said arm actuators and the electronic assembly, the torso includes a frontal skeleton configured to be coupled to a rear skeleton. The frontal skeleton is designed to offset and redistribute most of the loads that said robot experiences while it performs various activities, tasks, and movements. As such, the frontal skeleton includes at least one region, preferably several regions, that have been selectively thickened. Overall, the selectively thickened regions have been designed to minimize the weight of the torso, while still providing proper structural support to allow for said redistribution of the loads. As such, the thickness of the frontal skeleton may vary. Implementing varying thicknesses in the front skeleton is unconventional and provides robot 1 with substantial advantages over conventional robots that lack a front skeleton with variable thicknesses.

[0059] To support the robot’s arms and offset / redistribute most of the loads applied to said arms, the front skeleton includes an arm tube, which extends across the entirety of the torso and is configured to receive the arm actuators. By insetting the arm actuators within the arm tube, a substantial majority of the arm actuators are positioned / housed within the torso. While this positional relationship helps efficiently transfer torques and loads from the shoulder and upper arm assembly to the robot’s torso, it undesirably minimizes the amount of space contained within said torso for computers, batteries, and other sensors. Thus, the inclusion of said arm tube is unconventional, but it provides robot 1 with desirable benefits over conventional robots that lack said arm tube.

[0060] Unlike conventional robots, the torso 16 is purposely designed with a complex geometry. As such, a lower torso extent (e.g., within a bottom 1 / 3 portion of the height of the torso between reference lines 374 and 376) is larger in width and volume than an upper torso extent (e.g., positioned within a top 1 / 3 portion of the height of the torso between reference lines 370 and 372). Also, the variation between the widest point and the narrowest point of the torso issubstantially smaller than the torso’s height. Thus, the torso 16 tapers outwardly and downwardly between its upper and lower extents or portions. Finally, the depth of the torso 16 (as defined between the front and rear walls or outer surfaces of the torso) does not substantially change between the bottom of the arm tubes and the lowest extent of the torso. This configuration of the torso is beneficial over conventional robots - especially conventional robots having a dissimilar upward V-shaped torso - because it provides the robot 1 with a number of advantages, including: (i) making the robot 1 more stable while operating and performing tasks, (ii) increasing the volume contained within the torso for positioning of other valuable components (e.g., batteries, power supplies, computing device, and sensor assemblies), (iii) preventing the front of the torso having bulges, projections or protrusions which can limit the robot’s cross-torso reach, and (iv) eliminating bulges, projections or protrusions from being positioned in the rear of the torso which can adversely impact the robot’s center of mass.

[0061] To help ensure that the inventive robot 1 has a sufficient “cross-torso reach,” which improves the functionality and utility of the robot 1, the torso has an upper, upper middle, and middle sections with a horizontal curvilinear trapezoidal shape. This curvilinear trapezoidal shape is defined by having a curvilinear front extent, substantially linear non-parallel side extents, and a curvilinear rear extent with a curvilinear length greater than the curvilinear length of the front extent. As shown in the Figures, the curvilinear length of the rear extent is larger than the curvilinear length of the front extent, and the curvilinear length of the front extent may be larger than the substantially linear side lengths. As such, the rear surface area of the torso 16 may be larger than the front surface area of the torso. In other words, the frontal extent of the torso is substantially smaller than the back extent of the torso and the shrouds that extend between the frontal extent and back extent are angled (not parallel) in relation to one another. This curvilinear trapezoidal shape configuration of the torso allows the arm assemblies of the robot to move across a substantial extent of the robot’s torso before coming into contact with said torso, which provides the robot’s cross-torso reach. As designed, the maximized cross-torso reach of robot 1 provides substantial benefits over conventional robots because the robot’s reachable area is increased; whereby, allowing the robot to perform more tasks without spending valuable time repositioning itself. Minimizing the need to reposition the robot not only increases the speed at which the robot can perform the tasks, but it also increases the runtime of the robot because unnecessary power is not consumed from the battery.

[0062] To help ensure that the inventive robot 1 includes an internal volume that is large enough to store the above described electronic assembly, a lower middle section of the torso has a super-elliptical shape. Like the above curvilinear trapezoidal shape, this super-elliptical shape includes a rear extent with a rear curvilinear length that is larger than a frontal curvilinear length that is associated with a front extent. However, unlike said curvilinear trapezoidal shape, the super-elliptical shape lacks linear sides, and instead, the rear curvilinear length basically extends along the rear of the torso and between edges of the coronal plane, while the front curvilinear length basically extends along the front of the torso and between edges of the coronal plane. This design provides substantial benefits over conventional robots that lack the increased volume provided by this shape.

[0063] Unlike conventional robots, the spine Z or spine yaw actuator is not centered beneath the torso 16 of the robot 1. Instead the spine Z or spine yaw actuator is offset towards a forward- most extent of said torso. This helps position and center the mass of the torso 16 over the legs, which helps increase the robot’s stability and balance and thus mirror human movement. In addition to being offset, the spine Z or spine yaw actuator does not substantially extend into the volume of the torso 16 and instead is primarily positioned within the housing that extends downward from the main body of the waist. This configuration helps ensure that the spine Z or spine yaw actuator does not occupy valuable space within the torso and helps ensure that there is enough clearance between a lower extent of the main body of the waist and the pelvis. The clearance provided by said housing enables the main body of the waist to have a shallow parabolic shape with a substantial surface area. This configuration provides the robot 1 with a substantial benefit over conventional robots that have narrow, lower torsos (e.g., steep sloped lower torso that has a width that is substantially equal to the width of the actuator) because it substantially increases the volume contained within the torso.

[0064] Additionally, the clearance associated with the housing and the fact that the connection between the torso and the pelvis is limited to the diameter of the spine Z actuator (e.g., the depth of the main body is larger than the diameter of the actuator) enables said robot 1 to lean to its left and / or right utilizing the spine x or spine roll actuator without causing the bottom of the waist to contact the hip. In particular, the depth of the main body at a location near the actuator is larger than the diameter of the actuator. In other words, the ratio between the depth of the main body and the diameter of the actuator may be any value that enables the diameter of the actuator to beless than, and preferably significantly less than, the depth of the main body in a location that is near the actuator. This feature also provides the robot 1 with a substantial benefit over conventional robots that form a large connection between the torso and pelvis because said connection prevents these conventional robots from leaning to the left or right at a location formed in the lower torso of the robot.

[0065] As shown in the Figures, the robot cannot bend forward at its belly. To account for this forward motion, the robot utilizes its legs. The use of the robot’s legs to perform this forward motion reduces the need for additional actuators and beneficially places the loads on the actuators for lifting objects off the ground. In particular, eliminating the actuators contained in the torso of the robot enables said robot to have a substantially larger torso in relationship to the robots height that can house computers, batteries and other required electronic s / wiring. In other words, a majority of the hip actuators are positioned in or below the pelvis. Without this configuration, the size of the torso would be substantially smaller in relation to the robot’s height. This is undesirable because it limits the size of the battery and computers that can be positioned within the robot’s humanoid frame. This in turn limits run times, usability of the robot, and overall capabilities of said robot.

[0066] As best shown in Figs. 20-21, the torso includes a energy attenuation member that surrounds the arm interface portion of the shroud. The energy attenuation member is designed to protect the torso from accidental contact with the robot’s upper arm assembly. Accordingly, the energy attenuation member is made from an energy absorbing material (e.g., plastic, TPU, or other polymers / plastics). The configuration or shape of said energy attenuation member may change in different regions of the torso, wherein said changes are designed to provide more or less material in certain regions due to the high probability of contact between the torso and the arm. The torso includes a deformable wire that extends from the bottom of the torso or waist and is coupled to the pelvis. This wire is the only wire in the robot that extends across multiple actuators or degrees of freedom. Additionally, it is the only exposed wire on the robot. Two deformable members support the wire to enable said wire to maintain its shape and help avoid the pinching of side wire.

[0067] In order to effectively cool the computing device or the battery during operation, the inventive robot 1 includes at least one vent opening, preferably a pair of vent openings, located in a lower extent of the waist and in the side of the robot beneath the arm tube that houses thearm actuators. As best shown in Figs. 23-33, fresh air is drawn into the torso via a fan positioned within an extent of the upper torso and below an extent of the robot’s aim assembly. Air then flows over a plurality of fins of a heat sink and other internal components, and then is discharged through a vent opening formed in the robots lower torso and / or waist. Thus, an air flow pathway is defined into, though, and out of the torso 16 of the robot 1. When the robot performs tasks, said air flow can be utilized to cool the computing device (e.g., GPUs and CPUs) and does not need to cool the battery. When the robot is charging, the airflow may not be needed to cool the computing device, but can be used to cool the battery to decrease charging times (e.g., supply a large amount of current to the robot). This dual-purpose cooling system saves weight, reduces parts, and provides substantial benefits over conventional robots that lack this capability.

[0068] As illustrated in Figs. 6-8, the combination of the battery and the computer may consume a majority of the total volume of the torso. Additionally, the battery may consume More of the volume of the torso than the computer. The positional relationship and sizing of the battery enables it to be a rechargeable 1.5 kWh to 5 kWh battery, preferably between 2 kWh to 3 kWh. As such, the battery is configured to provide the robot with run times that are between 2.5 and 8 hours, preferably at least 3.5 hours during normal operating conditions. While the battery may be designed to be replaced after its usable life has expired (e.g., more than 6 months and preferably more than 1 year), may not be designed to be hot-swappable or changed multiple times a week or a day.

[0069] As best shown in Figs. 44-47, the robot includes two sensor assemblies in its torso 16. The first sensor assembly is positioned in front of the robot at its waist level, while the second sensor assembly is positioned in the rear of the robot at its shoulder level. As shown in Fig. 47, the field of view of each sensor assembly may overlap with the field of view of other sensor assemblies. The sensor assemblies may include one or more cameras, temperature, pressure, force, inductive, capacitive, any combination of these sensors, or other known sensors. In the illustrative example, the sensor assemblies include a plurality of cameras.B. Definitions

[0070] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning inthe context of the specification and relevant art and should not be interpreted in an idealized or overly format sense unless expressly defined herein.

[0071] Although selected human medical terminology is used to describe features and / or relative positions related to the humanoid robot, it should be understood said medical terminology does not directly correspond to the exact same features of a human. It should be understood that names of various assemblies and components (e.g. including housings and assemblies contained within) may generally relate to a location of similar anatomy of a human body and do not have an exact correlation in dimension, function, or shape. The reference system including three orthogonal reference planes is defined with respect to the robot in a neutral standing position to describe relative positions of components of the robot. Although standard human medical terminology is used to describe the anatomical reference planes (i.e. sagittal, coronal, transverse) of the robot, the planes may be shifted from the typical location on a human to be meaningful for the kinematic layout and features of the robot.

[0072] Neutral Position: is a self-supporting position of the robot. In this position, the robot is standing upright on a horizonal support surface and facing forward with its torso vertically aligned over its pelvis and legs, where the legs are substantially straight with the knees aligned under the hips and above the ankles, such that the robot’s weight is balanced over its feet. In the neutral position, the robot’s head is facing forward, the arms are located at the sides of the robot, the hands are oriented with the palms facing inward, and the fingers pointing in a substantially downward direction toward the horizontal support surface.

[0073] Extended position: a position of the robot with the arms extended outward laterally at the shoulder and oriented with the palms of the hands facing forward and the fingers pointing in a substantially outward direction, where the central and lower portions of the robot remain in a neutral position.

[0074] Sagittal plane: a vertical plane that aids in defining the left and right sides of the robot. Accordingly, the sagittal plane may: (i) divide the robot and / or the torso into left and right sections or halves, (ii) extend through the axis of rotation about which the torso twists or rotates relative to the pelvis and legs, (iii) contain the origin point of the robot, and / or (iv) be directly positioned between the left and right legs, and / or left and right arms. In the illustrative embodiment, the sagittal plane (Ps) is a vertical plane that contains the rotational axis A10 of torso twist actuator (J 10) located in the spine 60 of the robot 1 and divides the left and right sidesof the robot 1 . In other words, the sagittal plane (Ps) is a plane that is coplanar with the rotational axis A10 of torso twist actuator (J10).

[0075] Coronal plane: a vertical plane that aids in defining the front and back portions of the robot. Accordingly, the coronal plane may: (i) divide the robot and / or the torso into front and back sections or halves, (ii) extend through the axis of rotation about which the torso pitches forward or backward, (iii) extend through the axis of rotation about which the knees pitch forward and backward, and / or (iv) extend through the axis of rotation about which the elbow moves forward and backward, when the robot is in the extended position. In various embodiments, said axis of rotation for torso pitch may be bilateral colinear axes, a single centrally located axis, or an axis defined by a line connecting the center of the actuator bearings of two actuator that provide the torso pitch function. In the illustrative embodiment, the coronal plane (Pc) is a vertical plane that contains the rotational axes Al 1 of the hip flex actuators (JI 1) located in the hips 70 and rotational axis A10 of torso twist actuator (J 10) located in the spine 60 of the robot 1. In other words, the coronal plane (Pc) is a plane that is coplanar with the rotational axis Al 1 of the hip flex actuators (JI 1) and rotational axis A 10 of torso twist actuator (J10). Also, as shown in these figures, the coronal plane (Pc) does not bisect the robot, or torso, into equal front and back halves, it is offset forward of a majority of the arm actuators in the extended position, and other positional relationships that can be understood from the figures.

[0076] Transverse plane: a horizontal plane aids in defining the upper and lower portions of the robot. Accordingly, the transverse plane may: (i) divide the robot into upper and lower sections or halves, (ii) extend through the axis of rotation about which the torso pitches forward or backward, as defined above, and / or (iii) extend through the widest pail of the pelvis. In the illustrative embodiment, the transverse plane (PT) is a horizontal plane that contains the rotational axes Al 1 of the hip flex actuators (JI 1) located in the hips 70 of the robot 1. Also, as shown in these figures, transverse plane (PT) is positioned below both spine actuators (J9 and J 10), in front of a majority of the arm actuators, and other positional relationships that can be understood from the figures.

[0077] Origin point: the orthogonal intersection point of the sagittal plane, coronal plane, and transverse plane, all of which extend through humanoid robot disclosed herein.

[0078] Reference Axes: consist of: (i) the Z-axis (vertical) is defined at the intersection of the sagittal plane and coronal plane, (ii) the Y-axis (horizontal) is defined at the intersection of thecoronal plane and transverse plane; and (iii) the X-axis (depth) is defined at the intersection of the sagittal plane and transverse plane.

[0079] Range of motion: a range of rotational motion of an actuator about an axis of rotation, where a first and second angle defines a rotational limit in opposing rotational directions from a neutral position expressed in degrees of rotation.

[0080] Degrees of Freedom (DoF): the number of parameters that define the configuration of the kinematic chain and possible movements associated therewith.

[0081] Joint singularities: geometric configurations of the robot's joints in which one or more degrees of freedom are effectively lost due to the alignment or overlap of rotational or translational axes.C. Torso

[0082] As shown in Figs. 1-21, the robot 1 includes the following parts: (i) a head and neck 10, (ii) a torso 16, (iii) left and right arms 5, (iv) left and right hands 56, (v) left and right legs 6, and (vi) left and right talus and feet 88, 92. The parts of the robot 1 function together to provide the robot 1 with a humanoid shape and enable said robot 1 to perform human-like movements, which are not possible using conventional robots. From these figures, it can be seen that the torso 16 of the robot 1 extends between the waist 604, the shoulders 26, and head / neck 10. Said torso is designed to: (i) provide said robot 1 with a humanoid shape, (ii) provide support for the arm assemblies 5 and the head / neck 10, and (iii) house and protect the arm actuators 190 JI and an electronic assembly 200 (e.g., that includes battery pack, computing device, power distribution, sensors, etc.).1. Shape of Said Torso

[0083] As shown in Figs. 7 and 10, the torso 16 and waist 604 have been divided into 5 sections: (i) an upper section 51, (ii) an upper middle section 61, (iii) a middle section 71, (iv) a lower middle section 81, and (v) a lower section 91. The upper section 51 extends from the upper end 335 of the torso to a first reference line 370 at an uppermost end of actuator opening 172.2.2. The upper middle section 61 extends from the first reference line 370 to a second reference line 372 at a lowermost end of the actuator openings 172.2.2. The middle section 71 extends from the second reference line 372 to a third reference line 374 at a lowermost end of arm interface portions 164.2.6. The lower middle section 81 extends from the third reference line 374 to afourth reference line 376 at the upper end 174 of the waist 604 along the coronal plane Pc. The lower section 91 extends from the fourth reference line 376 to a lower end of the waist 604.

[0084] As shown in Figs. 2-4 and 6-8, the torso 16 of the robot 1 includes a frontal extent 300 and a rear extent 302, which are formed by a bisecting plane Pb of the robot 1. Said bisecting plane Pb : (i) is parallel with and offset rearward from the coronal plane Pc, and (ii) bisects the torso 16 in half at a center of the narrowest region of the torso 16. . As such, the coronal plane Pc is positioned within the frontal extent 300 of the torso 16. The frontal extent 300 and the rear extent 302 are connected to left and right substantially linear non-parallel side extents 342, 344 at left and right sides 304, 306 of the torso 16. The sagittal plane Ps and the coronal plane Pc are perpendicular to one another and bisect a spine actuator 620. The sagittal plane Ps and the coronal plane Pc are arranged along the spine axis Z that the torso 16 pivots about relative to the robot’s legs and pelvis 64.

[0085] As shown in Fig. 7, the torso 16 has a first width 310 positioned within the upper section 51 and at a first location 400 that is positioned above an extent of the shoulders 26, wherein said first width 310 has a first length that extends along the coronal plane Pc. The torso 16 also has a second width 312 that is positioned within the middle section 71 and at a second location 402 that is below the shoulders 26, and wherein the second width 312 extends along the coronal plane Pc and has a second length that is greater than the first length associated with the first width 310 coronal plane Pc. The second width 312 is the greatest width of the torso 16, while an upper end 335 of the torso 16 defining a neck opening 337 has the smallest width of the torso 16. The torso 16 also has a third width 314 that is positioned within the lower middle section 81 and at a third location 404 that is above an upper end 174 of the waist 604, and wherein the third width 314 extends along the coronal plane Pc and has a third length that is less than the second length associated with the second width 312 and greater than the first length associated with the first width 310.

[0086] The torso 16 also has a fourth width 316 that is positioned within the upper middle section 61 and at a fourth location 406 that is aligned with an extent of the shoulders 26, and wherein the fourth width 316 extends along the coronal plane Pc and has a fourth length that is less greater than the first length associated with the first width 310 and less than a second length associated with the second width 312. The torso 16 also has a fifth width 318 that is positioned within the lower middle section 81 and at a fifth location 408 that is located in a position that isabout midway between the second and third locations 402, 404, and wherein the fifth width 318 extends along the coronal plane Pc and has a fifth length that is less than the second and third length associated with the second and third widths 312, 314 and greater than the first and fourt lengths associated with the first and fourth widths 310, 316. These widths provide the interior volume 308 with a greater volume below the shoulders 26 to store more batteries, computing components, sensors, etc.

[0087] As shown in Fig. 6, the torso 16 has a first depth 320 along the sagittal plane Ps at a sixth location 410 above the shoulders 26 and within the upper section 51. The torso 16 has a second depth 322 positioned at a seventh location 412 that is below the shoulders 26, near an upper end of the battery 202, and within an upper middle section 61, and said second depth 322 has a second length along the sagittal plane Ps that is greater than the first length of the first depth 320. The torso 16 also has a third depth 324 that is positioned within the lower middle section 81 and at an eighth location 414 at the upper end 174 of the waist 604, and wherein the third depth 324 extends along the sagittal plane Ps and has a third length that is less than second length associated with the second depth 322 and greater than the first length associated with the first depth 320. The torso 16 also has a fourth depth 326 that is positioned within the upper middle section 61 and at a ninth location 416 aligned with an extent of the arm actuators 190, below the sixth location 410, and above the seventh location 412, and wherein the fourth depth 326 extends along the sagittal plane Ps and has a fourth length that is greater than a first length associated with the first depth 320 and less than a second length associated with the second depth 322. The torso 16 also has a fifth depth 328 that is positioned within the middle section 71 and at a tenth location 418 that is about midway between the seventh and eighth locations 412, 414, and wherein the fifth depth 328 extends along the sagittal plane Ps and has a fifth length that is less than the second and third length associated with the second and third depths 322, 324 and greater than the first and fourth lengths associated with the first and fourth widths 320, 326. These widths provide the interior volume 308 with a greater volume below the shoulders 26 to store more batteries, computing components, sensors, etc.

[0088] As best shown in Figs. 6-8, the depth of the torso 16 does not substantially change between the bottom extent of the aim tubes 164.2.2. The lowest extent of the torso 16 between locations 412 and 414 varies less than 10%, and preferably close to 5%. For example, the shallowest point at location 418 may have a depth that is approximately 230 mm and the deepestpoint at location 412 may have a depth that is approximately 250 mm. Keeping the front to back depths substantially constant over a majority of the height 303 of the torso 16, not only increases the torso 16 volume, but it also prevents: (i) bulges from being positioned in the front of the torso which can limit the robot’s 1 cross-torso reach, and (ii) bulges from being positioned in the rear of the torso which can alter the robot’s center of mass. This again is a substantial benefit over conventional robots that include a torso that has a small volume or have bulges.

[0089] The upper portion 339 extends generally from the upper end 335 of the torso 16 to the third reference line 374. The lower portion 341 extends generally from the third reference line to the fourth reference line 376. The third reference line 374 is near the widest extent of the torso 16 at the second location 402. The upper portion 339 of the torso 16 generally increases in width from the upper end 335 through the upper section 51, the upper middle section 61, and the middle section 71. The arm interface portions 164.2.6 are structured and oriented such that a front extent of the ami interface portions 164.2.6 are closer to one another in comparison to a rear extent of the arm interface portions 164.2.6 along the second reference line 372. The lower portion 341 of the torso 16 decreases in width from the third reference line 374 to the fifth location 408 to provide the blunted trapezoidal shape. The lower portion 341 of the torso 16 also increases and decreases in width from the fifth location 408 to the fourth reference line 376 to provide an indented, hour-glass shaped region between the fifth location 408 and the fourth reference line 376.

[0090] The width to depth ratio may vary along a height of the torso 16 but does not vary substantially to maximize space within the electronics sub-volume 330. That is, the width to depth ratio of the torso 16 does not change by more than 25% between an eleventh location 420 at a lower and of actuator openings 172.2.2 to a third location 404 the upper end 174 of the waist 604. In some embodiments, the width to depth ratio does not change by more than 20%, 15%, or 10% between the eleventh location 420 and the third location 404. The torso 16 has a width to depth ratio of about 0.7 to about 0.9, preferably 0.75 to 0.85, at the eleventh location 420 and the third location 404. In other words, the torso 16 has a width to depth ratio below the shoulders 26 and above the waist 604 within a range of about 0.7 to about 1.1 to fit the shape and volume of the electronics sub-volume 330 with a small clearance. In some embodiments, the width to depth ratio is within a range of about 0.75 to about 1.1, about 0.8 to about 1.1, or about 0.85 to about 0.1.1. The torso has a width to depth ratio of about 0.95 to about 1.15, preferably 1 to 1.1, at thesecond location 402, which is about midway between the eleventh location 420 and the third location 404.

[0091] The torso 16 has an exterior surface 336 with various portions or regions that define these shapes. When the torso 16 is viewed in cross-section along the sagittal plane Ps, the exterior surface 336 includes a front portion 338 and a rear' portion 340 extending from the eleventh location 420 to the third location 404 that are concavely curved. When the torso 16 is viewed in cross section along the coronal plane Pc, the exterior surface 336 includes left and right portions 342, 344 between locations corresponding to the second and third widths 312, 314 that are concavely curved. These curved portions 338, 340, 342, 344 provide the torso 16 with a more aesthetic appearance while maintaining sufficient volume within the interior 308 to house the electronics. In addition to these curves, the width and depth dimensions described above provide the torso 16 with an hourglass shape when viewed in a cross-section along the sagittal plane Ps (as shown in Fig. 6) and a pentagon shape when viewed in a cross-section along the coronal plane Pc (as shown in Fig. 7).

[0092] The torso 16 has a lower portion 341 coupled to a lower end of the upper portion 339 and defined between the second location 402 corresponding to the second width 312 and the third location 404. Unlike conventional robots, the lower portion or extent 341 (e.g., within the bottom 1 / 3 of the height of the torso between reference lines 374 and 376) of the torso 16 does not change substantially in volume, width, and depth from the upper portion or extent 339 of the torso (e.g., positioned within the top 1 / 3 of the height of the torso between reference lines 370 and 372). As such, the lowest point at location 414 of the torso 16 is recessed less than 10 mm from the widest point of the torso 16 at location 412, whereas the uppermost point of the torso 16 is recessed more than 35 mm from said widest point of the torso 16. This configuration does not allow the torso 16 to have a V-shaped appearance, where the smallest extent of the V-shape is positioned adjacent to the waist. This configuration is beneficial because it makes the robot more stable and increases the volume contained within the torso 16.

[0093] Instead of having a V-shaped appearance, the lower portion 341 of the torso 16 has a super-elliptical shape when viewed in cross-section along a transverse plane 106 perpendicular to the sagittal plane Ps, the coronal plane Pc, and the bisecting plane Pb. The lower portion 341 of the torso 16 has a front width (e.g. D5) located forward of the coronal plane Pc and a rear width (e.g. D21) located rearward of the coronal plane Pc. The rear width is greater than the frontwidth. Additionally, unlike conventional robots, the variation between the widest point and the narrowest point varies less than 10% of the torso’s height, and preferably close to 5% of the torso’s height. For example, the narrowest point of the lower portion 341 may be recessed approximately 36 mm from the widest point at location 402 and the overall height 303 of said torso is approximately 420 mm. This configuration similarly allows the robot to be more stable and have a substantial size volume for containing additional computing power and batteries.

[0094] To compensate for the lack of said v-shaped torso and to further increase the robot’s ability to reach across its body, the upper portion 339 of the torso 16 has been designed to have a curvilinear trapezoidal shape. Areas of the torso 16 are blunted and curved in that there are no sharp points like a pointed edge of a diamond or a pointed corner of a trapezoid. Said curvilinear trapezoidal shape is defined by providing the curvilinear front extent 300, substantially linear non-parallel side extents 342, 344, and the curvilinear rear extent 302 that has a curvilinear length 305 along each reference line 370, 372, 374, 376 that is greater than a curvilinear’ length 307 of the front extent 300 as shown in Fig. 13. The substantially linear non-parallel side extents 342, 344 intersect with the front extent 300 at an interior angle 311 that is between 85 and 110 degrees, while the substantially linear non-parallel side extents intersect with the rear extent 302 at an interior angle 313 that is between 55 and 85 degrees.

[0095] Additionally, the curvilinear length of the front extent 300 is between 27% and 37% smaller than the curvilinear length of the rear extent. For example, the curvilinear length 307 of the front extent 300 may be between 180 and 220 mm at locations 410, 412, 414, 416, 418 and the curvilinear length 305 of the rear extent 302 may be between 260 and 300 mm at locations 410, 412, 414, 416, 418. Further, the substantially linear side extents 342, 344 may be between 10% and 20% smaller than the curvilinear length 307 of the front extent 300. In other words, the curvilinear length 305 of the real’ extent 302 may be between 27 % and 37 % larger than the curvilinear length 307 of the front extent 300, and the curvilinear length 307 of the front extent 300 may be between 10% and 20% larger than a length 309, 311 of the substantially linear side extents 342. 344. Alternatively, the smallest trapezoidal shape that does not include a portion that is positioned substantially within the torso 16 includes: (i) a front wall length that is over 30% smaller than a rear wall length, and (ii) side wall lengths that are substantially equal to the rear wall length. Other dimensions of said torso 16 are described in the figures and in the below tables.

[0096] Based on the significant difference between the curvilinear lengths 305, 307 of the front and rear’ extents 300, 302, it should be understood that the surface area of the front extent 300 may be significantly smaller than the surface area of the rear- extent 302 as shown in Fig. 13. For example, the rear surface area of the torso 16 may be between 1% to 35% (preferably between 10% and 25%) larger than the front surface area of the torso 16. For example, the surface area of the front extent 300 may be about 0.10-0.12 m2and the surface area of the rear extent 302 may be about 0.12-0.14 m2. The significant reduction of the curvilinear frontal length and surface area, in comparison to the curvilinear rear length and surface area, allows the arm assemblies 5 to reach further across the torso 16 of the robot 1. This cross-torso reach provides a substantial advantage over conventional robots that lack said design, configuration, and ability. For example, the frontal extent 300 is smaller than the rear extent 302 in that it has a surface area between the left and right sides 304, 306 that is less than a surface area of the rear extent 302. This is mainly attributed to the location of the spine axis Z which is offset toward a front end of the torso 16. The surface area relationship between the frontal extent 300 and the rear extent 302 allow for increased mobility and functioning of the robot’s arm assemblies 5 by positioning less material in front of robot’s arm assemblies 5 as compared to behind the robots arm assemblies 5. This surface area relationship also allows for an increase in space within an interior volume 308 of the torso 16 in areas that do not interfere with normal movements of the robot’s arm assemblies 5 in front of the coronal plane Pc.

[0097] The upper portion 339 extends generally from the upper end 335 of the torso 16 to the third reference line 374. The lower portion 341 extends generally from the third reference line to the fourth reference line 376. The third reference line 374 is near the widest extent of the torso 16 at the second location 402. The upper portion 339 of the torso 16 generally increases in width from the upper end 335 through the upper section 51, the upper middle section 61, and the middle section 71. The arm interface portions 164.2.6 are structured and oriented such that a front extent of the arm interface portions 164.2.6 are closer to one another in comparison to a rear extent of the aim interface portions 164.2.6 along the second reference line 372.

[0098] The lower portion 341 of the torso 16 decreases in width from the third reference line 374 to the fifth location 408 to provide the blunted trapezoidal shape. The lower portion 341 of the torso 16 also increases and decreases in width from the fifth location 408 to the fourth reference line 376 to provide an indented, hour-glass shaped region between the fifth location408 and the fourth reference line 376. The waist 604 tapers inwardly toward the spinal axis Z from the upper end 174 of the waist 604 to the spinal actuator 620, J 10 at a low-sloped rate (i.c. low rise, high run). In other words, the torso 16 decreases in width and depth substantially over a relatively short height 350 between the upper end 174 of the waist 604 and an upper end 621 of the spine actuator 620. The torso 16 has a change in width of at least 50%, 55%, 60%, 65%, or 70% along height 350. The torso 16 has a change in depth of at least 35%, 40%, 45%, or 50% along height 350.

[0099] In summary, the torso 16 has an exterior surface defining an interior volume that contains an advanced electronics assembly. The torso is described with reference to a sagittal plane (Ps), a coronal plane (Pc) that is perpendicular to the sagittal plane and offset from a bisecting plane (Pb), and a transverse plane (Pt). The torso 16 exhibits varying widths measured along the coronal plane (Pc) at different vertical locations, and wherein said widths contribute to forming a blunted pentagonal shape when viewed in cross-section. The torso 16 also includes varying depths measured along the sagittal plane (Ps) at different vertical locations, and wherein said depths contribute to foiming an hourglass shape when viewed in cross-section. Furthermore, the upper portion 339 of the torso 16 possesses a curvilinear’ trapezoidal shape defined by curvilinear front and rear extents (related to the sagittal plane Ps) and substantially linear side extents when viewed in cross-section along a transverse plane (Pt). And finally, the lower portion 341 of the torso 16 exhibits a super-elliptical shape when viewed in cross-section along a transverse plane (Pt).2. Housing

[0100] To protect and house the arm actuators 190, JI and an electronic assembly 200, said torso 16 includes a torso housing 162 that is comprised of: (i) a front skeleton 164, (ii) a rear skeleton 166, (iii) a shell assembly 172, and (iv) rear interface panel 176. It is desirable to utilize a front skeleton 164 and a rear skeleton 166 to: (i) transfer loads from one side of the torso 16 to the other side of the torso 16, (ii) to allow an extent of the skeleton to be removed to allow for assembly and servicing of the electronic assembly 200, (iii) reduce manufacturing complexities.

[0101] In other embodiments, the front and rear skeletons 164, 166 may be combined into a single unitary unit. In this embodiment, the electronic assembly 200 may be inserted from the bottom before the waist 604 is coupled to said skeleton. This embodiment would allow for a reduction in the materials utilized in the torso 16, as said unitary skeleton may be made from asingle integrated piece and could more effectively transfer loads between aspects of said skeleton. However, the limited space contained within the opening formed in the waist 604 may complicate the assembly of the robot 1 and will likely significantly increase manufacturing complexities associated with fabricating said unitary skeleton. In further embodiments, the rear skeleton 166 may be omitted in its entirety, and may not be integrated into the front skeleton 164 as a single unit, because said front skeleton may be sufficient to effectively transfer said loads that are experienced by said robot 1. It should also be understood that additional embodiments or alterations to said housing will be discussed below and said embodiments may be partially or fully combined with any of the above described embodiments.

[0102] In yet another embodiment, the front skeleton 164 may be divided into two or more separate components that are attached together by fasteners. For example, the front skeleton 164 can be divided into three components comprising a front portion, a left side portion, and a right side portion. The front portion preferably has a width that is greater than the battery 202 so that the front portion can be removed to service or replace the battery 202 or other electronics within the interior 308. The left and right side portions are interconnected with the front portion and the real’ skeleton 166 along sides 342, 344. For example, the left and right side portions may be formed along vertical plans that extend through left and right clavicle regions that are split by the gorget 164.4. Additionally, in other embodiments, the front skeleton 164 may be divided into two components along a division line colinear with the sagittal plane Ps. a) Front Skeleton

[0103] As best shown in Figs. 24-32, the front skeleton 164 is designed to carry the majority of the structural loads that are experienced by the torso 16. The front skeleton 164 includes a casing 164. 2 and a gorget 164.4 that sits on top of and attaches to the casing 164.2 and transfers loads from the neck and head 10 into said front skeleton 164. The front skeleton 164 is also coupled to: (i) the waist 604 to form at least a portion of a compartment 201 for the electrical assembly 200, actuators 190, and other components housed within the internal volume, (ii) the rear skeleton 166, and (iii) a real’ interface panel 176, and wherein each of the waist 604, rear skeleton 166, and the rear interface panel 176 are designed to transfer forces from said components into the front skeleton 164.

[0104] As best shown in Figs. 24-32, the casing 164.2 is shaped with multiple structural features, wall thicknesses, anchoring features, load transfer features, and openings. The casing164.2 includes: (i) an arm tube 164.2.2, (ii) arm actuator mounts 164.2.4, (iii) arm interface portions 164.2.6, (iv) a gorget interface portion 164.2.8, and (v) a main body wall 164.2.10. The left and right arm interface portions 164.2.6 include an arm portion wall 164.2.6.8 with a curvilinear perimeter defined in part by a rim 164.2.6.2. The arm portion wall 164.2.6.8 is formed to include an actuator recess 164.2.6.8.2 shaped to allow full range of motion of the arm and a vent opening 164.2.6.8.4 to the main compartment 201 within the housing 162. The side portions 164.2.10.6 of the main body wall 164.2.10 include extra mass (i.e. thickness) for structural stiffness in comparison to thinner areas of the main body wall 164.2.10. The gorget interface portion 164.2.8 has an inner edge that corresponds with an outer edge of the gorget 164.4. The main body wall 164.2.10 is located below the gorget interface portion 164.2.8 and overlies a front end of the battery 202, the power distribution and control assemblies 204, and the computer 206 and is formed without any large apertures to provide a protective barrier for these components.

[0105] As shown in Figs. 24-32, the arm tube 164.2.2 is designed to house the arm actuator assemblies 190 and the arm actuator mounts 164.2.4 are designed to secure said arm actuator assemblies 190 within said arm tube 164.2.2. The arm tube 164.2.2 is designed to: (i) support the arm actuator assembly 190 and transfer torque from the shoulders 26 and upper arm assemblies 24 to the body (i.e. torso), and (ii) is the main structural load path for torsional transfer between the left and right arm actuators 190a, 190b (JI). To help ensure said torque is properly transferred through a significant extent of the torso 16 and is not localized in an outer extent of the torso 16, the arm tube 164.2.2 extends across the entirety of the torso 16 and is formed as an integral part of the front skeleton 164. Additionally, by extending the arm tube 164.2.2 across the entire torso 16, the need for additional supporting structures that extend from said arm tube164.2.2 are minimized. This is again beneficial because it limits structures that reduce the usable space within the torso 16. In other embodiments, the arm tube may not extend entirely across the torso 16; instead, said arm tube 164.2.2 may have a space formed therein, thereby forming two separate (left and right) arm tubes.

[0106] The arm tube 164.2.2 includes a front support 164.2.2.2 and a rear support 164.2.2.4. The front support 164.2.2.2 is formed to include openings 164.2.2.6 selectively placed to provide the arm tube 164.2.2 with a trussed structure that intentionally directs forces toward thickened regions and / or fastener locations throughout the front skeleton 164 along load paths to the waist604. The openings 164.2.2.6 includes a primary opening 164.2.2.6.2 formed between upper ends of the front support 164.2.2.2 and rear support 164.2.2.4 to allow access to wiring connections to and between the actuators 190a, 190b when the gorget 164.4 is removed from the casing 164.2

[0107] The front support 164.2.2.2 includes an upper band 164.2.2.2.2, a pair of outer links164.2.2.2.4, and a pair of inner links 164.2.2.2.6. The upper band 164.2.2.2.2 extends between and interconnects the arm actuator mounts 164.2.4 along the upper end of the front support 164.2.2.2. Each end of the upper band 164.2.2.2.2 is aligned with mid support mounts 164.2.8.4 for the gorget 164.4 so that the gorget 164.4 supports at least some of the loads from the arms 5. The inner links 164.2.2.2.6 are extend toward and connect to front arm tube mounts 164.2.8.6 which are also used to mount the gorget 164.4 to the casing 164.2 to further impart loads from the arms into the gorget 164.4

[0108] The rear support 164.2.2.4 is coupled to or formed with at least a central extent of the arm tube 164.2.2 and spans between the interior surfaces 164.2.6.8.8 of the left and right arm portion walls 164.2.6.8 along an extent of the interior surface portion 164.2.6.8.8 of the actuator recess 164.2.6.8.2 between the top and vent opening 164.2.6.8.4. The rear support 164.2.2.4 includes fastening locations 164.2.2.4.2 and center battery support mounts 164.2.2.4.4 for the rear interface panel 176. The interior wall of the arm interface portion 164.2.6 includes top mounting supports 164.2.8.2 that extend from the top middle portion of the arm portion wall 164.2.6.8 to the arm tube 164.2.2 and provide additional structure to receive bolts. The top mounting supports 164.2.8.2 are configured to handle hanging loads and fall loads. Rear load panels 164.2.6.8.8.2 extend from the top mounting supports 164.2.8.2 to the rear support164.2.2.4.

[0109] In an alternative embodiment, the arm tube 164.2.2 may be omitted from the front skeleton 164. In such an embodiment, the arm actuator mounts 164.2.4 can be formed directly with the arm interface portions 164.2.6. The ami interface portions 164.2.6 can be structured with thickened regions or trussed to reinforce the arm assemblies 5 relative to the torso 16.

[0110] The gorget 164.4 includes a neck area 164.4 .2 recessed from a neck opening 164.4.2.2 and actuator mount 164.4.2.4 to interface with the head twist actuator assembly 120 (J8.1) of the head and neck assembly 10. The casing 164.2 includes gorget interface supports 164.2.8 interior to the arm interface portions 164.2.6 configured to receive and couple the gorget 164.4. The casing 164.2 includes: (i) the top mounting supports 164.2.8.2 formed in the interior wall of thearm interface portion 164.2.6 above the arm tube 164.2.2, (ii) the mid support mounts 164.2.8.4 at a top portion of the arm tube 164.2.2, and (iii) front arm tube mounts 164.2.8.6. The casing 164.2 also includes a gorget recess 164.2.10.2 in the main body wall 164.2.10 configured to receive the gorget 164.4 and transfer loads to a clavicle 164.2.10.4. When seated, the gorget164.4 has a substantially flush surface transition to the casing 164.2 in the front.

[0111] As best shown in Figs. 31 and 37, the front skeleton 164 varies in thickness throughout the main body wall 164.2.10 to provide structural load paths. The arm tube 164.2.2 is configured for torsion transfer between the arm actuators 190a, 190b. The front interior 164.2.10.8 includes a cross band structure 164.2.10.8.2 that provides a transitional load transfer path from the arm tube 164.2.2 down connected ribs 164.2.10.4.2 to the clavicle 164.2.10.4 and transitional load path 164.2.10.8.2 to the waist 604. The cross band structure 164.2.10.8.2 is configured for weight savings and stress optimization and is not a stiffness load path. The shape of the cross band structure 164.2.10.8.2 may be asymmetric. The cross band structure 164.2.10.8.2 may include portions that resemble an A for the load distribution that includes increased thickness and structure forming waist mounts 164.2.10.8.4 to connect the waist 604 and transfer loads. As shown in the Figures, the thickness of said front skeleton 164 may vary from less than 1 mm to more than 20 mm. In alternative embodiments, said variations may be minimized in order to increase manufacturing times, with the understanding that minimizing the variations will likely increase the weight of the torso 16 and the robot 1.

[0112] Also shown in the Figures, the main body wall 164.2.10 includes a battery mount 164.2.10.8.6 for securing the battery 202 within the internal volume of the torso 16. The battery 202 may be secured through a plurality of apertures 164.2.10.8.6.2 positioned in stiffeners164.2.10.8.6.4 and through the main body wall 164.2.10. The stiffeners 164.2.10.8.6.4 may be nearly vertical ribs that protrude inward from the front interior 164.2.10.8. The battery 202 may also be secured to the rear support 164.2.2.4 at the arm tube 164.2.2 at center battery support mounts 164.2.2.4.4 at the real’ support 164.2.2.4 of the arm tube 164.2.2 for a cantilevered load path.

[0113] The transitional load path F extends from the arm tube 164.2.2 downwardly to the waist 604 through the cross band structure 164.2.10.8.2 as shown in Fig. 35. The cross band structure 164.2.10.8.2 is provided by a thickening of material in the main body 164.2.10. In someembodiments, the cross band structure 164.2.10.8.2 is formed by the removal of material from the main body 164.2.10.

[0114] The cross band structure 164.2.10.8.2 includes: (i) a clavicle 164.2.10.4 and (ii) structural ribs 164.2.10.5 coupled to the clavicle 164.2.10.4 and extending to thickened regions 360 in a lower portion of the side portions 164.2.10.6 connected to the waist 604. The clavicle164.2.10.4 is configured to receive and direct forces F from the arm tube 164.2.2 in a downward direction along the front of the main body 164.2.10 to the structural ribs 164.2.10.5. The structural ribs 164.2.10.5 are configured to direct the forces F in the downward direction and disperse the forces F in an outward direction to the side portions 164.2.10.6. The structural ribs164.2.10.5 merge with and cross through stiffeners 164.2.10.8.6 to receive forces acting on the stiffeners 164.2.10.8.6 from the battery 202 and other electronics mounted to the main body 164.2.10. In other words, rather than focusing the forces inwardly, the cross band structure 164.2.10.8.2 and the stiffeners 164.2.10.8.6 form a connected network that disperses the forces F throughout the side portions 164.2.10.6 and around vent openings 164.2.6.8.4 to distribute the forces F through more material of the main body 164.2.10.

[0115] The lower region of the side portions 164.2.10.6 have a first thickness 362 and are the thickest regions in the main front skeleton 164. The waist 604 has a second thickness 364 less than the first thickness 362 but greater than an average thickness 368 of the front skeleton 164. The aim tube 164.2.2 has a third thickness 366 less than the second thickness 364 but greater than thicknesses in other regions of the front skeleton 164 that are non-structural.

[0116] The torso 16 is formed to include a curvilinear ridge 164.2.12 in the main body 164.2.10 of the front skeleton 164. The curvilinear ridge 164.2.12 projects outwardly away from the rest of the torso 16. The curvilinear ridge 164.2.12 extends from a first low-elevation end 164.2.14 at a right side portion 164.2.10.6, to a central high-elevation segment 164.2.16 extending across a front area of the main body 164.2.10, and to a second low-elevation end 164.2.18 at a right side portion 164.2.10.6 opposite the left side portion 164.2.10.6.

[0117] The casing 164.2 includes rear skeleton mounts to couple the real' skeleton 166 to the front skeleton 164. The rear skeleton mounts may protrude from the interior surface of the arm interface portion 164.2.6 and from a side portion 164.2.10.6 of the main body wall 164.2.10. The real' skeleton mounts include rear skeleton upper mounts 164.2.10.12.2, rear skeleton middle mounts 164.2.10.12.4, and rear skeleton lower mounts 164.2.10.12.6. The rear skeleton uppermounts 164.2.10.12.2 at the top mounting support 164.2.8.2 of the casing 164.2 are configured to engage with upper mounting extensions 166.6.2 of the real’ skeleton 166. The rear skeleton middle mounts 164.2.10.12.4 along the interior surface at the rear support 164.2.2.4 of the casing 164.2 are configured to engage with middle mounting extensions 166.6.4 of the rear skeleton 166. The rear' skeleton lower mounts 164.2.10.12.6 of the casing 164.2 are configured to engage lower mounting extensions 166.6.6 of the rear skeleton. The shear transfer features 164.2.6.8.8.4 at the rear interior of the arm interface portions 164.2.6 to couple with shear transfer protrusions 166.8 of the rear skeleton 166 and provide a stiffness path. The shear transfer features 164.2.6.8.8.4 are formed as grooves along a rear edge of the front skeleton 164 and have a shape corresponding to the shear transfer protrusions 166.8 of the rear skeleton 166. b) Rear Interface Panel

[0118] As best shown in Figs. 38-41, the rear interface panel, rear panel, or real’ portion 176 is designed to couple with the casing 164.2 and extend to be substantially flush with the surface of the rear shell 170 on the rear skeleton 166. The rear interface panel 176 includes mounting extensions 176.2.2 that extend from the real' interior surface 176.2 and interface with real' panel mounts 164.2.6.8.8.6 of the casing 164.2. The mounting extensions 176.2.2 form a trussed bridge traversing the interface panel 176 and configured to distribute forces therethrough and to the casing 164.2 if the robot falls to its back during operation.

[0119] The rear interface panel 176 is configured to cover the rear sensor assembly 208.4 which may also couple to the rear interior surface 176.2 of the rear interface panel 176. The rear interface panel 176 may also include sensor apertures 178.4 configured for the rear sensor assembly 208.4. The sensor apertures 178.4 may include a lower rear sensor aperture 176.4.2 through the rear interface panel 176, with the external surface 178.6 formed such that the contours do not interfere with the field of view 208.4.2 of the sensors in the sensor assembly 208.4. The real' interface panel 176 may also include a charging port aperture 176.10.4 therethrough, with an access door 176.10.2 that may be opened to insert a removable charging port adapter into a charging port 202.2 for the battery 202. The rear interface panel 176 further includes apertures 176.4.4 configured to receive buttons such as a power button for the robot 1.

[0120] Referring to FIG. 1, the robot 1 is shown in an upright position with the arms extended at both sides. If the robot 1 falls forward and lands flat, the stress is distributed in the frontskeleton 164 within an allowable range, protecting the battery pack 202. If the robot falls backward and lands flat, the rear interface panel 176 of the torso 16 at arm level may be subjected to the highest stresses from the impact. The stresses in the torso 16 from the fall are within an allowable range in most of the torso housing 162 with a higher stress concentration at the upper back region which corresponds with the back interface panel 176. For example, an allowable stress range may be 0 to 0.05 psi. The torso 16 of robot 1 is designed to mitigate damage to the battery pack 202, by reinforcing the back interface panel 176 and transferring the impact load to the front skeleton 164.

[0121] As best shown in Figs. 11, 12, and 36-39, the rear interface panel, rear panel, or panel 176 is designed to couple with the left and right rear edges of the casing or frontal portion of the housing 164.2 and (i) provides an external interface to the electronics assembly 200 contained within the torso 16 and (ii) enhances the structural features by including rigid supports that transfer loads to the casing 164.2. To provide the above described structures and features, the rear interface panel 176 includes mounting extensions 176.2.2 that extend from the rear interior surface 176.2 and interface with rear panel mounts 164.2.6.8.8.6 of the casing 164.2. In particular’, the rear interface panel 176 includes a cross panel rigid support 176.2.2.2.2 that extends laterally across an upper central portion of the interior surface of the rear interface panel 176. This cross panel support 176.2.2.2.2 is configured to distribute impact loads received at the rear interface panel 176 to the mounting extensions 176.2.2 and the casing 164.2 coupled thereto.

[0122] The rear interface panel 176 may also include a pair of side supports spaced apart from each other in an upper extent of the rear interface panel 176. These side supports can add rigidity to the real’ interface panel 176 on either side of the port access region 176.10, including the button apertures 176.4.4. The mounting extensions 176.2.2 includes a pair of upper mounting extensions 176.2.2.2 in an upper portion of the rear interface panel 176 on opposite sides. The pair of upper mounting extensions 176.2.2.2 includes an upper brace that extends from the cross panel support 176.2.2.2.2 and upper side braces that extend from the pair of side supports. Each upper mounting extension 176.2.2.2 includes an extent of the upper brace on one side joins the upper side brace on the same side for form an upper mount, where the upper mount is configured to abut and couple with the upper pair of rear panel mounts 164.2.6.8.8.6 of the casing 164.2. Similarly, a pair of lower mounting extensions extend from a lower extent of the rear interface panel. Each lower mounting extension includes lower side brace and a bottom brace that extendfrom the thickened portion of the sidewall surrounding the sensor aperture and join to form a lower mount, where the lower mount is configured to abut and couple with the lower pair of rear panel mounts 164.2.6.8.8.6 of the casing 164.2. c) Rear Skeleton

[0123] As best shown in Figs. 42-44, the rear skeleton 166 is shaped to complete the torso 16 form. The rear skeleton 166 is configured as a lighter in weight cover with structural features for stiffness and shear transfer and to hold the rear shell 170 and the battery pack 202. The front skeleton 164 is designed to carry the majority of the structural loads. Thus, the real' skeleton 166 may be omitted in some embodiments as it is not designed to carry significant loads like the front skeleton 164.

[0124] The rear skeleton 166 includes a main body wall 166.4, side portions 166.4.2, and a back portion 166.4.4. The side portions 166.4.2 of the main body wall 166.4 abut the side portions of the front skeleton 164. The back portion 166.4.4 of main body wall 166.4 includes an open area 166.4.4.2 with back braces 166.4.4.4 spanning the open area 166.4.4.2 to carry torsional loads from the casing 164.2 from one side around to the other side of the casing 164.2. The back braces 166.4.4.4 have openings 166.4.4.2.2 in the open area 166.4.4.2 where the back braces 166.4.4.4 traverse the open area 166.4.4.2. The back braces 166.4.4.4 intersect one another to form a plurality of cross shapes to resist torsional loads acting on the rear skeleton 166 while minimizing a weight of the real' skeleton 166. The rear skeleton 166 also includes an electronics opening 166.4.6 formed in the open area 166.4.4.2 and configured to receive the rear interface panel 176. The rear interface panel 176 is not attached to the rear skeleton 166 and instead is attached to a rear support 164.2.2.4 of the casing 164.2 of the front skeleton 164. The electronics opening 166.4.6 in the rear skeleton 166 and rear shell 170 allow the rear skeleton 166 and rear shell 170 to be removed to access the battery 202, or other components within the torso 16, without disrupting the sensor assembly 208.4. The rear interface panel 176 can also be removed to access these components without removing the rear skeleton 166 thereby simplifying service of the robot 1.

[0125] The rear skeleton 166 includes a plurality of mounting extensions 166.6 that correspond with rear skeleton mounts of the casing 164.2. The upper mounting extensions166.6.2 engage with the rear skeleton upper mounts 164.2.10.12.2 at the top mounting support164.2.8.2 of the casing 164.2. The middle mounting extensions 166.6.4 engage with the rearskeleton upper mounts 164.2. 10.12.2 along the interior surface at the rear support 164.2.2.4 of the casing 164.2. The lower mounting extensions 166.6.6 include at least two on each side configured to engage with the rear skeleton lower mounts 164.2.10.12.6 of the casing 164.2. The rear skeleton 166 includes shear transfer protrusions 166.8 positioned between the upper mounting extensions 166.6.2 and the middle mounting extensions 166.6.4. The shear transfer protrusions 166.8 are configured to engage with shear transfer features 164.2.6.8.8.4 at the rear interior of the arm interface portions 164.2.6 to couple the real- skeleton 166 and provide a stiffness path.3. Shell Assembly

[0126] The shell assembly 172 is configured to surround the front and rear skeletons 164, 166 and is designed to protect the said skeletons 164, 166 from external objects and accidental contact between the torso and the arm assemblies 5. The shell assembly 172 include: (i) a front shell 168, (ii) a rear shell 170, (iii) a shroud or side extent 172.2, and (iv) energy attenuation member 172.4. As best shown in Figs. 23-33, the front shell 168 covers a majority of the gorget 164.4, the main body wall 164.2.10 the casing 164.2, and an extent of the lower sensor cover 172.6. To cover these structures, the front shell or forward portion of the cuirass 168 includes: (i) a main body, (ii) two upwardly extending projections from the main body that are configured to overlie an extent of the robot’s clavicle and trapezius, and (iii) two rearwardly extending projections from the main body that are configured to overlie an extent of the robot’s obliques and kidneys. Likewise, the rear shell 170 covers the rear skeleton 166, an extent of the front casing 164.2, and an extent of the gorget 164.4. To cover these structures, the rear shell or rear portion of the cuirass 170 includes: (i) a main body, (ii) two upwardly extending projections from the main body that are configured to overlie an extent of the robot’ s shoulder blade and trapezius, and (iii) two forwardly extending projections from the main body that are configured to overlie an extent of the robot’s latissimus dorsal and kidneys. Unlike the front shell 168, the rear shell 170 includes a substantial opening formed therein to provide access to the rear interface panel.

[0127] The front and rear shells 168, 170 may be designed to be consumable and / or replaceable. As such, said shells made from any known material, including metal or plastic and may include textiles, polymers, may be 3D printed, or injection modeled to identify a few examples. It should be understood that in other embodiments, the front and rear shells or cuirass168, 170 may be integrally formed into the front and back skeletons 164, 166. This may be beneficial because it could cut down on the number of parts that arc needed for the robot 1. However, integrally forming these components will reduce the robot’s ability to replace scuffed or damaged shells 168, 170 without replacing the entire skeleton or skeleton section 164, 166. In a further alternative, the shells 168, 170 may be further subdivide into additional components to further aid in the replaceability of said components. For example, the shell may include more than 5 and potentially more than ten separate components. Some possible materials that can be used for the front and rear shells 168, 170 include textiles or any other material describe in U.S. Application No. 19 / 066,122, which is expressly incorporated herein for the purpose of describing suitable materials for the shells 168, 170.

[0128] The shroud 172.2 may be coupled with at least an extent of the front shell 168 within the arm interface portion 164.2.6 on each left and right side of the front skeleton 164. The shroud172.2 configured to surround the arm tube 164.2.2 and provide protection to the torso 16 along the extents of the front shell 168 and the rear shell 170 on each of the left and right sides. The shroud 172.2 includes: (i) an actuator opening 172.2.2 conforming to the shape of an actuator recess 164.2.6.8.2 of the arm portion wall 164.2.6.8 of the front skeleton 164 within the arm interface portion 164.2.6, and (ii) a perforated portion 172.2.4 configured to allow air flow into the robot 1 through a vent opening 164.2.6.8.4 of the torso 16. Except for the actuator opening172.2.2 and its adjacent structures, said shroud 172.2 has a somewhat planer configuration that matches the substantially linear sidewall extents of the skeleton / torso. The extent of the somewhat planer configuration of the shroud 172.2 includes a plurality of ribs (e.g., projections and adjacent recesses) that are designed to provide said shroud 172.2 with additional structural integrity, which may be helpful in preventing damage to the skeleton.

[0129] In other embodiments, said ribs may be removed or replaced with other energy absorbing materials. In other embodiments, said linear sidewalls may be substantially curvilinear or may have any other known shape. Like the front and rear shells 168, 170, the shroud 172.2 may be designed to be consumable and / or replaceable. As such, said shroud 172.2 made from any known material, including metal or plastic and may include polymers, may be 3D printed, or injection molded to identify a few examples. In alternative embodiments, said shroud 172.2 may be integrally formed with the skeleton or may be formed from a plurality of other components.

[0130] As best shown in Figs. 14-21 , the energy attenuation member 172.4 is shaped to surround the arm interface portion 164.2.6. The energy attenuation member 172.4 interfaces with the rim 164.2.6.2 that defines the edge of arm interface portion 164.2.6 and the shroud 172.2. The energy attenuation members 172.4 are designed to protect the torso 16 from accidental contact with the robot’s upper arm assembly 24. Accordingly, the energy attenuation member 172.4 is made from an energy absorbing material (e.g., plastic, TPU, or other polymers or plastics). The energy attenuation member 172.4 includes a energy attenuation member mounting projection 172.4.2 configured to fit within a energy attenuation member groove 164.2.6.6 of the front skeleton 164 formed in the rim 164.2.6.2 that defines the edge of arm interface portion 164.2.6. The energy attenuation member 172.4 also includes a ledge 172.4.6 configured to receive the perimeter edge 172.2.6 of the shroud 172.2. The left and right shrouds 172.2 cover the left and right arm interface portions 164.2.6, with the left and right energy attenuation members 172.4 interfacing with the front skeleton 164 and left and right shrouds 172.2 to provide additional protection to the torso 16, for example, from accidental contact with the robot’s upper arm assembly 24.4. Actuators

[0131] As shown in Figs. 6-8, the arm actuator assembly 190 is configured to be housed within the arm tube 164.2.2 of the front skeleton and secured to the actuator mounts 164.2.4. The shoulder 26 and upper arm assembly 24 (z’.e. upper humerus 30, lower humerus 36, and upper forearm 40) extend from the torso 16 (see also, Figs. 1-4). Movement of the shoulder 26 and upper arm assembly 24 are controlled, at least in part, by the left and right arm actuator assemblies 190a, 190b housed within the housing 162 of the torso 16. The torso housing 162 is designed to protect the components contained within the torso 16, including the left and right arm actuator assemblies 190a, 190b, and provide stability to the upper portion of the robot 1. For example, the individual actuators of the upper arm assembly 24, the forearm 46, and wrist 50 operate independently and are coupled electrically to the following actuator using a single wire bundle.

[0132] As will be discussed in greater detail in another application filed by the Applicant of this Application, the individual actuator assemblies 190 may have similar components, structures, and / or be assembled similarly. This commonality between the actuator assemblies reduces costs and assembly time. For example, the individual actuator assemblies 190, may beexactly the same. Additionally, individual actuator assemblies 190 may have the same momentary peak torque of more than 25N-m, preferably more than 50 N-m, and most preferably more than 90 N-m. In other embodiment, the individual actuator assemblies 190 may not be the same and may not have the same momentary peak torque values. Instead, said actuator assemblies 190 may have momentary peak torque values that are more than 50% different from one another.

[0133] Finally, the robot’s configuration places its: (i) arm output mount of the output adaptor is positioned at: (a) at an upward angle in relationship to the transverse plane 106, and (b) a rearward angle in relation to the coronal plane, and (ii) shoulder output mount of the shoulder actuator is upwardly angled relative to the transverse plane. In other words, a rotation axis 191a, 191b of the actuators 190a, 190b are oriented in this manner relative to the transverse plane 106. This allows the arm singularity to be beneficially positioned between 5 and 25 degrees upward relative to the transverse plane 106 and between 5 and 25 degrees rearward in relation to the coronal plane. Further, the range of motion of for: (i) the arm actuator is between 180 degrees and 270 degrees, (ii) the shoulder actuator is between 120 degrees and 180 degrees, (iii) the humerus actuator is between 190 degrees and 360 degrees, and (iv) the elbow actuator is between 120 degrees and 180 degrees. These ranges of motions along with the location of the singularity allow the robot to have a sizeable workable area and reduces the need to twist the spine, while minimizing space for battery and computer storage.

[0134] It should be noted that the actuators J 1 and J 10 may utilize a range and / or combination of advanced motor types, including brushless DC motors, stepper motors, servo motors, coreless DC motors, synchronous AC motors, asynchronous induction motors, linear motors, piezoelectric motors, direct-drive motors, switched reluctance motors, permanent magnet synchronous motors (PMSMs), axial flux motors, and hybrid stepper motors. These motors may employ rare-earth permanent magnets, such as neodymium-iron-boron (NdFeB) alloys, samarium-cobalt (SmCo) magnets, ferrite magnets, alnico magnets, flexible magnets, bonded rare-earth magnets, and high-temperature permanent magnets, to achieve high torque density and energy efficiency. Motor windings may include high-conductivity copper wire with advanced ceramic or polyimide insulation for superior thermal and electrical performance. The motors may be coupled with various high-reduction gear mechanisms designed for precision and load handling, such as strain wave gearboxes (e.g., Harmonic drives), cycloidal reducers, planetarygearboxes, bevel gear systems, worm gears, parallel shaft helical gear mechanisms, spur gear assemblies, crossed helical gear systems, double-enveloping worm gear’s, herringbone gears, hypoid gears, rack-and-pinion systems, bevel hypoid gear’s, epicyclic gear- trains, and differential gear systems. Additionally, some implementations may incorporate custom gear profiles optimized for torque transfer efficiency, backlash reduction, and noise minimization.

[0135] Additionally, to achieve exceptional positional accuracy and ensure reliable operation, each motor may be equipped with advanced encoders, which could be optical, magnetic, capacitive, inductive, resistive, piezoelectric, hall-effect, potentiometric, or ultrasonic. These encoders may facilitate sub-millimeter-level accuracy, critical for applications requiring meticulous movement control. To complement positional data, said actuator may include integrated torque sensors that have strain gauges, piezoresistive sensors, magnetoelastic sensors, capacitive sensors, fiber-optic sensors, or rotary transformers. Additionally or alternatively, the actuators may include current sensors, such as Hall-effect sensors, shunt resistors, fluxgate sensors, Rogowski coils, or magnetoresistive sensors. Furthermore, the system may incorporate micro-electromechanical systems (MEMS) gyroscopes and / or accelerometers, which provide additional sensory data related to orientation, angular’ velocity, and linear acceleration. This sensory integration enhances the robot's ability to navigate complex environments and maintain stability during operation.

[0136] Further, the actuators or the output of the actuators may include bearing housings constructed using advanced materials like carbon-fiber-reinforced polymers (CFRPs), fiberglass- reinforced polymers (FRPs), metal alloys, polyetheretherketone (PEEK), thermoplastic composites, and ultra-high-molecular-weight polyethylene (UHMWPE). Additionally, the manufacturing processes for CFRPs, such as filament winding or automated fiber placement, allow for precise control over fiber orientation, further optimizing the mechanical performance of the housings. The bearings themselves can be fabricated from, include, or processed using high-grade steel alloys (e.g., AISI 52100, M50, or 440C stainless steel), high-performance nickel-based superalloys (e.g., Inconel 718 or Hastelloy), cobalt-based alloys (e.g., Stellite), advanced ceramics (e.g., alumina or zirconia-based composites), and polymer matrix composites reinforced with carbon or aramid fibers. These materials may also benefit from advanced heat treatments (e.g., vacuum hardening or cryogenic treatment), surface engineering processes (e.g., ion implantation or physical vapor deposition), or specialized coatings.

[0137] To further optimize performance, the rolling elements of the bearings may be composed of advanced ceramic materials (e.g., silicon nitride, tungsten carbide, or zirconia), sapphire, or composite materials combining ceramic with metal or polymer matrices. In another embodiment, the assembly may incorporate cylindrical roller bearings, angular contact ball bearings, or hybrid bearings that combine steel races with ceramic rolling elements.Additionally, spherical roller bearings, tapered roller bearings, needle roller bearings, magnetic bearings, or hybrid or combinations thereof. Cutting-edge manufacturing techniques, including additive manufacturing methods like selective laser melting (SLM), could be employed to create complex bearing geometries. These geometries may integrate features such as internal cooling channels, lubrication reservoirs, or textured surfaces to enhance lubrication retention and minimize wear.

[0138] The incorporation of such features allows for improved thermal management, reduced friction, and consistent lubrication distribution, even under challenging operating conditions.Additive manufacturing also enables the production of customized bearing designs with minimal material waste, aligning with sustainable manufacturing practices. In addition to additive manufacturing, other advanced processes like precision machining, laser hardening, or chemical vapor deposition (CVD) coatings may be applied to enhance the surface properties of the bearings. These techniques can improve wear resistance, reduce friction, and provide protection against corrosion, further extending the operational life of the components. The integration of smart sensors within the bearing housing is another potential enhancement, allowing for realtime monitoring of parameters such as temperature, vibration, and load. This data can be used to predict maintenance needs and prevent unexpected failures, ensuring optimal performance and reliability in critical applications.

[0139] Further, the above described actuators can provide the following range of motions.Table 3

[0140] It is understood that number / location of actuators, range of motion, and / or arrangement of axis of rotation associated with the disclosed humanoid robot 1 materially and substantially differ from the number / location of actuators, range of motion, and / or arrangement of axis of rotation for a non-humanoid robot. As such, the structures, number / location of actuators, range of motion, and / or arrangement of axis of rotation associated with non-humanoid robot cannot be simply adopted or implemented into a humanoid robot without careful analysis and verification of the complex realities of designing, testing, and manufacturing a general purpose humanoid robot. Theoretical designs that are an attempt to implement such modifications from a non-humanoid robot are insufficient (and in some instances, woefully insufficient) because they amount to mere design exercises that are not tethered to the complex realities of successfully of designing, testing, and manufacturing a general purpose humanoid robot.D. Waist

[0141] As best shown in Figs. 44-49, the waist 604 includes: (i) a waist body 604.2, (ii) perforated vent panels 604.4, and (iii) battery support bracing 604.6. The waist body 604.2 is shaped and contoured to transition the form of the robot 1 from the torso 16 to the pelvis 64. Specifically, said waist body 604.2 includes: (i) a main body 604.2.1 with a waist rim 604.2.2, and (ii) a projecting actuator housing or waist bucket 604.2.4 that extends therefrom and has an actuator receptacle 604.2.4.2 and actuator mount 604.2.4.4 configured to receive the torso twist actuator 620 (J 10) that couples the torso 16 to the pelvis 64. The torso twist actuator assembly 620 (J10) is substantially similar in structure as the arm actuator assembly 190 (JI) but is sized to have an momentary peak torque ranging from 101.6-152.4 N-m, preferably 114.3-139.7 N-m. Said main body 604.2.1 has a shallow parabolic shape with a height that is less than 30 mm and has a width that is width that is over 225 mm. Accordingly, said height of the main body 604.2.1 is less than 13% of the width of the main body 604.2.1. This shallow main body 604.2.1 provides a curvilinear bottom shelf coupled to the torso 16 that has a substantial area (<?. ., greater than 40 cm2). This large area has a limited slope, as the height is less than 30 mm, which helps maximize the volume of the torso 16 and provides additional stability to the robot 1. The larger torso volume and additional stability is a substantial benefit over conventional robots that have very naiTow lower torsos (e.g., steep sloped lower torso that has a width that is substantially equal to the width of the actuator).

[0142] The projecting actuator housing 604.2.4 downwardly depends from the shallow parabolic shaped main body 604.2.1. In other words, the projecting actuator housing 604.2.4 is not housing within the main body 604.2.1, which ensure that a substantial portion of the spine Z or spine yaw actuator assembly 620, J 10 is not located within the torso 16. As such, the intersection between the main body 604.2.1 and the housing 604.2.4 forms an angle 317 that is between 90 degrees and 120 degrees as shown in Fig. 35. This sharp angle 317 between these walls furthers the above described concept that the main body 604.2.1 does not include a steep sloped wall that narrows down to said diameter of the spine actuator J 10. As shown in the figures, the projecting actuator housing 604.2.4 is not centered within the main body 604.2.1 and instead is offset towards a forward most extent of the torso 16. For example, the actuator housing604.2.4 may be positioned adjacent to a frontal extent 604.2.3 of the main body 604.2.1, may have a lateral width 319 that extends over 60 mm from an external surface 604.2.5 of the housing604.2.4 to a perimeter 604.2.7 of the main body 604.2.1, and a rearward depth of over 100 mm that extends over 60 mm from said external surface 604.2.5 of the housing 604.2.4 to the perimeter 604.2.7 of the main body 604.2.1.

[0143] It should be understood that the height of said projecting actuator housing 604.2.4 must be sufficient to allow for enough clearance between the bottom extent of the main body 604.2.1 and the pelvis 64. However, extending the height of the projecting actuator housing604.2.4 too far creates instability in this main connection between the torso 16 and the pelvis 64. Thus, the designer must ensure that said high of the projecting actuator housing 604.2.4 is sufficient for clearance, but not too high to cause instability issues. The balance struck in the disclosed robot 1 is between 80 mm and 30 mm, wherein a shorter extent may be positioned at a frontal extent 604.2.3 of said projection actuator housing 604.2.4 because the robot 1 does not have the ability to lean forward at a location formed in the lower portion 341 of the torso 16 of the robot 1.

[0144] Because the only connection between the torso 16 and the pelvis 64 is the waist 604, said waist 604 must be capable of transferring at least a portion of the load the robot 1 undertakes while said robot to performing a task. In particular, said transfer usually occurs from the arms 5, through the torso 16, and into the legs. As such, the waist body 604.2 includes a plurality of front casing attachment supports 604.2.6 that includes additional thickness in the waist body 604.2 into the waist bucket 604.2.4. As shown in the illustrative embodiment, the waist body 604.2may have four front casing attachment supports 604.2.6. The bottom of the casing 164.2 couples to the waist 604 at the front casing attachment supports 604.2.6. In other embodiments, the waist may include more or less attachment supports. In further embodiments, said attachment supports may be eliminated and the waist and the frontal skeleton may be formed as a single integrated unit. The waist 604 is further formed to include a plurality of rear casing attachment supports 602.2.10 that includes additional thickness in the waist body 604.2 into the waist bucket 604.2.4. Each of the casing attachment supports 604.2.6, 602.2.10 corresponds to an attachment hole configured to receive a fastener for mounting the waist 604 and the torso 16 together. A lower end 604.2.6.3 of each casing attachment supports 604.2.6, 602.2.10 is coupled to the actuator mount 604.2.4.4. In other words, each of the casing attachment supports 604.2.6, 602.2.10 provides a load path from the torso 16 through the waist 604 and around the torso twist actuator 620.

[0145] The waist 604 also includes battery support bracing 604.6 to receive the battery 202 within the torso 16. The battery support bracing 604.6 includes guide rails 604.6.2 coupled to rail supports 604.6.4 that couple to the waist body 604 at the rail attachment supports 604.6.4. The rail supports 604.6.4 may include front rail supports 604.6.4.2 that attach to front attachment supports 604.6.4.2, positioned at the waist bucket opening 604.2.4.6, and rear rail supports 604.6.4.4 that attach to rear attachment supports 604.6.4.2, positioned at the rear of the waist body 604.2 with additional thickness in the waist body 604.2 carried into the waist bucket opening 604.2.4.6. The front and rear rail supports 604.6.4.2, 604.6.4.4 may have a cross shape in part to couple the guide rails 604.6.2 off center. The inclusion of the battery support bracing 604.6 provides a substantial benefit over other robots that lack this features because said robot 1 is designed to allow for the battery to be replaced or serviced once said battery nears the end of its life. For example, a battery contained in the robot may be designed to only last a year. At the end of the batteries life, said battery may be removed from the torso 16, the computing devices may be removed from the battery, a new battery along with all other previously used components may be inserted into and secured within said torso 16. In other embodiments, said robot may not be designed to remove and instead the entire robot 1 or a substantial portion (e.g., torso) of said robot may need to be replaced.

[0146] The waist body 604.2 also includes vent openings 604.2.10 and fly wire ports604.2.12. The vent openings 604.2.10 may be covered by perforated vent panels 604.4 coupledto the waist body 604.2 or the perforated vent panels 604.4 may be formed in one piece within the vent openings 604.2.10. Air is designed to flow into the robot 1 via said perforated vent panels 604.4, over the cooling devices associated with the robot’s computer or battery, and out the perforated vent panels 172.2.4 formed in the shroud 172.2. In other words, air is drawn into a lower extent of the robot’s torso / waist, air is passed through an extent of the robot’s torso, and is routed out below the robot’s arm assembly 5. The air that can be drawn into the torso 16 via the fans helps cool the computing devices when the robot 1 is working and cool the battery when the robot is charged. This selective cooling is extremely beneficial because it eliminates the need for additional cooling devices (e.g., liquid cooling). In alternative embodiments, the direction of the air flow may be reversed (i.e., in via a vent opening in a bottom extent of the robot’s torso / waist, through an extent of the torso, and out via an air vent portion under the robot’s arm assembly 5). The fly wire ports 604.2.12 provide bottom access to the torso 16. The fly wire ports 604.2.12 may include covers 604.2.12.2 with a channel or hole to pass control wires to the lower portion of the robot 1. The perforated vent panel(s) 604.4 is also formed to define the fly wire ports 604.2.12. With the perforated vent panel(s) 604.4 covering the vent openings 604.2.10, the vent openings 604.2.10 are sized to encompass or extend around the fly wire ports 604.2.12. The perforations in the perforated vent panel(s) 604.4 may have any suitable shape, including but not limited to, circular, oblong, ovular, elliptical, rectangular, triangular, or another freeform shape. The perforations may be oriented to optimize airflow out of the torso 16. The perforations may vary in size, orientation, and spacing to optimize airflow depending on the specific cooling requirements and design constraintsE. Electronics Assembly

[0147] As best shown in Figs. 45-47, the electronics assembly 200 is housed within and coupled to the housing 162 of the torso 16. The electronics assembly 200 includes: (i) battery 202, (ii) power distribution and control assemblies 204, (iii) a computer 206, and (iv) sensor assemblies 208.

[0148] The battery 202 may be coupled in position offset from center to accommodate the computer 206. As illustrated in Figs. 45-47, the battery and computer take up over 45% of the total volume of the torso, but less than 80% of the total volume of the torso. For example, the total volume occupied by the batter and computer may be about 7.8-9.6 L. The battery takes up over 20% of the total volume of the torso, but less than 60% of the total volume of the torso,preferably takes over 30% of the total volume of the torso, but less than 45% of the total volume of the torso. For example, the volume occupied by the battery may be about 5.5-6.7 L. The computer takes up over 10% of the total volume of the torso, but less than 25% of the total volume of the torso, preferably takes up over 12.5% of the total volume of the torso, but less than 17.5% of the total volume of the torso. For example, the volume occupied by the computer may be about 2.3-2.9 L. The battery 202 may be rechargeable and sized between 1.5 kWh to 5 kWh, preferably between 2 kWh to 3 kWh. The battery 202 run time is between 2.5 and 8 hours, preferably at least 3.5 hours. The battery 202 may be charged using a removable port adapter that may be coupled to the charging port 202.2 accessible via the charging port access door 176.10.4 of the rear interface panel 176 as shown in Figs. 36 and 37. The battery 202 is serviceable by removing the rear shell 170 and rear skeleton 166.

[0149] The power distribution and control assemblies 204 include a side power distribution and control assembly 204.2 arranged next the battery 202 on a side opposite the computer 206 and rear power distribution and control assembly 204.4 arranged next to the computer 206 on the rear side of the torso 16. The sensor assemblies 208 include a front sensor assembly 208.2 and a rear’ sensor assembly 208.4. The front sensor assembly 208.2 may be positioned within the torso 16 and directed through a sensor opening 164.2.10.10 in the main body wall 164.2.10 near the waist 604 and enclosed by the lower sensor cover 172.6. The rear sensor assembly 208.4 may be positioned at the real’ support 164.2.2.4 with covered by the rear interface panel 176. The charging port 202.2 of the battery 202 may also be accessed via the rear interface panel 176. Additionally, the arm actuators 190 and torso twist actuator 620 are at least partially housed within and coupled to the housing 162 and connected to the electronics assembly 200.1. Sensor Assembly

[0150] The sensor assemblies 208.2, 208.4 may include the following components: (i) a RBG camera 208.6, (ii) VCSEL projector 208.8, (iii) a left IR detector 208.10 (e.g., left camera), (iv) a right IR detector 208.12 (e.g., right camera), (v) a processor 208.14, (vi) a triangulator 208.16, (vii) a heat sink 208.18, and (viii) an IMU 208.20. Said components of the sensor assembly 208.2, 208.4 may be any one of the following or said sensor assemblies 208.2, 208.4 may also include any one of the following: (i) scan camera(s), (ii) monochrome camera(s), (iii) color camera(s), (iv) CMOS camera(s), (v) CCD sensor(s) or camera(s) that include CCD sensor(s), (vi) camera(s) or sensor(s) that have rolling shutter or global shutter, (vii) other types of 2Ddigital camera(s), (viii) other types of 3D digital camera(s), (ix) camera(s) or sensor(s) that are capable of stereo vision, structured light, and laser triangulation, (x) sonar camcra(s) or ultrasonic camera(s), (xi) infrared sensor(s) and / or infrared camera(s), (xii) radar sensor(s), (xiii) LiDAR, (xiv) other structured light sensors, camera(s), or technologies, (xv) dot projecting camera(s) or sensor(s), or (xvi) any combination of the above or any other known camera or sensor.

[0151] The robot 1 further includes an upper sensor assembly 108.2.2 and a lower sensor assembly 108.2.4 in the head of the robot. The sensor assemblies 108.2.2, 108.2.4 may include one or more cameras, temperature, pressure, force, inductive, capacitive, any combination of these sensors, or other known sensors. In the illustrative example, the sensor assembly 108.2 includes a set of upper cameras 108.2.2 and a set of lower cameras 108.2.4 coupled to the head at respective mounting positions.

[0152] As shown in the figures, upper cameras 108.2.2 in the head 10 have a forward facing field of view 108.2.2.2 of about 57.6 degrees to about 86.4 degrees, preferably about 71.1 degrees to about 79.2 degrees. For example, the field of view 108.2.2.2 of the upper cameras 108.2.2 may be about 72 degrees. The lower cameras 108.2.4 in the head 10 have a maximum downward facing field of view 108.2.4.2 of about 57 degrees to about 86 degrees, preferably about 71 degrees to about 79 degrees. For example, the maximum field of view of the lower cameras 108.2.4 may be about 72 degrees. The upper cameras 108.2.2 and lower cameras 108.2.4 in the head 10 have partially overlapping fields of view directly in front of the robot 1. Further, when the robot 1 is forward facing in an initial position Pl, the torso 16 may interfere with a portion of the field of view 108.2.4.2 of the lower cameras 108.2.4. In this position, the lower cameras 108.2.4 have a downward facing field of view 108.2.4.2 in front of the robot 1 of about 33 degrees to about 49 degrees, preferably about 40 degrees to about 45 degrees. For example, the field of view 108.2.4.2 of the lower cameras 108.2.4 may be about 41 degrees. As can be understood, the field of view 108.2.4.2 of the lower cameras 108.2.4 may vary due to the relative position of the head 10 and torso 16. For example, when the head 10 is tilted backward, the field of view 108.2.4.2 of the lower cameras 108.2.4 may increase. When the head 10 is tilted forward, the field of view 108.2.4.2 of the lower cameras 108.2.4 may decrease. When the head 10 is twisted to the left or right, the field of view 108.2.4.2 of the lower cameras 108.2.4 change relative to any interference of the torso 16 or other components of the robot 1.

[0153] The front sensor assembly 208.2 in the waist 604 coupled to the torso 16 has a forward facing field of view 208.2.2 of about 67 degrees to about 101 degrees, preferably about 83 degrees to about 92 degrees and a field of view 208.2.2.2 extending through a center of the field of view 208.2.2. For example, the field of view 208.2.2 of the front sensor assembly 208.2 may be about 84 degrees. The rear sensor assembly 208.4 in the torso 16 has a rearward facing field of view 208.4.2 of about 88.0 degrees to about 132.0 degrees, preferably about 109 degrees to about 121.0 degrees and a field of view 208.4.2.2 extending through a center of the field of view208.4.2. For example, the field of view 208.4.2 of the rear sensor assembly 208.4 may be about 110 degrees. The lower cameras 108.2.4 in the head 10 and the front sensor assembly 208.2 in the waist 604 have partially overlapping fields of view directly in front of the robot 1. As can be understood, in certain situations, the relative position of the head 10 and torso 16 may be changed such that the lower cameras 108.2.4 in the head 10 and the front sensor assembly 208.2 in the waist 604 cover different areas or overlap less. Even with the lower cameras 108.2.4 in the head 10 and the front sensor assembly 208.2 have different angles of view with respect to each other. In certain situations, the front sensor assembly 208.2 in the waist 604 may be able detect an object that is below an obstruction. For example, the front sensor assembly 208.2 in the waist 604 may be able to view an object below a table or shelf that obstructs the field of view of the lower cameras 108.2.4 in the head 10.

[0154] Additionally and as shown in Figs. 4 and 43, the waist 604 and specifically the waist body 604.2 includes a frontal sensor panel recess 172.1. Said sensor panel recess 172.1 is designed to receive the frontal sensor panel 172.6. The frontal sensor panel 172.6 includes an outer surface: (i) with a recessed portion 172.5.2 that is designed to protect the sensor assembly208.2, and (ii) a curvilinear portion 172.5.4 that surrounds said recessed portion 172.5.2 and is designed to be substantially flush with an outer extent of the torso 16. It should be understood that the sensor panel 172.6 is separate and distinct from the skeleton / casing 164, 164.2 and is merely designed to be coupled thereto. In other embodiments, said frontal sensor panel 172.6 may be integrally formed with an extent of the skeleton / casing 164, 164.2, moved upward from the lower edge to the middle of the torso, moved to the side of the robot, positioned in any other location contained within the torso, or omitted in its entity.

[0155] The recessed portion 172.5.2 of the frontal sensor panel 172.5 is formed by a combination of contoured regions, which is comprised of outer and inward angled walls that areconnected to one another via angled end walls. Said combination of contoured regions 172.6.2 surround a frontal sensor opening 164.2.10.10 and arc designed in a manner to help ensure that they do not interfere with the line of sight of the sensors 208.2.2. The frontal sensor assembly 208.2 abuts an inner extent of the recessed portion 172.5.2 and includes a sensor center that is aligned with a center of the frontal sensor opening 164.2.10.10. This positional relationship of the frontal sensor panel 172.5 and the frontal sensor assembly 208.2 causes said frontal sensor assembly 208.2 to be positioned within an extent of the robot 1, specifically within the torso 16, and more specifically within the casing 164.2. Additionally, said positioning causes the frontal sensor assembly 208.2 to be recessed in comparison to an adjacent extent of the outer surface 600a of the waist. The frontal sensor assembly 208.2 is retained and secured in this position by a plurality of mounts. It should be understood that in other embodiments, the frontal sensor assembly 208.2 may be secured within the torso 16 or waist using any known method including snap-fit, friction fits, integral forming, etc.F. Internal Volume

[0156] The components of the electronics assembly 200 and the actuators 190, 620 are arranged within the internal volume 308 of the torso 16. In the illustrative embodiment, the total volume of the torso may be about 17.4-21.3 L. The front volume accounts for over 65% of the total volume of the torso. For example, the front volume may be about 11.7-14.3 L. The rear volume accounts for less than 35% of the total volume of the torso. For example, the rear volume may be about 5.7-7.0 L. The actuators take up over 10% of the total volume of the torso, but less than 15% of the total volume of the torso. For example, the volume occupied by the actuators may be about 0.7-1.95 L. The arm actuators take up over 5% of the total volume of the torso, but less than 10% of the total volume of the torso. The other components (wires, venting, heat exchange, sensors, etc.) housed in the internal volume take up over 20% of the total volume of the torso, but less than 60% of the total volume of the torso, preferably takes up over 35% of the total volume of the torso, but less than 50% of the total volume of the torso.G. Distances and AnglesTable 1Table 2

[0157] As is known in the data processing and communications arts, a general-purpose computer typically comprises a central processor or other processing device, an internal communication bus, various types of memory or storage media (RAM, ROM, EEPROM, cache memory, disk drives etc.) for code and data storage, and one or more network interface cards or ports for communication purposes. The software functionalities involve programming, including executable code as well as associated stored data. The software code is executable by the general-purpose computer. In operation, the code is stored within the general-purpose computer platform. At other times, however, the software may be stored at other locations and / or transported for loading into the appropriate general-purpose computer system.

[0158] A server, for example, includes a data communication interface for packet data communication. The server also includes a central processing unit (CPU), in the form of one or more processors, for executing program instructions. The server platform typically includes an internal communication bus, program storage and data storage for various data files to be processed and / or communicated by the server, although the server often receives programming and data via network communications. The hardware elements, operating systems andprogramming languages of such servers are conventional in nature, and it is presumed that those skilled in the art arc adequately familiar therewith. The server functions may be implemented in a distributed fashion on a number of similar platforms, to distribute the processing load.

[0159] Hence, aspects of the disclosed methods and systems outlined above may be embodied in programming. Program aspects of the technology may be thought of as “products” or “articles of manufacture” typically in the form of executable code and / or associated data that is carried on or embodied in a type of machine-readable medium. “Storage” type media includes any or all of the tangible memory of the computers, processors or the like, or associated modules thereof, such as various semiconductor memories, tape drives, disk drives and the like, which may provide non-transitory storage at any time for the software programming. All or portions of the software may at times be communicated through the Internet or various other telecommunication networks. Thus, another type of media that may bear the software elements includes optical, electrical and electromagnetic waves, such as used across physical interfaces between local devices, through wired and optical landline networks and over various air-links. The physical elements that carry such waves, such as wired or wireless links, optical links or the like, also may be considered as media bearing the software. As used herein, unless restricted to non-transitory, tangible “storage” media, terms such as computer or machine “readable medium” refer to any medium that participates in providing instructions to a processor for execution.

[0160] A machine-readable medium may take many forms, including but not limited to, a tangible storage medium, a carrier wave medium or physical transmission medium. Non-volatile storage media include, for example, optical or magnetic disks, such as any of the storage devices in any computer(s) or the like, such as may be used to implement the disclosed methods and systems. Volatile storage media include dynamic memory, such as main memory of such a computer platform. Tangible transmission media include coaxial cables, copper wire and fiber optics, including the wires that comprise a bus within a computer system. Carrier-wave transmission media can take the form of electric or electromagnetic signals, or acoustic or light waves such as those generated during radio frequency (RF) and infrared (IR) data communications. Common forms of computer-readable media therefore include for example: a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD or DVD-ROM, any other optical medium, punch cards, paper tape, any other physical storage medium with patterns of holes, a RAM, a PROM and EPROM, a FLASH-EPROM, anyother memory chip or cartridge, a carrier wave transporting data or instructions, cables or links transporting such a carrier wave, or any other medium from which a computer can read programming code and / or data. Many of these forms of computer readable media may be involved in carrying one or more sequences of one or more instructions to a processor for execution.

[0161] It is to be understood that the invention is not limited to the exact details of construction, operation, exact materials or embodiments shown and described, as obvious modifications and equivalents will be apparent to one skilled in the art. While the specific embodiments have been illustrated and described, numerous modifications come to mind without significantly departing from the spirit of the invention, and the scope of protection is only limited by the scope of the accompanying Claims. It should also be understood that substantially utilized herein means a deviation that is less than 15% and preferably less than 5%. It should also be understood that other configuration or arrangements of the above described components is contemplated by this Application.

[0162] In this patent, to the extent any U.S. patents, U.S. patent applications, or other materials (e.g., articles) have been incorporated by reference, the text of such materials is only incorporated by reference to the extent that it does not directly conflict with materials or statements set forth in this Application. In the event of such a direct conflict exists, the text of the present document governs. However, the terms contained in this document should not be given a narrower reading in virtue of the way in which those terms are used in other materials incorporated by reference.

Claims

CLAIMS1. A torso assembly for a humanoid robot having a transverse plane that splits said humanoid robot into an upper portion and a lower portion, the torso assembly comprising: a housing including a front skeleton and an upper portion with a curvilinear trapezoidal cross-sectional shape defined by:(i) a front extent with a front length extending along a first line,(ii) a real’ extent with a real- length extending along a second line,(iii) a first substantially lineal’ side extent coupled to the front and rear extents, and(iv) a second substantially linear side extent coupled to the front and rear extents, and wherein the first and second lines are arranged in a horizontal plane that is oriented parallel with the transverse plane, and wherein the front length is less than the rear length; a waist coupled to a lower portion of the front skeleton; and, an electronics assembly positioned within the housing and located adjacent to the waist.

2. The torso assembly of claim 1, wherein the length of the rear extent is between 27% and 37 % larger than the length of the front extent.

3. The torso assembly of claim 2, wherein the length of the front extent is between 10% and 20% larger than a length of a substantially linear non-parallel side extent.

4. The torso assembly of claim 3, wherein the substantially linear non-parallel side extents intersect with: (i) the front extent at an interior angle between 85 and 110 degrees, and (ii) the real’ extent at an interior angle between 55 and 85 degrees.

5. The torso assembly of claim 1, wherein a surface area of the rear extent is between 10% and 25% larger than a surface area of the front extent.

6. The torso assembly of claim 1, wherein the housing has a width to depth ratio below shoulders of the humanoid robot and above the waist within a range of about 0.75 to about7. The torso assembly of claim 6, wherein the width to depth ratio of the housing does not vary by more than 20% between a first location at a lower end of the shoulders and a second location at an upper end of the waist.

8. The torso assembly of claim 1, wherein the front skeleton includes an arm tube extending across the torso assembly and configured to house arm actuator assemblies.

9. The torso assembly of claim 8, wherein the arm tube extends across an entirety of the torso assembly, the arm tube including both a primary opening formed between upper ends of a front support and a rear support to allow access to wiring connections between the left and right arm actuators.

10. The torso assembly of claim 1, wherein the front skeleton includes regions of varying thickness to redistribute loads experienced by the humanoid robot, and wherein the regions of varying thickness include a cross band structure configured to disperse forces from the arm actuators laterally toward side portions of the front skeleton.

11. The torso assembly of claim 10, wherein the thickness of the front skeleton varies from less than 1 mm to more than 20 mm, with thickened regions having a first thickness in a lower region of side portions, a second thickness in the waist that is less than the first thickness, and a third thickness in the arm tube that is less than the second thickness.

12. The torso assembly of any of claims 1-11, wherein the waist comprises: a main body with a shallow parabolic shape having a waist rim formed on the main body; and a projecting actuator housing extending downwardly from the main body and including an actuator receptacle and an actuator mount configured to receive a torso twist actuator.

13. The torso assembly of claim 12, wherein the projecting actuator housing is forwardly offset towards a frontal extent of the torso assembly, the projecting actuator housing having a lateral width that extends over 60 mm from an external surface of the housing to a perimeter of the main body.

14. The torso assembly of any of claims 1-11, further comprising a sensor assembly positioned in the frontal skeleton and comprises at least one camera, a processor and an IMU.

15. The torso assembly of claim 1 , wherein the front sensor assembly has a forward facing field of view between 67 degrees and 101 degrees, and wherein the front sensor assembly further includes a VCSEL projector and at least one IR detector.

16. The torso assembly of claim 14, further comprising a real’ sensor assembly with a rearward facing field of view between 88.0 degrees and 132.0 degrees.

17. The torso assembly of any of claims 1-11, wherein the electronics assembly comprises a battery and a computer that collectively occupy between 45% and 80% of a total volume of the torso assembly, with the total volume of the torso assembly being between 17.4 and 21.3 liters.

18. The torso assembly of claim 17, wherein the battery occupies between 20% and 45% of the total volume of the torso assembly, and wherein the battery is a rechargeable battery sized between 2 kWh and 3 kWh providing a run time between 3.5 and 8 hours.

19. The torso assembly of any of claims 1-11, further comprising a cross band structure configured to provide a transitional load transfer path from arm actuators to the waist, wherein the cross band structure is formed by a thickening of material in the main body of the front skeleton.

20. The torso assembly of claim 19, wherein the cross band structure comprises: a clavicle portion configured to receive and direct forces from an arm tube in a downward direction; and a plurality of structural ribs coupled to the clavicle portion and extending to thickened regions in a lower portion of side portions of the front skeleton, wherein the structural ribs merge with stiffeners that receive forces from the battery mounted to the front skeleton.

21. The torso assembly of any of claims 1-11, further comprising a shell assembly that is coupled to the frontal skeleton and includes an energy attenuation member surrounding an arm interface portion of the front skeleton, wherein the energy attenuation member includes a mounting projection configured to fit within a groove formed in a rim that defines an edge of the arm interface portion.

22. The torso assembly of claim 21, wherein the energy attenuation member is configured to protect the torso assembly from inadvertent contact with an upper arm assembly of the humanoid robot.

23. The torso assembly of any of claims 1-11 , wherein a lower extent of the torso assembly has a volume that is larger than a volume of the upper extent of the torso assembly, and wherein a width to depth ratio of the torso assembly does not change by more than 15% between a location at a lower end of arm actuator openings and a location at an upper end of the waist.

24. A torso assembly for a humanoid robot, comprising: a left arm actuator and a right arm actuator; a front skeleton coupled to the left and right arm actuators; a real’ skeleton coupled to the front skeleton; a shell assembly surrounding the front and rear skeletons; a waist coupled to a lower portion of the front skeleton, the waist including a main body with a parabolic shape and a projecting actuator housing extending downwardly from the main body; an electronics assembly housed within the front and rear skeletons, the electronics assembly including a battery and a computer.

25. The torso assembly of claim 24, wherein the front skeleton includes a curvilinear ridge projecting outwardly from the main body wall, the curvilinear ridge extending from a first low-elevation end at a right side portion, through a central high-elevation segment extending across a front area of the main body wall, and to a second low-elevation end at a left side portion.

26. The torso assembly of claim 24, wherein the front skeleton includes a cross band support structure configured to provide a transitional load transfer path from the left and right arm actuators to the waist.

27. The torso assembly of claim 26, wherein the cross band support structure includes: a clavicle portion; and structural ribs coupled to the clavicle portion and extending to thickened regions in a lower portion of side portions of the front skeleton.

28. The torso assembly of claim 24, wherein the shell assembly further includes an energy attenuation member surrounding an arm interface portion of the front skeleton, the energyattenuation member configured to protect the torso assembly from accidental contact with an upper ami assembly of the humanoid robot.

29. The torso assembly of claim 24, wherein the waist includes: a waist rim formed on the main body; an actuator receptacle formed in the projecting actuator housing; and an actuator mount configured to receive a torso twist actuator for coupling the torso assembly to a pelvis of the humanoid robot.

30. The torso assembly of claim 29, wherein the projecting actuator housing is offset towards a forward-most extent of the torso assembly.

31. The torso assembly of any of claims 24-30, wherein the waist further includes: a plurality of vent openings covered by perforated vent panels; and a battery support bracing configured to receive the battery within the torso assembly.

32. The torso assembly of any of claims 24-30, wherein the electronics assembly includes at least one sensor assembly includes: a front sensor assembly positioned within the torso assembly and directed through a sensor opening near the waist; and a rear sensor assembly positioned at a rear support of the front skeleton.

33. The torso assembly of any of claims 24-30, wherein the front skeleton includes regions of variable thickness ranging from 0.8 mm to 20 mm.

34. The torso assembly of claim 33, wherein the regions of variable thickness include a first thickness of the lower region of the side portions, a second thickness of the waist, and a third thickness of the arm tube, wherein the first thickness is greater than the second thickness, and the second thickness is greater than the third thickness.

35. The torso assembly of any of claims 24-30, wherein the shell assembly includes a front shell, a rear shell, side shrouds extending between the front and rear shells, and wherein the side shrouds include perforated portions configured to permit air flow into the torso assembly through vent openings.

36. The torso assembly of any of claims 24-30, wherein the front skeleton includes a sensor opening near the waist configured to accommodate a front sensor assembly having a forward facing field of view between 83 degrees and 92 degrees.

37. The torso assembly of any of claims 24-30, wherein the battery has a capacity between 2 kWh and 3 kWh and is configured to provide the humanoid robot with a run time of at least 3.5 hours during normal operating conditions.

38. The torso assembly of any of claims 24-30, wherein the front skeleton and the rear skeleton are distinct components that are configured to be separable to allow access to the battery for servicing or replacement.

39. The torso assembly of any of claims 24-30, wherein the torso assembly has a width-to- depth ratio between 0.75 and 0.85 in a region between the left and right arm actuators and the waist, and wherein the width-to-depth ratio remains substantially constant and does not vary by more than 15% between a lower end of arm actuator openings and an upper end of the waist.

40. A torso assembly for a humanoid robot, comprising: a housing having arm actuator openings formed therein; a shell assembly surrounding an extent of the housing; a waist coupled to a lower portion of the housing; an electronics assembly residing within the housing; wherein a lower extent of the torso assembly has a volume that is larger than a volume of an upper extent of the torso assembly, and wherein a depth of the torso assembly does not vary by more than 15% as measured between a bottom extent of an ami actuator opening and a bottom extent of the torso assembly.

41. The torso assembly of claim 40, wherein the housing includes a front skeleton and a rear skeleton, the front skeleton having a plurality of regions of varying thickness to redistribute loads experienced by the humanoid robot.

42. The torso assembly of claim 40, wherein the waist comprises: a main body with a shallow parabolic shape; and a projecting actuator housing extending downwardly from the main body.

43. The torso assembly of claim 42, wherein the projecting actuator housing is frontally offset towards a forward extent of the torso assembly.

44. The torso assembly of claim 42, wherein the main body has a height that is less than 13% of a width of the main body.

45. The torso assembly of claim 40, wherein the electronics assembly includes at least one sensor assembly that comprises: a front sensor assembly positioned within the torso assembly and directed through a sensor opening near the waist; and a rear sensor assembly positioned at a rear support of the housing.

46. The torso assembly of claim 41, wherein the front skeleton includes a cross band structure configured to provide a transitional load transfer path from the arm actuators to the waist.

47. The torso assembly of claim 46, wherein the cross band structure comprises: a clavicle portion; and a plurality of structural ribs coupled to the clavicle portion and extending to thickened regions in a lower portion of side portions of the front skeleton.

48. The torso assembly of claim 47, wherein the structural ribs are configured to disperse forces from the arm actuators laterally toward the side portions of the front skeleton.

49. The torso assembly of claim 48, wherein the structural ribs merge with stiffeners that receive forces from a battery mounted to the front skeleton, forming an interconnected network that distributes loads across the side portions and around vent openings.

50. The torso assembly of claim 40, wherein the waist comprises: a main body with a parabolic shape and having both a height less than 30 mm and a width exceeding 225 mm; and a projecting actuator housing extending downwardly from the main body and configured to receive a torso twist actuator.

51. The torso assembly of claim 50, wherein the projecting actuator housing is offset towards a forward-most extent of the torso assembly and positioned adjacent to a frontal extent of the main body.

52. The torso assembly of claim 50, wherein the main body has a height that is less than 13% of a width of the main body.

53. The torso assembly of claim 50, wherein the projecting actuator housing includes an actuator receptacle and mount for coupling the torso assembly to a pelvis of the humanoid robot.

54. The torso assembly of claim 40, wherein the shell assembly comprises an energy-absorbing energy attenuation member surrounding an arm interface portion to protect the torso assembly from accidental impacts.

55. The torso assembly of claim 40, wherein the battery is a rechargeable battery sized between 1.5 kWh to 5 kWh.

56. The torso assembly of claim 40, further comprising at least one vent opening located in a lower extent of the waist and in a side of the torso assembly beneath an arm tube that houses at least one arm actuators.

57. The torso assembly of claim 56, wherein the at least one vent opening is configured to permit air flow into the torso assembly to form a flow path past cooling devices associated with a computer or battery of the humanoid robot and out through perforated vent panels formed in a shroud of the shell assembly.

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