Collaborative robots

Abstract

A collaborative robot may include an extension member, a mobility body, a first wheel, a second wheel, and a support mast. The extension member may selectively interface with a load. The first wheel may be operatively coupled to a first side of the mobility body. The second wheel may be operatively coupled to a second side of the mobility body. The first wheel and the second wheel may facilitate movement of the collaborative robot within an environment. The support mast may be operatively coupled to the extension member. The support mast may also be fixedly coupled to the mobility body at a proximal end of the support mast. The support mast may adjust a height of the extension member to facilitate the selective interface of the extension member with the load.

Description

[0001] COLLABORATIVE ROBOTS

[0002] FIELD

[0003] Embodiments described herein relate to collaborative robots.

[0004] BACKGROUND

[0005] Unless otherwise indicated in the present disclosure, the materials described in the present disclosure are not prior art to the claims in the present application and are not admitted to be prior art by inclusion in this section.

[0006] Robots have been used in recent years to perform tasks in various manufacturing, warehouses, logistics, and delivery settings. Robotics has been useful in making repetitive tasks more efficient, thereby improving efficiency and lowering costs. Robots can operate in settings that might otherwise be dangerous and can easily perform actions that are not feasible for human workers because of a location, time of day, repetition of tasks, ambient conditions, excessive weights, and other factors.

[0007] The subject matter claimed in the present disclosure is not limited to implementations that solve any disadvantages or that operate only in environments such as those described above. Rather, this background is only provided to illustrate one example technology area where some implementations described in the present disclosure may be practiced.

[0008] SUMMARY

[0009] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential characteristics of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

[0010] A collaborative robot may include an extension member, a mobility body, a first wheel, a second wheel, and a support mast. The extension member may selectively interface with a load. The first wheel may be operatively coupled to a first side of the mobility body. The second wheel may be operatively coupled to a second side of the mobility body. The first wheel and the second wheel may facilitate movement of the collaborative robot within an environment. The support mast may be operatively coupled to the extension member. The support mast may also be fixedly coupled to the mobility body at a proximal end of the support mast. The support mast may adjust a height of the extension member to facilitate the selective interface of the extension member with the load. The object and advantages of the embodiments will be realized and achieved at least by the elements, features, and combinations particularly pointed out in the claims. Both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive.

[0011] BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Example embodiments will be described and explained with additional specificity and detail through the use of the accompanying drawings in which:

[0013] FIG. 1 illustrates a block diagram of an example operational environment in which a collaborative robot may operate;

[0014] FIG. 2A illustrates a left perspective view of the collaborative robot of FIG. 1;

[0015] FIG. 2B illustrates a right perspective view of the collaborative robot of FIG. 1 ;

[0016] FIG. 2C illustrates a front view of the collaborative robot of FIG. 1 ;

[0017] FIG. 2D illustrates a left-side view of the collaborative robot of FIG. 1;

[0018] FIG. 2E illustrates a right-side view of the collaborative robot of FIG. 1;

[0019] FIG. 3A illustrates a left perspective view of the collaborative robot of FIGS. 2A-2E with a cargo body in an example raised position;

[0020] FIG. 3B illustrates a right perspective view of the example of the collaborative robot of FIGS. 2A-2E with the cargo body in the example raised position;

[0021] FIG. 4A illustrates a left perspective view of the collaborative robot of FIGS. 2A-2E in a lowered position with an extension assembly in an extended position;

[0022] FIG. 4B illustrates a right perspective view of the collaborative robot of FIGS. 2A-2E in the low ered position with the extension assembly in the extended position;

[0023] FIG. 5 illustrates a front view of a support mast, an indicator, and an interface device of the collaborative robot of FIGS. 2A-2E;

[0024] FIG. 6A illustrates a left perspective view of an example collaborative robot;

[0025] FIG. 6B illustrates a right perspective view' of the example collaborative robot of FIG. 6A;

[0026] FIG. 6C illustrates a front view of the collaborative robot of FIG. 6A;

[0027] FIG. 6D illustrates a left-side view of the collaborative robot of FIG. 6A;

[0028] FIG. 6E illustrates a right-side view of the collaborative robot of FIG. 6A; all according to at least one embodiment described in the present disclosure.

[0029] DETAILED DESCRIPTION Some robot technologies may include systems that provide different types of locomotion to move a robot within an environment. For example, some robot technologies may include a legged system that moves the robot within the environment by stepping. As another example, some robot technologies may include a wheeled system that moves the robot within the environment by rolling. The legged system may be capable of moving on, over, or around stairs, obstacles, barriers, vertical surfaces, or diagonal surfaces. The wheeled system may provide more efficient locomotion compared to the legged system due to the lack of up and down and / or front to back movement of appendages of the robot.

[0030] The present disclosure relates to a cobot (e.g., a collaborative robot) that is configured to move within an environment using a wheeled system for locomotion. The wheeled system may move the cobot within the environment using wheels operatively coupled to a mobility body of the cobot. Additionally or alternatively, the wheeled system may facilitate the cobot positioning itself relative to a load or other location using a swerve drive to increase precision of the positioning and to reduce an amount of time to position the cobot.

[0031] The present disclosure also relates to a cobot that is configured to move and / or position loads within the environment. The cobot may include an extension member that selectively interfaces with a load and causes the load to move within the environment. For example, the extension member may move such that an opening defined by a retention mechanism of the extension member selectively receives a handle of the load, the cobot may move within the environment causing the load to also move within the environment, and the extension member may move such that the opening defined by the retention mechanism selectively releases the handle of the load.

[0032] Additionally, the present disclosure relates to a cobot that is configured to move within an environment using a combined wheeled and legged system for locomotion. The wheeled and legged system may move the cobot within the environment using wheels when no obstacles are in a path of the cobot. In addition, the wheeled and legged system may move the cobot within the environment using the legs and taking steps to avoid an obstacle or other barrier in the path of the cobot. Additionally or alternatively, the wheeled and legged system may facilitate the cobot positioning itself relative to a load or other location using the legs and taking steps to increase precision of the positioning and to reduce an amount of time to position the cobot. Further, the wheeled and legged system may facilitate the cobot positioning itself to adjust stability of the cobot while traversing the environment.

[0033] The present disclosure also relates to a cobot that is configured to move and / or position loads within the environment. The cobot may include a cargo body that positions a load on and off the collaborative robot and retains the load while the cobot moves to another location within the environment. For example, the cargo body may position the load on the cobot from a shelf, the cobot may move within the environment, and the cargo body may position the load off the cobot to another shelf. As another example, the cargo body may position the load on the cobot from a ground surface at a first location, the cobot may move within the environment, and the cargo body may position the load off the cobot to the ground surface at a second location.

[0034] The cobot, via the wheeled and legged system and / or by moving one or more parts of the cargo body, may adjust a center of gravity of the cobot or the cobot and the load relative to the ground surface and / or a wheelbase of the cobot to increase a range of operation of the cobot and / or a range of stabi li ty of the cobot. In particular, the cobot may adjust the center of gravity of the cobot or the cobot and the load relative to contact points of the wheels and the ground surface to permit the center of gravity to be adjusted side to side and / or fore and aft relative to the cobot. In some embodiments, the cobot may adjust the center of gravity by adjusting a height and / or a position of a mobility7body of the cobot to adjust a height and / or a position of a support mast of the cobot. the cargo body, or both. Additionally or alternatively, the cobot may adjust the height of the cargo body within a range of heights relative to the mobility body to be able to position the load on and off the cobot at different heights. Further, the wheeled and legged system may function as a suspension for the cobot.

[0035] The cobot, via the wheeled and legged system, may adjust a distance between the mobility body and the ground surface to cause the range of heights to change relative to the ground surface. For example, the cobot may adjust the height of the mobility body, to cause the range of heights to transition between a first range of heights relative to the ground surface, a second range of heights relative to the ground surface, or a third range of heights relative to the ground surface. In addition, the cobot, via the wheeled and legged system, may adjust an angle of the cobot relative to the ground surface. For example, the cobot may adjust the angle of the cobot relative to the ground surface to tilt the cargo body forwards, backwards, left, right, or some combination thereof to position the load on the cobot from and / or off the cobot on surfaces that include different slopes relative to the ground surface.

[0036] These and other embodiments of the present disclosure will be explained with reference to the accompanying figures. It is to be understood that the figures are diagrammatic and schematic representations of such example embodiments, and are not limiting, nor are they necessarily drawn to scale. In the figures, features with like numbers indicate like structure and function unless described otherwise. FIG. 1 illustrates an example operational environment 100 in which a cobot 102 may operate, in accordance with at least one embodiment described in the present disclosure. The environment 100 may include the cobot 102, storage racks 108a-b, a loading area 106, and an obstacle 116. The cobot 102 may move and / or position a load 104 within the environment 100. The load 104 may include uniform containers, uniform packages, uniform carts, non-uniform containers, non-uniform packages, non-uniform carts, or any other load type. In some embodiments, uniform containers, uniform packages, and / or uniform carts may include loads that include the same shape, size, weight, or some combination thereof. In these and other embodiments, non-uniform containers, non-uniform packages, and / or non-uniform carts may include loads that include different shapes, sizes, weights, or some combination thereof. Examples of the load 104 may include a Lego, a pallet, an ocean container, a human scaled load, or any other appropriate load.

[0037] The cobot 102 may move within the environment 100 to position the load 104 on and off the cobot 102 at different locations within the environment 100. For example, the cobot 102 may position the load 104 on the cobot 102 from the loading area 106, move within the environment 100, and position the load 104 off the cobot 102 on a shelf 1 lOa-f of the storage racks 108a-b. As another example, the cobot 102 may position the load 104 on the cobot 102 from a shelf 1 lOa-f of the storage racks 108a-b, move within the environment 100, and position the load 104 off the cobot 102 on the loading area 106. As yet another example, the cobot 102 may position the load 104 on the cobot 102 from a shelf 1 lOa-f of the storage racks 108a-b. adjust a height of a cargo body 118, and position the load 104 off the cobot 102 on a different shelf 1 lOa-f of the storage racks 108a-b.

[0038] The load 104 is illustrated in FIG. 1 as being positioned on the cobot 102 for example purposes. However, the load 104 may be positioned anywhere else within the environment 100 that the cobot 102 may access to move the load 104 within the environment 100.

[0039] The cobot 102, in a standing position, may position the load 104 on and off the cobot 102 at different heights within a first range of heights relative to a ground surface. For example, the cobot 102 may position the load 104 on the cobot 102 from the shelf 11 Od at a height within the first range of heights and may position the load 104 off the cobot 102 on the shelf HOf at a different height within the first range of heights or vice versa. Additionally, the cobot 102, in a lowered position, may position the load 104 on and off the cobot 102 at different heights within a second range of heights relative to the ground surface. For example, the cobot 102 may position the load 104 on the cobot 102 from the shelf 110a at a height within the second range of heights and may position the load 104 off the cobot 102 on the loading area 106 on the ground surface (e.g., a different height within the second range of heights) or vice versa. Further, the cobot 102. in a raised position, may position the load 104 on and off the cobot 102 at different heights within a third range of heights relative to the ground surface. For example, the cobot 102 may position the load 104 on the cobot 102 from the shelf 11 Od at a height within the third range of heights. The third range of heights may be at least partially greater than the first range of heights, the second range of heights, or both.

[0040] Likewise, the cobot 102 may be configured to transition between the standing position, the lowered position, and / or the raised position to position the load 104 on and off the cobot 102 at different heights within the first range of heights, the second range of heights, and / or the third range of heights. For example, the cobot 102, in the lowered position, may position the load 104 on the cobot 102 from the ground surface (e.g.. a height within the second range of heights), transition to the standing position, move within the environment 100 and position the load 104 off the cobot 102 on a shelf 11 Oa-f at a height within the first range of heights or vice versa. As another example, the cobot 102, in the raised position, may position the load 104 on the cobot from a shelf 11 Oa-f at a height within the third range of heights and position the load 104 off the cobot 102 on the ground surface (e.g., a height within the second range of heights).

[0041] An example of the cobot 102 in the standing position is illustrated and described in more detail below in relation to FIGS. 2A-2E. In addition, an example of the cobot 102 in the lowered position is illustrated and described in more detail below in relation to FIGS. 4A and 4B.

[0042] The environment 100 may include different facilities, settings, or buildings. For example, the environment 100 may include a warehouse, a fulfillment site, a hospital, a farm, a hotel, a motel, a campus, or any other environment in which the cobot 102 may provide logistical support.

[0043] The cobot 102 may move, work, adapt, react, or some combination thereof within the environment 100 while avoiding the obstacle 116. For example, as described in more detail below, the cobot 102 may adjust a center of gravity of the cobot 102 to adaptively respond to the obstacle 116 and / or other factors of the environment 100 (e.g., an environmental factor). The obstacle 116 may include a dynamic obstacle such as other cobots, humans, animals, or other mobile obstacles. The obstacle 116 may include a static obstacle such as a rock, a ledge, a rail, a pit, a stair, or other static obstacles. The cobot 102 may maintain a general level position of the load 104 while moving within the environment 100 and / or avoiding the obstacle 116.

[0044] The cobot 102 is illustrated in FIG. 1 in the standing position with the load 104 positioned within the cargo body 118 at a lowered position for example purposes. Alternatively, the cobot 102 may operate and / or move within the environment 100 in the standing position with the load 104 positioned within the cargo body 118 at a raised position as described in more detail below in relation to FIGS. 3A and 3B. Further, the cobot 102 may operate within the environment 100 in a lowered position with the load 104 positioned within the cargo body 118 at the lowered position as described in more detail below in relation to FIGS. 4A and 4B.

[0045] Modifications, additions, or omissions may be made to the environment 100 without departing from the scope of the present disclosure. For example, in some embodiments, the environment 100 may include any number of other components that may not be explicitly illustrated or described. For example, the environment 100 may include two or more obstacles. As another example, one of the storage racks 108a-b may be omitted or additional storage racks may be included. As yet another example, one or both of the storage racks 108a-b may include a different number of shelves 1 lOa-f (e g., one, two, four, or more shelves).

[0046] FIGS. 2A-2E illustrate a left perspective view, a right perspective view, a front view, a left-side view, and a right-side view, respectively, of the cobot 102 of FIG. 1, in accordance with at least one embodiment described in the present disclosure. The cobot 102 may include a wheeled and legged system to move the cobot 102 within the environment 100. The wheeled and legged system, as illustrated in FIGS. 2A-2E, includes legs 226a-d and wheels 228a-d.

[0047] The wheels 228a-d may permit the cobot 102 to roll within the environment 100 when no obstacles are in a path of the cobot 102. The wheels 228a-d may be actively steered to operate as a swerve drive to provide pseudo holonomic translation of the cobot 102. The wheels 228a-d operating as the swerve drive may increase a precision of the positioning of the cobot 102 within the environment 100, reduce an amount of time to position the cobot 102 within the environment 100, or both.

[0048] The legs 226a-d may permit the cobot 102 to move within the environment 100 to avoid the obstacle 116, to position itself relative to the load 104 or other location within the environment 100, or both. In addition, the legs 226a-d may permit the cobot 102 to compensate for external forces acting on the cobot 102 and to keep the load 104 and / or parts of the cobot 102 level or control a pose and / or wheelbase of the cobot 102 compensate for the external forces. The cobot 102 stepping may increase a precision of the positioning of the cobot 102 within the environment 100, reduce an amount of time to position the cobot 102 within the environment 100, or both.

[0049] The cargo body 118 may include an extension assembly 220 and a platform 222, which are configured to interface with the load 104 to permit the cobot 102 to position the load 104 on and off the cobot 102 and to retain the load 104 while the cobot 102 traverses the environment 100. The cobot 102 may include a support mast 230 operatively coupled to the cargo body 118. In addition, the support mast 230 may be fixedly coupled to a mobility body 224 at a proximal end (such as denoted 558 in FIG. 5) of the support mast 230.

[0050] The support mast 230 may facilitate movement of the extension assembly 220 and / or the platform 222 relative to the support mast 230 to adjust a height of the extension assembly 220 and / or the platform 222 relative to the mobility body 224. In some embodiments, the support mast 230 may facilitate movement of the extension assembly 220 and / or the platform 222 relative to the support mast 230 to facilitate movement of the extension assembly 220 and the platform 222 independent of each other. The support mast 230 may adjust the height of the extension assembly 220 and / or the platform 222 relative to the mobility body 224 within a range of heights 274 to permit the cobot 102 to position the load 104 on and off the platform 222 at different heights within the range of heights 274. In the standing position, the range of heights 274 may correspond to the first range of heights relative to the ground surface. In the lowered position, the range of heights 274 may correspond to the second range of heights relative to the ground surface. In the raised position, the range of heights 274 may correspond to the third range of heights relative to the ground surface.

[0051] The platform 222 may include a ramp portion 250 that operates as a transition between an external surface / the ground surface and a raised portion 223 of the platform 222. To position the load 104 on the platform 222, the cobot 102 may adjust the height of the platform 222 within the range of heights 274 to position the platform 222 such that the ramp portion 250 contacts or is proximate to the surface that the load 104 is positioned on. In addition, the support mast 230 may adjust the height of the extension assembly 220 to match a height of the load 104.

[0052] To position the load 104 off the platform 222, the cobot 102 may adjust the height of the platform 222 within the range of heights 274 to position the platform 222 such that the ramp portion 250 contacts or is proximate to the surface that the load 104 is to be positioned on. In addition, the support mast 230 may adjust the height of the extension assembly 220 based on the height of the platform 222.

[0053] The extension assembly 220 may be configured to apply a force on the load 104 to position the load 104 on and off the platform 222. The extension assembly 220 may include extension members 221a-b that define an opening 246 configured to receive the load 104. In some embodiments, the cobot 102 may reduce a distance between the extension members 221 a- b to change an adjustable width 248 (illustrated in FIG. 2C) of the opening 246. The cobot 102 may change the adjustable width 248 to permit loads of different sizes to be positioned within the opening 246. Additionally or alternatively, the cobot 102 may change the adjustable width 248 to cause the extension members 221a-b to avoid items or other loads next to the load 104 when the cobot 102 extends the extension members 221a-b.

[0054] The extension members 221a-b may include retention mechanisms 260a-b coupled to distal ends 219a-b of the extension members 221a-b. To position the load 104 on the platform 222, the cobot 102 may extend the extension members 221a-b towards the load 104 to position the load 104 within the opening 246. In addition, the cobot 102 may extend the extension members 221a-b such that at least parts of the extension members 221a-b extend beyond the load 104. The cobot 102 may cause the retention mechanisms 260a-b to initially be in an unload position in which the retention mechanisms 260a-b avoid the load 104 when the cobot 102 extends the extension members 221a-b. For example, the retention mechanisms 260a-b may include fingers that, as illustrated in FIGS. 2A-2C, extend from the extension members 221-b at angles so as to avoid the load 104 when the cobot 102 extends the extension members 221a- b.

[0055] To position the load 104 on the platform 222, the cobot 102 may cause the retention mechanisms 260a-b to transition to a load position. In the load position, the retention mechanisms 260a-b may be positioned so as to apply the force on the load 104 to position the load 104 on the platform 222 when the cobot 102 retracts the extension members 221 a-b. For example, the retention mechanisms 260a-b may include fingers that, in the load position, extend from the extension members 221 a-b at non-parallel angles so as to apply the force on the load 104 and to position the load 104 on the platform 222 when the cobot 102 retracts the extension members 221 a-b.

[0056] To position the load 104 off the platform 222, the cobot 102 may cause the retention mechanisms 260a-b to transition to the unload position so as to prevent the retention mechanisms from contacting the load 104 when the cobot 102 extends the extension members 221 a-b. In addition, the cobot 102 may extend the extension members 221 a-b to position the load 104 off the platform 222. The extension assembly 220, the extension members 221 a-b, and the retention mechanisms 260a-b are discussed in more detail below in relation to FIGS. 4 A and 4B.

[0057] Alternatively, the retention mechanisms 260a-b may be omitted, and the extension members 221 a-b may be configured to apply the force on the load 104 to the position the load 104 on and off the platform 222.

[0058] The mobility body 224 may include a body opening 254 that is sized and shaped to receive the cargo body 118. In particular, the body opening 254 may be sized and shaped to receive the platform 222, the extension assembly 220, or both. In addition, the body opening 254 may be sized to receive at least part of the load 104 when the load 104 is positioned on the platform 222 and the cargo body 1 18 is in the lowered position as illustrated in FIGS. 2A-2E.

[0059] The cobot 102 is illustrated in FIGS. 2A-2E with the cargo body 118 in the lowered position (e.g., within the body opening 254) for example purposes. An example of the cobot 102 with the cargo body 118 in the raised position is illustrated in FIGS. 3A and 3B.

[0060] To move within the environment 1 0 with the load 104 positioned on the platform 222. the support mast 230 may adjust a height of the cargo body 118 such that the cargo body 118 is in the lowered position and at least the part of the load 104 is within the body opening 254. The cargo body 118 being in the lowered positioned rather than the raised position may lower a center of gravity of the cobot 102 and the load 104.

[0061] In some embodiments, the mobility body 224 may include a battery (not illustrated in FIGS. 2A-2E) and / or other components positioned between the platform 222 and a bottom surface 232 of the mobility' body 224. The battery and / or other components may be located so as to position the center of gravity of the cobot 102 proximate a geometric center of the mobility body 224. The raised portion 223 and the ramp portion 250 may permit the load 104 to be positioned on and off the platform 222 with the battery and / or other components positioned between the platform 222 and the ground surface.

[0062] The wheels 228a-d may be coupled to distal ends 261a-d of the legs 226a-d. In some embodiments, the legs 226a-d may maintain a level position of the cargo body 118, the mobility body 224, or the support mast 230 while the cobot 102 is moving. Further, in some embodiments, the legs 226a-d may adjust the center of gravity of the cobot 102 to adaptively respond to factors of the environment 100. For example, the legs 226a-d may adjust a pose of the cobot 102 to adjust the center of gravity’ of the cobot 102, the load 104, or both or adjust the wheelbase of the wheels 228a-d.

[0063] In the lowered position, as illustrated in and described in more detail in relation to FIGS. 4A and 4B, at least part of the bottom surface 232 of the mobility' body 224 contacts the ground surface and both the legs 226a-d and the wheels 226a-d may be positioned next to the mobility body 224. In the standing position, the bottom surface 232 of the mobility' body 224 may be positioned a first distance above the ground surface such that at least parts of the wheels 226a- d are positioned below the bottom surface 232 of the mobility body 224 relative to the ground surface and at least parts of the legs 228a-d are positioned next to the mobility body 224. In the raised position, the bottom surface 232 of the mobility body 224 may be positioned a second distance above the ground surface such that the wheels 228a-d and parts of the legs 226a-d are positioned below the bottom surface 232 of the mobility body 224 relative to the ground surface and parts of the legs 226a-d are positioned next to the mobility body 224. For example, lower leg portions 238a-d, ankle portions 244a-d, knee joints 242a-d, parts of upper leg portions 236a- d, or some combination thereof and the wheels 228a-d may be positioned below the bottom surface 232 of the mobility body 224 relative to the ground surface.

[0064] The cobot 102 may include hip joints 240a-d that act as the interface between proximal ends 266a-d of the legs 226a-d and the mobility body 224. The hip joints 240a-d may move or permit movement of the upper leg portions 236a-d of the legs 226a-d relative to the mobility body 224. The upper leg portions 236a-d may span from the proximal ends 266a-d of the legs 226a-d to the knee joints 242a-d.

[0065] One or more of the hip joints 240a-d may include hip motors (not illustrated in FIGS. 2A-2E) to control movement of the hip joints 240a-d. Examples of such motors may include servomotors, stepper motors, brushless direct current (DC) motors, linear actuators, among others. In addition, the hip joints 240a-d may include transmissions (e.g., gear boxes), brakes, or both to control movement of the hip joints 240a-d. Further, the hip joints 240a-d may include one or more sensors configured to monitor movement of the hip joints 240a-d. Examples of such sensors may include accelerometers, strain gauges, relative position sensors, gyroscopes, relative encoders, absolute encoders, electrical draw sensors, motor phase sensors, torque sensors, among others. The hip motors may control the movement of the hip joints 240a-d based on the monitoring performed by the sensors.

[0066] In some embodiments, the hip motors may include non-back driveable motors configured to drive the hip joints 240a-d. The non-back driveable motors may maintain a current position of the hip joints 240a-d when power is no longer provided to the hip motors. For example, the non-back driveable motors may include a gearing ratio that is high enough that the weight of the cobot 102 on the non-back driveable motors does not cause the non-back driveable motors to move when powered off. In other embodiments, the hip motors may include back driveable motors configured to drive the hip joints 240a-d. The back driveable motors may not maintain a current position of the hip joints 240a-d when power is not provided to the hip motors. For example, the back driveable motors may include a gearing ratio that is low enough that the weight of the cobot 102 on the hip motors, a disturbance from the ground surface, a collision with an external device, or any other appropriate external force causes the back driveable motors to move when powered off. In some embodiments, the hip motors may be constantly powered to maintain current positions of the upper leg portions 236a-d relative to the mobility body 224. In some embodiments, the hip motors may include a quasi-direct drive motor, a series elastic motor, or any other appropriate back driveable motor. In these and other embodiments, the hip motors may include brakes configured to prevent movement of the hip joints 240a-d when power is not provided to the hip motors.

[0067] The cobot 102 may include knee joints 242a-d that act as the interface between distal ends 270a-d of the upper leg portions 236a-d and proximal ends 272a-d of the lower leg portions 238a-d. The knee joints 240a-d may move or permit movement of the lower leg portions 238a-d of the legs 226a-d relative to the upper leg portions 236a-d. The lower leg portions 238a-d may span from the knee joints 242a-d to distal ends 268a-d of the legs 226a- d.

[0068] One or more of the knee joints 242a-d may include knee motors (not illustrated in FIGS. 2A-2E) to control movement of the knee joints 242a-d. Examples of such knee motors may include servomotors, stepper motors, brushless DC motors, linear actuators, among others. In addition, the knee joints 242a-d may include transmissions (e.g., gear boxes), brakes, or both to control movement of the knee joints 242a-d. Further, the knee joints 242a-d may include one or more sensors configured to monitor movement of the knee joints 242a-d. Examples of such sensors may include accelerometers, strain gauges, relative position sensors, gyroscopes, relative encoders, absolute encoders, electrical draw sensors, motor phase sensors, torque sensors, among others. The knee motors may control the movement of the knee joints 242a-d based on the monitoring performed by the sensors.

[0069] The hip joints 240a-d and the knee joints 242a-d may pivot around different axes to facilitate movement of the upper leg portions 236a-d and the low er leg portions 238a-d along arcs around the different axes. For example, the hip joints 240a-d may pivot around hip axes concentric with the hip joints 240a-d to facilitate movement of the upper leg portions 236a-d along arcs around the hip axes. As another example, the knee joints 242a-d may pivot around knee axes concentric with the knee joints 242a-d to facilitate movement of the lower leg portions 238a-d along arcs around the knee axes. In some embodiments, the upper leg portions 236a and 236d and the low er leg portions 238a and 238d may move within a common plane. In these and other embodiments, the upper leg portions 236b and 236c and the lower leg portions 238b and 238c may move within a common plane that is generally parallel with but distinct from the plane within which the upper leg portions 236a and 236d and the lower leg portions 238a and 238d may move.

[0070] The ankle joints 244a-d may act as the interface between distal ends 268a-d of the lower leg portions 238a-d and the wheels 228a-d. The ankle joints 244a-d may move or permit movement of the wheels 228a-d relative to the lower leg portions 238a-d to facilitate pivoting and / or rotation of the wheels 228a-d relative to the lower leg portions 238a-d. For example, the ankle joints 244a-d may permit the wheels 228a-d to pivot around ankle axes (not illustrated) that extend through centers of the wheels 228a-d to change an orientation of the wheels 228a- d and a direction of travel of the cobot 102. In other words, the ankle joints 244a-d may permit the wheels 228a-d to pivot around the ankle axes to permit the wheels 228a-d to operate as the swerv e drive. In some embodiments, the ankle joints 244a-d may pivot around axes to facilitate pivoting of the wheels 228a-d around the axes.

[0071] One or more of the ankle joints 244a-d may include ankle motors (not illustrated in FIGS. 2A-2E) to control movement of the ankle joints 244a-d. Examples of such ankle motors may include servomotors, stepper motors, brushless DC motors, linear actuators, among others. In addition, the ankle joints 244a-d may include transmissions (e.g., gear boxes), brakes, or both to control movement of the ankle joints 244a-d. Further, the ankle joints 244a-d may include one or more sensors configured to monitor movement of the ankle joints 244a-d. For example, the sensors may measure relative position, absolute position, velocity', or other aspects of movement of the ankle joints 244a-d and / or the wheels 228a-d. Examples of such sensors may include accelerometers, strain gauges, relative position sensors, gyroscopes, relative encoders, absolute encoders, electrical draw sensors, motor phase sensors, torque sensors, limit switches, magnetic sensors, among others. The ankle motors may control the movement of the ankle joints 244a-d based on the monitoring performed by the sensors.

[0072] In some embodiments, the knee motors and / or the ankle motors may include back driveable motors configured to drive the knee joints 242a-d and / or the ankle joints 244a-d. The back driveable motors may not maintain a current position of the knee joints 242a-d and / or the ankle joints 244a-d when power is not provided to the knee motors and / or the ankle motors. For example, the back driveable motors may include a gearing ratio that is low enough that the weight of the cobot 102 on the knee motors and / or the ankle motors, a disturbance from the ground surface, a collision with an external device, or any other appropriate external force causes the back driveable motors to move when powered off. In some embodiments, the knee motors and / or the ankle motors may be constantly powered to maintain current positions of the lower leg portions 238a-d relative to the upper leg portions 236a-d and / or the wheels 228a-d relative to the lower leg portions 238a-d. In some embodiments, the knee motors and / or the ankle motors may include a quasi-direct drive motor, a series elastic motor, or any other appropriate back driveable motor. In these and other embodiments, the knee motors and / or the ankle motors may include brakes configured to prevent movement of the knee joints 242a-d and / or the ankle joints 244a-d when power is not provided to the knee motors and / or the ankle motors. In some embodiments, the knee motors and / or the ankle motors may include non-back driveable motors configured to drive the knee joints 242a-d and / or the ankle joints 244a-d. The non-back driveable motors may maintain a current position of the knee joints 242a-d and / or the ankle joints 244a-d when power is no longer provided to the knee motors and / or the ankle motors. For example, the non-back driveable motors may include a gearing ratio that is high enough that the weight of the cobot 102 on the non-back driveable motors does not cause the non-back dnveable motors to move when powered off.

[0073] The hip motors, the knee motors, and the ankle motors are described as being collocated with the corresponding joints for example purposes. In some embodiments, the hip motors, the knee motors, the ankle motors, or some combination thereof may be located external to the corresponding joints (e.g., within the mobility body 224 or otherwise external to the corresponding joints). For example, the hip motors, the knee motors, the ankle motors, or some combination thereof may be positioned within the mobility body 224.

[0074] The wheels 228a-d may be coupled to the distal ends 268a-d of the lower leg portions 238a-d so as to pivot and rotate relative to the lower leg portions 238a-d. In some embodiments, the cobot 102 may include one or more motors (not illustrated in FIGS. 2A-2E) configured to drive the wheels 228a-d to cause the cobot 102 to move within the environment 100. The ankle joints 244a-d may cause the wheels 228a-d to pivot around axes to change the orientation of the wheels 228a-d to permit the cobot 102 to make precise and / or minute movements to align the cobot 102 with the load 104 or move around the obstacle 116.

[0075] The legs 226a-d may operate as a suspension for the cobot 102 to absorb shocks, vibrations, or disturbances from terrain or the obstacle 116 while moving and / or operating within the environment 100. The legs 226a-d may operate as a tunable passive suspension, an active suspension, a passive suspension, a predictive suspension, among others. The predictive suspension may operate based on perceived terrain in a path of the cobot 102 as detected by sensors of the cobot 102. The legs 226a-d may operate as the suspension for the cobot to adjust kinematic behaviors, stability, maneuverability', or some combination thereof of the cobot 102 while accelerating or otherwise moving within the environment 100. In addition, the legs 226a- d may provide clearance between the bottom surface 232 of the mobility body 224 and the ground surface to prevent the bottom surface 232 of the mobility body 224 from contacting the ground surface and disrupting operation of the cobot 102 while moving w ithin the environment 100.

[0076] The cobot 102 may adjust a wheelbase of the wheels 228a-d and / or adjust a center of gravity of the cobot 102, the load 104, or both via the legs 226a-d and / or the support mast 230. In other words, the cobot 102 may adjust a pose of the cobot 102 to adjust the center of gravity of the cobot 102, the load 104, or both or adjust the wheelbase of the wheels 228a-d. Adjusting the wheelbase of the wheels 228a-d may include adjusting a contact point between the wheels 228a-d and the ground surface relative to the mobility7body 224. The cobot 102 may move the legs 226a-d to adjust positions of the wheels 228a-d relative to the mobility body 224. In some embodiments, the cobot 102 may use the legs 226a-d, the support mast 230, or both to adjust a height of the cobot 102 and / or the load 104 relative to the ground surface to adjust the center of gravity of the cobot 102, the load 104, or both. For example, the support mast 230 may drive the cargo body 118 to the lowered position or a raised position, the legs 226a-d may transition between the standing position and the raised position to adjust the center of gravity of the cobot 102 and / or the load 104, or both.

[0077] The cobot 102 may adjust the wheelbase of the wheels 228a-d to adjust kinematic behaviors, stability', maneuverability, or some combination thereof of the cobot 102 while accelerating or otherwise moving within the environment 100. The cobot 102 may adjust the wheelbase of each of the wheels 228a-d independently or may adjust the wheelbase of the wheels 228a-d as a single unit. For example, if the cargo body 118 is in the raised position and / or the load 104 causes the center of gravity to be above the mobility' body 224, the cobot 102 may extend the legs 226c-d aft to extend the wheelbase of the w heels 228a-d aft when the cobot is 102 is accelerating forward. As another example, if the cargo body 118 is in the raised position and / or the load 104 causes the center of gravity to be above the mobility body 224. the cobot 102 may extend the legs 226a-b fore to extend the wheelbase of the wheels 228a-d fore when the cobot is 102 is decelerating or accelerating backwards. As yet another example, the cobot 102 may extend the legs 226b-c to increase a height of a corresponding portion of the mobility body 224. the cargo body 118, or both to counteract centrifugal force due to the cobot 102 turning right.

[0078] The cobot 102 may adjust the wheelbase of the wheels 228a-d to compensate for the changes in the ground surface or the obstacle 116. In some embodiments, the cobot 102 mayadjust the wheelbase of the wheels 228a-d to compensate for a feature of the ground surface. In these and other embodiments, the cobot may adjust the center of gravity of the cobot 102, the load 104, or both to compensate for the feature of the ground surface. The feature of the ground surface may include, a slope of the ground surface, a bump in the ground surface, a divot or indentation in the ground surface, an irregularity of the ground surface, the obstacle 116, or any other appropriate barrier. For example, the cobot 102 may extend the legs 226c-d aft to extend the wheelbase of the wheels 228a-d aft when the cobot is 102 is ascending a slope. As another example, the cobot 102 may extend the legs 226a-b fore to extend the wheelbase of the wheels 228a-d fore when the cobot is 102 is descending a slope. In some embodiments, the cobot 102 may detect the feature of the of the ground surface using a sensor portion discussed in more detail below.

[0079] Additionally or alternatively, the cobot 102 may balance an uneven distribution of the load 104 when positioned on the platform 222 using the legs 226a-d. For example, the load 104 while positioned on the platform 222 may cause a backend of the cobot 102 to bear a heavier burden and the legs 228c-d may increase power output to raise the backend of the cobot 102 to keep the cobot 102 level while moving.

[0080] The cobot 102 may adjust the center of gravity of the cobot 102, the load 104, or both to adjust stability, dynamics, maneuverability, or some combination thereof of the cobot 102 while accelerating or otherwise moving within the environment 100. For example, if the cargo body 118 is in the raised position and / or the load 104 causes the center of gravity to be above the mobility' body 224, the cobot 102 may lower the legs 226a-b and raise the legs 226c-d to cause the cobot 102 to lean forward and adjust the center of gravity when the cobot is 102 is accelerating forward. As another example, if the cargo body 1 18 is in the raised position and / or the load 104 causes the center of gravity to be above the mobility body 224, the cobot 102 may raise the legs 226a-b and lower the legs 226c-d to cause the cobot 102 to lean backward and adjust the center of gravity when the cobot is 102 is decelerating.

[0081] In some embodiments, the cobot 102 may adjust the center of gravity of the cobot 102, the load 104, or both to adjust steering behavior, stability', or both of the cobot 102 while turning within the environment 100. For example, the cobot 102 may lower the legs 226b-c and raise the legs 226a and 226d to cause the cobot 102 to lean left and adjust the center of gravity when the cobot is 102 is turning left. As another example, the cobot 102 may lower the legs 226a and 226d and raise the legs 226b-c to cause the cobot 102 to lean right and adjust the center of gravity when the cobot is 102 is turning right.

[0082] The cobot 102 may adjust the center of gravity' of the cobot 102, the load 104, or both to compensate for the changes in the ground surface or the obstacle 116. In some embodiments, the cobot 102 may adjust the center of gravity to compensate for the feature. For example, the cobot 102 may raise the legs 226b-c to cause the cobot 102 to be normal relative to gravity when the cobot is 102 is traversing a cross slope from right to left. As another example, the cobot 102 may raise the legs 226a and 226d to cause the cobot 102 to be normal relative to gravity when the cobot is 102 is traversing a cross slope from left to right. The cobot 102 may adjust the center of gravity of the cobot 102, the load 104, or both via the legs 226a-d and / or the support mast 230 or adjust the wheelbase of the cobot 102 to adjust an amount of force that one or more of the wheels 228a-d are applying to the ground surface. In other words, the cobot 102 may adjust a pose of the cobot 102, the wheelbase of the cobot 102, or both to adjust the amount of force being applied to the ground surface by on one or more of the wheels 228a-d. The amount of force that each of the wheels 228a-d transmits to the ground surface may be related to an amount of normal force of the ground surface on the corresponding wheels 228a-d.

[0083] The cobot 102 may adjust the center of gravity of the cobot 102, the load 104, or both or adjust the wheelbase of the cobot 102 to adjust the amount of force that one or more of the wheels 228a-d are applying to the ground surface to adjust acceleration capabilities, stopping capabilities, or both of the cobot 102. In addition, the cobot 102 may adjust the center of gravity of the cobot 102, the load 104, or both to adjust the amount of force that one or more of the wheels 228a-d are applying to the ground surface to balance a workload of the motors (e.g., the ankle motor, the knee motors, the hip motors, or some combination thereof). Balancing the workload of the motors may reduce an amount of heat generated by the motors, balance power consumption by the motors, or both. Reducing the amount of heat generated by the motors may reduce performance of the motors and degrade steering capabilities of the cobot 102.

[0084] The legs 226a-d may include passive suspension devices (not illustrated in FIGS. 2A- 2E) coupled to the upper leg portions 236a-d and the lower leg portions 238a-d in parallel with the knee joints 242a-d (e.g., parallel to the knee motors). The passive suspension devices may passively adjust suspension functions of the knee joints 242a-d compared to when the cobot 102 does not include the passive suspension device. In addition, the passive suspension devices may set an operation point for the knee motors such that the weight of the cobot 102 on the knee motors does not cause the knee motors to move when powered off.

[0085] The passive suspension device may permit the knee motors to be powered off and the position of the knee joints 242a-d to be maintained without the knee motors consuming power. In some embodiments, the passive suspension devices may include springs, air shocks, and / or dampers coupled in parallel with the knee motors. In these and other embodiments, the passive suspension devices may include springs, air shocks, elastic devices, dynamic devices, and / or dampers that are coupled to the mobility body 224 and the lower leg portions 238a-d.

[0086] In some embodiments, the cobot 102 may include clutch devices (not illustrated in FIGS. 2A-2E) configured to selectively couple and decouple the passive suspension devices from the upper leg portions 236a-d and / or the lower leg portions 238a-d. The clutch devices may selectively couple and decouple the passive suspension devices to selectively cause the passive suspension devices to adjust a suspension function of the knee joints 242a-d. The clutch devices may permit the knee joints 242a-d to move without consuming power to overcome the passive suspension devices.

[0087] In some embodiments, the legs 226a-d may be configured to position the support mast 230 based on a slope of the external surface that the load 104 is positioned on or is to be positioned on. The legs 226a-d may position the support mast 230 at an angle (e.g., adjust the pose of the cobot 102) to adjust a difference in slope between the external surface and the platform 222. In these and other embodiments, the legs 226a-d may be configured to position the support mast 230 based on a slope of the ground surface that the cobot 102 is positioned on.

[0088] In some embodiments, the legs 226a-d may be configured to position the support mast 230 to reduce a workload of the extension members 221a-b to position the load 104 on and off the platform 222. For example, the legs 226a-d may position the support mast 230 at an angle to cause a slope of the raised portion 223 to be down toward the external surface to reduce an amount of force to position the load 104 off the platform 222. For example, the legs 226a-d may position the support mast 230 at an angle to cause a slope of the raised portion 223 to be upward toward the external surface to reduce an amount of force to position the load 104 on the platform 222.

[0089] When positioning the load 104 on and off the platform 222, the legs 226a-d may adjust a stiffness of the suspension function of the hip joints 240a-d, the knee joints 242a-d, or both to compensate to reduce fluctuations in positioning of the cobot 102. In addition, when moving within the environment 100, the legs 226a-d may adjust a stiffness of the suspension function of the hip joints 240a-d, the knee joints 242a-d. or both to reduce shock and vibration transferred to the load 104.

[0090] The cobot 102 may include an interface device 252 at least partially housed within the support mast 230. The interface device 252 may be configured to provide a user interface and / or to receive commands from a user. The interface device 252 may receive commands including natural language spoken by a user, visual instructions (e.g., pointing at a load) provided by a user, user input such as mouse clicks or touch screen interactions, gestures, or any other appropriate medium for commands.

[0091] In some embodiments, the interface device 252 may include a display configured to show a visual representation corresponding to actions of the cobot 102. In these and other embodiments, the visual representation may indicate a direction of movement of the cobot 102, the load 104 to position on and off the cobot 102, an acknowledgment of humans or other obstacles in the environment, text indicating a current task of the cobot 102, or any other appropriate visual representation. Additionally or alternatively, the visual representation may include facial features such as eyes, ears, or a nose to provide a more human like interface. Further, the visual representation may include face glyphs to communicate a state of the cobot 102, an intent of the cobot 102, reactions of the cobot 102. among others. In some embodiments, the interface device 252 may show diagnostics data to assist a troubleshooting process. In these and other embodiments, the interface device 252 may include speakers or microphones to receive or provide audio announcements. For example, the interface device 252 may include an array of microphones to receive verbal commands, to localize the cobot 102 relative to the environment 100. to filter out noise, or some combination thereof.

[0092] The support mast 230 may include an indication portion 255 that indicates a direction that the cobot 102 is facing. The indication portion 255 may indicate the direction that the cobot 102 is facing in an analog manner to permit a user to visually determine the direction that the cobot 102 is facing. In some embodiments, the indication portion 255 may include a vertical portion 253 that extends along at least part of a length of the support mast 230 and a horizontal portion 257 connected to the vertical portion 253 and extending generally perpendicular to the vertical portion 253. In these and other embodiments, the indication portion 255 may include a surface 251 that extends between the vertical portion 253 and the horizontal portion 257 so as to form a curve 259 (e.g., the indication portion 255 may form a curved L shape). The curve 259 may include a radius of curvature configured to indicate the direction that the cobot 102 is facing (e.g., an interior of the curve 259 is orientated in the direction that the cobot 102 is facing). In some embodiments, the indication portion 255 may be positioned between the interface device 252 and an indicator 256.

[0093] The cobot 102 may include a sensor portion (not illustrated) configured to identify items within the environment 100. The items may include the obstacle 116, the load 104, humans, other cobots, loads, vehicles, shelves, terrain features, terrain characteristics, (e.g., slippery, dry, sloped etc.) or any other appropriate item. The sensor portion may identify the items to permit the cobot 102 to dynamically operate within a dynamic environment. In addition, the cobot 102 may use the sensor portion to determine if the items are the load 104 to be positioned on and off the cobot 102. The sensor portion may include a camera, a radio frequency detection and ranging device, a light detection and ranging device, an ultrasonic device, or some combination thereof to permit the sensor portion to identify’ the items. In some embodiments. the sensor portion may operate as part of a navigation system to determine a path for the cobot 102.

[0094] In some embodiments, the cobot 102 may include the indicator 256. The indicator 256 may project markers or other information on the ground surface corresponding to actions of the cobot 102. The indicator 256 may project the path of the cobot 102 on the ground surface or otherwise provide notifications of a position of the cobot 102. For example, the indicator 256 may project a visualization on the ground surface indicating the direction of travel of the cobot 102. As another example, the indicator 256 may project the visualization around the cobot 102 on the ground surface indicating an area for humans to avoid. As another example, the indicator 256 may project the visualization a distance in front of the cobot 102 to provide warning or to indicate the cobot 102 is approaching around a blind comer. The visualization may include shape (e.g., circles, rectangles, squares, stars, etc ), symbols, words, or any other appropriate visualization.

[0095] The cobot 102 may include another interface device 262 The interface device 262 maybe configured to provide a user interface and / or to receive commands from the user. The interface device 262 may receive commands including natural language spoken by a user, visual instructions (e.g., pointing at a load) provided by a user, user input such as mouse clicks or touch screen interactions, gestures, or any other appropriate medium for commands.

[0096] In some embodiments, the interface device 262 may be configured to show the visual representation corresponding to actions of the cobot 102. In some embodiments, the interface device 262 may show diagnostics data to assist a troubleshooting process. In these and other embodiments, the interface device 262 may include speakers or microphones to receive or provide audio announcements. For example, the interface device 262 may include an array of microphones to receive verbal commands, to localize the cobot 102 relative to the environment 100, to filter out noise, or some combination thereof.

[0097] The cobot 102 may include a communication device (not illustrated) configured to receive information via wireless communication. For example, the communication device mayreceive databases, job allocation, or any other appropriate information from a user systems or other computing device. In some embodiments, the communication device may include any component, device, system, or combination thereof that is configured to transmit or receive information over a network. In some embodiments, the communication device may communicate with other devices at other locations, the same location, or even other components within the same system. For example, the communication device may include a modem, a network card (wireless or wired), an infrared communication device, a wireless communication device (such as an antenna), and / or chipset (such as a Bluetooth® device, an 802.6 device (e.g.. Metropolitan Area Network (MAN)), a WiFi device, a WiMax device, cellular communication facilities, etc.), and / or the like.

[0098] The communication device may permit data to be exchanged with a network and / or any other devices or systems described in the present disclosure. For example, the communication device may permit the cobot 102 to receive models representative of the environment 100, commands, or any other appropriate information.

[0099] The cobot 102 may traverse stairs, escalators, elevators, a diagonal surface in any orientation relative to a direction of travel of the cobot 102, or the environment 100 with the obstacle 116 while moving the load 104. The cobot 102 may use models of the environment to determine a location of the stairs, the obstacle 116, or other barriers to be traversed by stepping over them using the legs 226a-d and the wheels 228a-d. In addition, the cobot 102 may use the models to determine how high to raise the legs 226a-d to take a step, go up a stair, go around or over the obstacle 116, or otherwise navigate the environment 100 by stepping. Further, the cobot 102 may determine poses of the cobot 102 to assume while stepping to maintain the level positioning of the load 104 on the platform 222 and / or control a direction of acceleration of the cobot 102.

[0100] In some embodiments, for each step, the cobot 102 may identify a location to place the corresponding wheel 228a-d and pose the cobot 102 such that a new center of gravity that maintains the level positioning of the load 104 between the legs 228a-d that are in contact with the ground surface, the pose of the cobot 102, or direction of acceleration of the cobot 102 during the step is achieved. In some embodiments, the cobot 102 may use a zero four zero or zero moment point technique to move by stepping. In other embodiments, the cobot 102 may use a wheel torque technique to move by stepping.

[0101] The cobot 102 may determine whether a weight of the load 104 exceeds a maximum weight rating of the cobot 102. If the weight of the load 104 exceeds the maximum weight rating, the cobot 102 may return the load 104. Additionally or alternatively, the cobot 102 may lighten the weight of the load 104.

[0102] The cobot 102 may determine the weight of the load 104 using the extension members 221a-b, the legs 226a-d, the platform 222, or some combination thereof. In some embodiments, the cobot 102 may use the extension members 221a-b to lift the load 104 and measure a current draw of motors of the extension members 221a-b when lifting the load 104. In these and other embodiments, the cobot 102 may determine the weight of the load 104 based on the cunent draw of the motors of the legs 228a-d when lifting the load 104. The cobot 102 may use the extension members 221a-b to move the load 104 along the surface the load 104 is positioned on. In some embodiments, the cobot 102 may measure the current draw of the motors of the extension members 221a-b to move the load 104 along the surface to determine the weight of the load 104 based on the current draw of the motors to move the load 104 and a coefficient of friction of the surface.

[0103] In some embodiments, the platform 222 may include load cells and / or strain gauges configured to determine the weight of the load 104 when the load 104 is positioned on the platform 222. In other embodiments, the cobot 102 may measure a current draw of a motor of the support mast 230 to maintain a current height of the platform 222 with the load 104 positioned on the platform 222. In these and other embodiments, the cobot 102 may determine the weight of the load 104 based on the current draw of the motor to maintain the current height of the platform 222.

[0104] In some embodiments, the cobot 102 may measure a current draw of the knee motors, the ankle motors, or both to maintain a current position of the corresponding joints with the load 104 positioned on the platform 222. In these and other embodiments, the cobot 102 may determine the weight of the load 104 based on the current draw of the knee motors, the ankle motors, or both to maintain the current height of the platform 222.

[0105] In some embodiments, the cobot 102 may track the weight of different loads to assist a user in determining a weight of a group of loads, recording the weight of the different loads, or determining other weight related factors.

[0106] In some embodiments, the ramp portion 250 may be omitted and the legs 226a-d may position the support mast 230 to cause a leading edge of the platform 222 to contact the external surface to permit the extension members 221a-b to position the load 104 on and off the platform 222. In these and other embodiments, the ramp portion 250 may include a metal material, a steel material, or any other appropriate resilient material.

[0107] In some embodiments, the support mast 230 may be configured to adjust a height of the platform 222 to position the platform 222 on the ground surface to permit the cobot 102 to position the load 104 on and off the ground surface directly to and from the platform 222.

[0108] An external surface of the cobot 102 may include a soft and / or a pliable material to reduce or prevent injuries or damage caused by accidents by the cobot 102. For example, the external surface of the cobot 102 may include a closed cell foam material, an air-filled material, or any other appropriate material. In some embodiments, the external surface of the cobot 102 may include a touch sensitive elastomer to detect collisions. In some embodiments the cobot 102 may be powered using one or more batteries. In these and other embodiments, the cobot 102 may be configured to swap the batteries without powering down to permit continuous use of the cobot 102. In other embodiments, the cobot 102 may be powered using shore power (e.g., a direct line).

[0109] FIGS. 3 A and 3B illustrate a left perspective view and a right perspective view, respectively, of the cobot 102 of FIGS. 2A-2E with the cargo body 118 in an example raised position, in accordance with at least one embodiment described in the present disclosure. As illustrated in FIGS. 3 A and 3B, the support mast 230 may adjust a height of the cargo body 118 relative to the mobility' body 224 to the example raised position.

[0110] The raised position may include any height of the cargo body 118 within the range of heights 274 such that the extension assembly 220 and / or the platform 222 are above the mobility body 224 (e.g., the extension assembly 220 is not within the body opening 254 and / or the platform 222 does not contact the mobility7body 224). The raised position may include the extension assembly 220 and / or the platform 222 being positioned within the body opening 254 but not contacting the mobility body 224. In addition, in the raised position, the cargo body 118 may be positioned so as to position the load 104 on and off the platform 222 at any height within the range of heights 274 that is above the lowered position.

[0111] The support mast 230 may include a support mast opening 264 configured to receive a brake device (not illustrated). At least a portion of the brake device may interface with or be positioned within the support mast opening 264. The brake device may be configured to prevent the cargo body 118 from moving relative to the support mast 230 when a driver within the support mast 230 is powered off. For example, the brake device may prevent the cargo body 118 from transitioning from the raised position to the lowered position when the driver within the support mast 230 is powered off. The brake device may7prevent the cargo body 118 from moving while the cobot 102 moves or is stationary7. In some embodiments, the brake device may include a detent, an electrically actuated brake, or any other appropriate device.

[0112] FIGS. 4A and 4B illustrate a left perspective view and a right perspective view, respectively, of the cobot 102 of FIGS. 2A-2E in the lowered position, in accordance with at least one embodiment described in the present disclosure. As illustrated in FIGS. 4A and 4B, in the lowered position, the legs 226a-d may adjust the height of the mobility7body7224 and / or the support mast 230 relative to the ground surface such that the bottom surface 232 contacts the ground surface. In addition, the legs 226a-d may adj ust a height of the mobility body 224 and / or the support mast 230 relative to the ground surface. In the lowered position, the support mast 230 may adjust the height of the cargo body 1 18 within the range of heights 274, which, in the lowered position, may include the second range of heights relative to the ground surface. The support mast 230 adjusting the height of the cargo body 118 within the second range of heights may permit the extension members 221a-b to position the load 104 on and off the platform 222 at different heights within the second range of heights including on and off the ground surface while the cobot 102 is in the lowered position.

[0113] In some embodiments, the first range of heights may include any height between or equal to one inch and eighty inches above the ground surface, the second range of heights may include any height between or equal to zero inches and seventy inches above the ground surface, and the third range of heights may include any height between 10. 1 inches and eighty- five inches above the ground surface.

[0114] Implementations of the cobot 102 may have different dimensions depending on a size of the load 104. Generally, for instance, the dimensions of the cobot 102 may be larger when the load 104 is larger and smaller when the load 104 is smaller. As a particular example, the dimensions of the cobot 102 may be relatively small when the load 104 is Lego sized, larger when the load 104 is pallet sized, larger still when the load 104 is ocean container sized, and so on. The heights of the first range of heights, the second range of heights, and / or the third range of heights may be scaled according to the dimensions of the cobot 102.

[0115] The extension members 221 a-b may be coupled to a back portion 482 of the extension assembly 220. In addition, the extension members 221 a-b may be configured to extend (e.g., telescope) out from the back portion 482. For example, the extension members 221 a-b may extend out along a longitudinal axis of the extension assembly 220. The extension members 221 a-b may include springs actuators, or other components to cause the extension members 221a-b to extend out from or retract towards the back portion 482.

[0116] The retention mechanisms 260a-b may transition between the load position and the unload position to apply a force or to avoid the load 104. In the load position, the retention mechanisms 260a-b extend from the extension members 221a-b at an angle that is not parallel to the extension members 221 a-b to grab the load and permit the extension members 221 a-b to position the load 104 on the platform 222. In the unload position, the retention mechanisms 260a-b extend from the extension members 221 a-b to cause the retention mechanisms 260a-b to avoid the load 104 and permit the extension members 221 a-b to position the load 104 off the platform 222 or position the load 104 within the opening 246. Alternatively, the retention mechanisms 260a-b may pivot and rotate down and behind the load 104 to grab the load 104 rather than bending. In some embodiments, the retention mechanisms 260a-b may apply a pull force on the load 104 to position the load 104 on the platform 222. In these and other embodiments, the extension members 221 a-b may include additional mechanisms (e.g., second fingers) (not illustrated in FIGS. 4A and 4B) configured to apply a push force on the load 104 to position the load 104 off the platform 222 when the extension members 221 a-b extend out from the back portion 482. The additional mechanisms may be coupled to the extension members 221a- b at intermediate points proximate to the back portion 482. The additional mechanisms may contact the load to push the load off the platform 222 when the cobot 102 extends the extension members 221 a-b out from the back portion 482.

[0117] In some embodiments, the cobot 102 may determine when the extension members 221 a-b have extended out from the back portion 482 such that the retention mechanisms 260a- b and / or the distal ends 219a-b of the extension members 221a-b are beyond the load 104. In these and other embodiments, the cobot 102 may determine that the retention mechanisms 260a-b and / or the distal ends 219a-b of the extension members 221 a-b are beyond the load 104 to determine when to cause the retention mechanisms 260a-b to transition between the unload position and the load position.

[0118] In some embodiments, the extension members 221 a-b may include a camera, a light detector, a flight sensor, a proximity sensor, or any other appropriate detector to determine that the retention mechanisms 260a-b and / or the distal ends 219a-b of the extension members 221a- b are beyond the load 104.

[0119] The extension members 221 a-b may include force sensors (not illustrated in FIG. 4A and 4B) configured to measure a force applied by the extension members 221 a-b on the load 104. The force sensors may be located proximate to the distal ends 219a-b of the extension members 221 a-b, the intermediate points, or anywhere between.

[0120] The extension members 221 a-b may include wedge-shaped portions (not illustrated in FIGS. 4A and 4B) coupled to the distal ends 219a-b of the extension members 221a-b. For example, the retention mechanisms may include a wedge shape. The wedge-shaped portions may be configured to be positioned between the load 104 and an obstacle abutting or proximate to the load 104 when the extension members 221 a-b extend from the back portion 482. In addition, the wedge-shaped portions may create a gap between the load 104 and the obstacle when the extension members 221 a-b extend from the back portion 482 to permit the extension members 221 a-b to pass through at least part of the gap. Although illustrated as fingers in FIGS. 2A-2E. 4A, and 4B, the retention mechanisms 260a-b may include other configurations. Example configurations may include a friction device, a roller device, a conveyor belt, a suction device, or some combination thereof.

[0121] The friction device may move to reduce the adjustable width 248 until a force is applied on sides of the load 104 via the friction device. The friction device may include a coefficient of friction that is greater than a coefficient of friction of the surface the load 104 is positioned on to cause the load 104 to move when the extension members 221a-b extend from or retract towards the back portion 482 to position the load 104 on and off the platform 222.

[0122] The roller device may move to reduce the adjustable width 248 until a force is applied on sides of the load 104 via the roller device. The roller device may rotate when the extension members 221a-b extend from or retract towards the back portion 482 to position the load 104 on and off the platform 222.

[0123] The conveyor belt may move to reduce the adjustable width 248 until a force is applied on sides of the load 104 via the conveyor belt. The conveyor belt may rotate when the extension members 221a-b extend from or retract towards the back portion 482 to position the load 104 on and off the platform 222.

[0124] The suction device may apply a suction force on sides of the load 104. For example, the suction device may apply the suction force on a front surface of the load 104. The suction device may be pushed away from the back portion 482 or pulled toward the back portion 482 to position the load 104 on and off the platform 222.

[0125] The legs 226a-d are illustrated and described in relation to FIGS. 1-4B as including joints (e g., as jointed legs) for example purposes. However, the legs 226a-d may include any appropriately t pe of actuated legs to move the legs 226a-d, the wheels 228a-d, or both relative to the mobility body 224 (e.g., over, around, or otherwise to avoid items in the environment 100) or to position the cobot 102. For example, the legs 226a-d may include one or more pistons, work drives, or some combination thereof configured to retract and extend portions of the legs 226a-d to cause the wheels 228a-d to move or otherwise position the cobot 102.

[0126] FIG. 5 illustrates a front view of the support mast 230, the indicator 256, and the interface device 252 of the cobot 102 of FIGS. 2A-2E, in accordance with at least one embodiment described in the present disclosure.

[0127] The support mast 230 may include a proximal end 558 that is fixedly coupled to the mobility body 224 and a distal end 576 that is coupled to the indicator 256. In addition, the support mast 230 may include a track opening 578 configured to receive a portion of the extension assembly 220. the platform 222. or both. The support mast 230 may include a driver (not illustrated in FIG. 5) that is housed within the support mast 230. The driver may include a rack and pinion driver, a lead mechanism driver, a ball mechanism driver, a belt mechanism driver, a cable driver mechanism driver, or any other appropriate driver.

[0128] The driver may be configured to drive the extension assembly 220, the platform 222, or both to adjust a height of the extension assembly 220, the platform 222, or both within the range of heights 274. In some embodiments, the extension assembly 220, the platform 222, or both may be coupled to the driver via rigid bodies (not illustrated in FIG. 5) extending through the track opening 578.

[0129] In the embodiment in which the driver includes the rack and pinion driver (e.g., a linear rail), the rack may be housed within the support mast 230 and the rigid bodies of the extension assembly 220, the platform 222, or both may include pinions extending through the track opening 578. The driver may drive the rack to cause the pinions to ascend or descend the rack and move the extension assembly 220, the platform 222, or both in a corresponding direction within the range of heights 274.

[0130] FIGS. 6A-6E illustrate a left perspective view, a right perspective view, a front view, a left-side view, and a right-side view, respectively, of an example cobot 602, in accordance with at least one embodiment described in the present disclosure. The cobot 602 may operate similarly to the cobot 102 of FIG. 1 except that the cobot 602 may include retention mechanisms 660a-b that are configured to selectively interface with a load that includes a handle. Additionally or alternatively, the cobot 602 may not include legs and wheels 628a-d of the cobot 602 may be coupled directly to a mobility body 624 of the cobot 602. Further, the cobot 602 may not include knee joints such that wheeled systems 626a-d of the cobot 602 do not pivot around axes (e.g., knee axes) and may not adjust a height of the mobility body 624 of the cobot 602 relative to the ground surface.

[0131] The cobot 602 may move within the environment to position the load at different locations within the environment. The load may include uniform containers, uniform packages, uniform carts, non-uniform containers, non-uniform packages, non-uniform carts, or any other load type. In some embodiments, uniform containers, uniform packages, and / or uniform carts may include loads that include the same shape, size, weight, or some combination thereof. In these and other embodiments, non-uniform containers, non-uniform packages, and / or non- uniform carts may include loads that include different shapes, sizes, weights, or some combination thereof.

[0132] The cobot 602 may move, work, adapt, react, or some combination thereof within the environment while avoiding obstacles. The obstacle may include a dynamic obstacle such as other cobots, humans, animals, or other mobile obstacles. The obstacle may include a static obstacle such as a rock, a ledge, a rail, a pit, a stair, or other static obstacles.

[0133] The wheeled systems 626a-d may cause the cobot 602 to move within the environment 100. As illustrated in FIGS. 6A-6E, the wheeled systems 626a-d includes the wheels 628a-d and ankle joints 644a-d attached to the mobility body 624. In some embodiments, the mobility body 624 may include a body portion 625 and side portions 636a-d. In these and other embodiments, the side portions 636a-d may extend along at least a portion a height of the body portion 625. In other embodiments, the side portions 636a-d may be formed with the body portion 625.

[0134] The ankle joints 644a-d may be operatively coupled to ends 670a-d of the side portions 636a-d and operatively coupled to wheels 628a-d. Alternatively, the side portions 636a-d may be omitted, and the ankle joints 644a-d may be coupled directly to sides of the body portion 625. Additionally or alternatively, the cobot 602 may include legs (such as legs 226a-d) that are operatively coupled to the mobility body 624. For example the legs may be operatively- coupled to the body portion 625 or the side portions 636a-d. The ankle joints 644a-d may act as interfaces between the mobility body 624 and the wheels 628a-d. Alternatively, in embodiments in which the cobot 602 includes legs, the ankle joints 644a-d may act as interfaces between the legs and the wheels 628a-d. The wheels 628a-d may be actively steered to operate as a swerve drive to provide pseudo holonomic translation of the cobot 602. The wheels 628a- d operating as the swerve drive may increase a precision of the positioning of the cobot 602. reduce an amount of time to position the cobot 602, or both.

[0135] The cobot 602 may include a support mast 630 operatively coupled to an extension assembly 620. In addition, the support mast 630 may be fixedly coupled to the mobility body 624 at a proximal end of the support mast 630. The support mast 630 may facilitate movement of the extension assembly 620 relative to the support mast 630 to adjust a height of the extension assembly 620 relative to the mobility- body 624. The support mast 630 may adjust the height of the extension assembly 620 relative to the mobility- body 624 to permit the cobot 602 to selectively interface with the handle of the load at different heights.

[0136] The extension assembly 620 may selectively interface with the handle of the load to permit the cobot 602 to move the load within the environment. The handle of the load may include a bar, an extension piece, multiple bars, an opening in the load, or any other appropriate device that is at least partially separated from a body of the load.

[0137] The extension assembly 620 may include extension members 621a-b that include the retention mechanisms 660a-b coupled to distal ends of the extension members 621 a-b. The extension members 621 a-b may be configured to selectively interface with the handle of the load. The retention mechanisms 660a-b may be configured to extend (e.g., telescope) out from the extension members 621a-b or retract back towards the extension members 621a-b. For example, the retention mechanisms 660a-b may extend out along longitudinal axes of the extension members 621 a-b. The extension members 621 a-b, the retention mechanisms 660a-b, or both may include springs actuators, or other components to cause the retention mechanisms 660a-b to extend out from or retract towards the extension members 621 a-b. In some embodiments, the retention mechanisms 660a-b may be configured to rotate relative to the extension members 621a-b to facilitate the selective interface of the extension members 621a- b and the handle of the load.

[0138] The retention mechanisms 660a-b may define openings 617a-b that are configured to selectively receive or release the handle of the load. The retention mechanisms 660a-b may include retention devices 693a-b that are configured to extend at least partially across the openings 617a-b or retract to open the openings 617a-b. The retention devices 693a-b mayretract to open the openings 617a-b and permit the openings 617a-b to receive the handle or to release the handle (e.g., permit the handle to exit the openings 617a-b). Additionally, the retention device 693a-b may extend at least partially across the openings 617a-b to close the openings 617a-b and prevent the handle from unintentionally being released (e.g., unintentionally exiting the openings 617a-b). Further, the retention devices 693 a-b may extend at least partially across the openings 617a-b to close the openings 617a-b and prevent the handle or other items from unintentionally entering the openings 617a-b. Alternatively, the retention device 693a-b may be omitted, and the height of the extension assembly 620 may be adjusted such that the retention mechanisms 660a-b apply a force on the handle to prevent the handle from exiting the openings 617a-b.

[0139] Alternatively, each of the retention mechanisms 660a-b may include multiple retention devices positioned on opposite sides that retract to open the openings 617a-b. the multiple retention devices may extend to close the openings and prevent the handle from unintentionally- being released. Alternatively, the multiple retention devices may extend to contact the handle to sandwich (e.g., pinch) a portion of the handle between the corresponding multiple retention devices.

[0140] To selectively receive the handle, the cobot 602 may position itself relative to the load, retract the retention devices 693a-b, adjust the height of the extension assembly 620 such that the handle is received by the openings 617a-b. and extend the retention devices 693a-b at least partially across the openings 617a-b. Alternatively, to selectively receive the handle, the cobot 602 may position itself relative to the load, adjust the height of the extension assembly 620 to ensure that the extension members 621a-b and the retention mechanisms 660a-b are at a lower height than the handle relative to the ground surface, extend the retention mechanisms 660a-b such that the handle is positioned above the openings 617a-b relative to the ground surface, retract the retention devices 693a-b, adjust the height of the extension assembly 620 such that the handle is received by the openings 617a-b. and extend the retention devices 693a-b at least partially across the openings 617a-b.

[0141] To selectively release the handle, the cobot 602 may retract the retention devices 693a- b such that the openings 617a-b are at least partially open and adjust the height of the extension assembly 620 such that the handle exits the openings 617a-b. In addition, the cobot 602 may retract the retention mechanisms 660a-b. In some embodiments, the cobot 602, when interfacing with the load, may extend or retract the retention mechanisms 660a-b to position the load a particular distance from the mobility body 624.

[0142] In some embodiments, the cobot 602 may determine when the retention mechanisms 660a-b have extended out from the extension members 621a-b such that the openings 617a-b are positioned to receive the handle of the load. In these and other embodiments, the cobot 602 may determine that the retention mechanisms 660a-b are extended such that the openings 617a- b are positioned to receive the handle of the load to determine when to adjust the height of the extension assembly 620. In some embodiments, the retention mechanisms 660a-b may include a camera, a light detector, a flight sensor, a proximity sensor, or any other appropriate detector to determine that the openings 617a-b are positioned to receive the handle of the load.

[0143] The extension members 621 a-b may include force sensors (not illustrated in FIGs. 6A- 6E) configured to measure a force applied by the extension members 621 a-b on the load. The force sensors may be located within the extension members 621 a-b, the retention mechanisms 660a-b, intermediate points of the extension members 621a-b, or anywhere between.

[0144] The support mast 630 may include a track opening 678 configured to receive a rigid body 619 of the extension assembly 620. The support mast 630 may include a driver (not illustrated in FIGS. 6A-6E) that is housed within the support mast 630. The driver may include a rack and pinion driver, a lead mechanism driver, a ball mechanism driver, a belt mechanism driver, a cable driver mechanism driver, or any other appropriate driver. The driver may be configured to drive the extension assembly 620 to adjust a height of the extension assembly 620. In some embodiments, the extension assembly 620 may be coupled to the driver via the rigid body 619 extending through the track opening 678. In the embodiment in which the driver includes the rack and pinion driver (e.g., a linear rail), the rack may be housed within the support mast 630 and the rigid body 619 may include pinions extending through the track opening 678. The driver may drive the rack to cause the pinions to ascend or descend the rack and move the extension assembly 620 in a corresponding direction.

[0145] The support mast 630 may include a support mast opening 697 configured to receive a brake device 699. At least a portion of the brake device 699 may interface with or be positioned within the support mast opening 697. The brake device 699 may be configured to prevent the extension assembly 620 from moving relative to the support mast 630 when the driver within the support mast 630 is powered off. For example, the brake device 699 may prevent the extension assembly 620 from transitioning from a raised position to a lowered position or vice when the driver within the support mast 630 is powered off. The brake device 699 may prevent the extension assembly 620 from moving while the cobot 602 moves or is stationary. In some embodiments, the brake device 699 may include a detent an electrically actuated brake, or any other appropriate device.

[0146] Implementations of the cobot 602 may have different dimensions depending on a size of the load and / or a height of the handle of the load. Generally, for instance, the dimensions of the cobot 602 may be larger when the size of the load and / or the height of the handle of the load is larger or greater and smaller when the size of the load and / or the height of the handle of the load is smaller or lesser. As a particular example, the dimensions of the cobot 602 may be relatively small when the size of the load is Lego sized and / or the height of the handle of the load is an equivalent height; larger when the size of the load is pallet sized and / or the height of the handle of the load is an equivalent height; larger still when the size of the load is ocean container sized and / or the height of the handle of the load is an equivalent height; and so on.

[0147] The cobot 602 may determine whether a weight of the load exceeds a maximum weight rating of the cobot 602. If the weight of the load exceeds the maximum weight rating, the cobot 602 may return the load. Additionally or alternatively, the cobot 602 may lighten the weight of the load.

[0148] The cobot 602 may determine the weight of the load using the extension members 621 a- b to lift the load and measure a current draw of motors of the extension members 621a-b when lifting the load. For example, the cobot 602 may measure a current draw of the driver of the support mast 630 to maintain a current height of the extension assembly 620 with the handle of the load within the openings 617a-b. In some embodiments, the cobot 602 may track the weight of different loads to assist a user in determining a weight of a group of loads, recording the weight of the different loads, or determining other weight related factors.

[0149] The ankle joints 644a-d may pivot around axes relative to the side portions 636a-d or the body portion 625 to facilitate movement of the wheels 628a-d along arcs around the axes. For example, the ankle joints 644a-d may pivot around ankle axes (not illustrated) that extend through centers of the wheels 628a-d and / or the side portions 636a-d to move the wheels 628a- d along the corresponding arcs to change an orientation of the wheels 628a-d and a direction of travel of the cobot 602. In other words, the ankle joints 644a-d may permit the wheels 628a- d to operate as the swerve drive. The ankle joints 644a-d may cause the wheels 628a-d to move along the arcs to change the orientation of the wheels 628a-d to permit the cobot 602 to make precise and / or minute movements to align the cobot 602 with the load or move around an obstacle.

[0150] One or more of the ankle joints 644a-d may include ankle motors (not illustrated in FIGS. 6A-6E) to control movement of the ankle joints 644a-d. Examples of such ankle motors may include servomotors, stepper motors, brushless DC motors, linear actuators, among others. In addition, the ankle joints 644a-d may include transmissions (e.g., gear boxes), brakes, or both to control pivoting of the ankle joints 644a-d. Further, the ankle joints 644a-d may include one or more sensors configured to monitor movement of the ankle joints 644a-d. For example, the sensors may measure relative position, absolute position, velocity, or other aspects of movement of the ankle joints 644a-d and / or the wheels 628a-d. Examples of such sensors may include accelerometers, strain gauges, relative position sensors, gyroscopes, relative encoders, absolute encoders, electrical draw sensors, motor phase sensors, torque sensors, limit switches, magnetic sensors, among others. The ankle motors may control the movement of the ankle joints 644a-d based on the monitoring performed by the sensors.

[0151] In some embodiments, the ankle motors may include back driveable motors configured to drive the ankle joints 644a-d. The back driveable motors may not maintain a current position of the ankle joints 644a-d when power is not provided to the ankle motors. For example, the back driveable motors may include a gearing ratio that is low enough that a disturbance from the ground surface, a collision with an external device, or any other appropriate external force causes the back driveable motors to move when powered off. In some embodiments, the ankle motors may be constantly powered to maintain current positions of the wheels 628a-d. In some embodiments, the ankle motors may include a quasi-direct drive motor, a series elastic motor, or any other appropriate back driveable motor. In these and other embodiments, the ankle motors may include brakes configured to prevent movement of the ankle joints 644a-d when power is not provided to the ankle motors. In some embodiments, the ankle motors may include non-back driveable motors configured to drive the ankle joints 644a-d. The non-back driveable motors may maintain a current position of the ankle joints 644a-d when power is no longer provided to the ankle motors. For example, the non-back driveable motors may include a gearing ratio that is high enough that a disturbance from the ground surface, a collision with an external device, or any other appropriate external force does not cause the non-back driveable motors to move when powered off.

[0152] The ankle motors are described as being collocated with the ankle joints 644a-d for example purposes. In some embodiments, the ankle motors may be located external to the ankle joints 644a-d (e.g.. within the mobility body 624 or otherwise external to the ankle joints 644a- d).

[0153] In some embodiments, the cobot 602 may include one or more motors (not illustrated in FIGS. 6A-6E) configured to drive the wheels 628a-d to cause the cobot 602 to move. The motors configured to drive the wheels 628a-d may permit the wheels to rotate forward, backward, or both.

[0154] The cobot 602 may include an interface device 652 at least partially housed within the support mast 630. The interface device 652 may show a visual representation corresponding to actions of the cobot 602. In these and other embodiments, the visual representation may indicate a direction of movement of the cobot 602, an acknowledgment of humans or other obstacles in the environment, text indicating a current task of the cobot 602, or any other appropriate visual representation. In some embodiments, the interface device 652 may include speakers to provide audio announcements.

[0155] The support mast 630 may include an indication portion 655 that indicates a direction that the cobot 602 is facing. The indication portion 655 may indicate the direction that the cobot 602 is facing in an analog manner to permit a user to visually determine the direction that the cobot 602 is facing. In some embodiments, the indication portion 655 may include a vertical portion 653 that extends along at least part of a length of the support mast 630 and a horizontal portion 657 connected to the vertical portion 653 and extending generally perpendicular to the vertical portion 653. In these and other embodiments, the indication portion 655 may include a surface 651 that extends between the vertical portion 653 and the horizontal portion 657 so as to form a curve 659 (e.g., the indication portion 655 may form a curved L shape). The curve 659 may include a radius of curvature configured to indicate the direction that the cobot 602 is facing (e g., an interior of the curve 659 is orientated in the direction that the cobot 602 is facing). In some embodiments, the indication portion 655 include a posterior portion 649 that extends from the support mast 630 in an opposite direction as the direction that the cobot 602 is facing. In these and other embodiments, the posterior portion 649 may indicate a direction that a rear of the cobot 602 is facing.

[0156] In some embodiments, the cobot 602 may include an indicator 656. The indicator 656 may project markers or other information on the ground surface corresponding to actions of the cobot 602. The indicator 656 may project the path of the cobot 602 on the ground surface or otherwise provide notifications of a position of the cobot 602. For example, the indicator 656 may project a visualization on the ground surface indicating the direction of travel of the cobot 602. As another example, the indicator 656 may project the visualization around the cobot 602 on the ground surface indicating an area for humans to avoid. As another example, the indicator 656 may project the visualization a distance in front of the cobot 602 to provide warning or to indicate the cobot 602 is approaching around a blind comer. The visualization may include shape (e.g., circles, rectangles, squares, stars, etc.), symbols, words, or any other appropriate visualization.

[0157] The cobot 602 may include another interface device 662 The interface device 662 may be configured to provide a user interface and / or to receive commands from the user. The interface device 662 may receive commands including natural language spoken by a user, visual instructions (e g., pointing at a load) provided by a user, user input such as mouse clicks or touch screen interactions, gestures, or any other appropriate medium for commands.

[0158] In some embodiments, the interface device 662 may include a display configured to show a visual representation corresponding to actions of the cobot 602. In these and other embodiments, the visual representation may indicate a direction of movement of the cobot 602, the load, an acknowledgment of humans or other obstacles in the environment, text indicating a current task of the cobot 602, or any other appropriate visual representation. Additionally or alternatively, the visual representation may include facial features such as eyes, ears, or a nose to provide a more human like interface. Further, the visual representation may include face glyphs to communicate a state of the cobot 602, an intent of the cobot 602, reactions of the cobot 602, among others. In some embodiments, the interface device 662 may show diagnostics data to assist a troubleshooting process. In these and other embodiments, the interface device 662 may include speakers or microphones to receive or provide audio announcements. For example, the interface device 662 may include an array of microphones to receive verbal commands, to localize the cobot 602 relative to the environment, to filter out noise, or some combination thereof. The cobot 602 may include a communication device (not illustrated) configured to receive information via wireless communication. For example, the communication device may receive databases, job allocation, or any other appropriate information from a user systems or other computing device. In some embodiments, the communication device may include any component, device, system, or combination thereof that is configured to transmit or receive information over a network. In some embodiments, the communication device may communicate with other devices at other locations, the same location, or even other components within the same system. For example, the communication device may include a modem, a network card (wireless or wired), an infrared communication device, a wireless communication device (such as an antenna), and / or chipset (such as a Bluetooth® device, an 802.6 device (e.g.. Metropolitan Area Network (MAN)), a WiFi device, a WiMax device, cellular communication facilities, etc ), and / or the like.

[0159] The communication device may permit data to be exchanged with a network and / or any other devices or systems described in the present disclosure. For example, the communication device may permit the cobot 602 to receive models representative of the environment, commands, or any other appropriate information.

[0160] The cobot 602 may include a sensor portion (not illustrated) configured to identify items. The items may include obstacles, loads, humans, other cobots, vehicles, shelves, terrain features, terrain characteristics, (e.g., slippery, dry, sloped etc.) or any other appropriate item. The sensor portion may identify the items to permit the cobot 602 to dynamically operate within a dynamic environment. In addition, the cobot 602 may use the sensor portion to determine if the items are the load to be selectively interface with. The sensor portion may include a camera, a radio frequency detection and ranging device, a light detection and ranging device, an ultrasonic device, or some combination thereof to permit the sensor portion to identify the items. In some embodiments, the sensor portion may operate as part of a navigation system to determine a path for the cobot 602.

[0161] An external surface of the cobot 602 may include a soft and / or a pliable material to reduce or prevent injuries or damage caused by accidents by the cobot 602. For example, the external surface of the cobot 602 may include a closed cell foam material, an air-filled material, or any other appropriate material. In some embodiments, the external surface of the cobot 602 may include a touch sensitive elastomer to detect collisions.

[0162] In some embodiments the cobot 602 may be powered using one or more batteries (not illustrated). In these and other embodiments, the cobot 602 may be configured to swap the batteries without powering down to permit continuous use of the cobot 602. In other embodiments, the cobot 602 may be powered using shore power (e.g., a direct line). In some embodiments, the mobility body 624 may define openings 695a-b that are configured to receive the batteries. The openings 695 a-b may be defined such that the batteries are positioned proximate a geometric center of the mobility body 624.

[0163] In some embodiments, the side portions 636a-d may be configured to be removeable. In addition, the cobot 602 may include interchangeable sets of side of portions (not illustrated) that are configured to operate differently or perform different functions. For example, different sets of side portions may be capable of driving each of the wheels 628a-d, driving only a subset of the wheels 628a-d, steering each of the wheels 628a-d as a group, steering each of the wheels 628a-d individually, or any other appropriate function. As another example, different sets of side portion may include suspension systems, include rigid structures (e.g., no suspension as shown in FIGS. 6A-6E), wheel mounts that include articulating actuation, or any other appropriate component. In some embodiments, the wheel mounts that include articulating actuation may permit the cobot 602 to climb stairs or step over obstacles.

[0164] The cobot 602 is illustrated in FIGS. 6A-6E with the extension assembly 620 in the lowered position for example purposes.

[0165] Terms used herein and especially in the appended claims (e.g., bodies of the appended claims) are generally intended as “open” terms (e.g., the term “including” should be interpreted as “including, but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes, but is not limited to,” etc.).

[0166] Additionally, if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims may contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to embodiments containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (e.g., “a” and / or “an” should be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations.

[0167] In addition, even if a specific number of an introduced claim recitation is explicitly recited, it is understood that such recitation should be interpreted to mean at least the recited number (e.g., the bare recitation of “two recitations,” without other modifiers, means at least two recitations, or two or more recitations). Furthermore, in those instances where a convention analogous to “at least one of A, B, and C. etc / ’ or “one or more of A, B. and C, etc.” is used, in general such a construction is intended to include A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B, and C together, etc. For example, the use of the term “and / or” is intended to be construed in this manner.

[0168] Further, any disjunctive word or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” should be understood to include the possibilities of “A” or “B” or “A and B.”

[0169] Additionally, the use of the terms “first,” “second,” “third,” etc., are not necessarily used herein to connote a specific order or number of elements. Generally, the terms “first,” “second,” “third,” etc., are used to distinguish between different elements as generic identifiers. Absence a showing that the terms “first,” “second,” “third,” etc., connote a specific order, these terms should not be understood to connote a specific order. Furthermore, absence a showing that the terms first,” “second,” “third,” etc., connote a specific number of elements, these terms should not be understood to connote a specific number of elements. For example, a first widget may be described as having a first side and a second widget may be described as having a second side. The use of the term “second side” with respect to the second widget may be to distinguish such side of the second widget from the “first side” of the first widget and not to connote that the second widget has two sides.

[0170] All examples and conditional language recited herein are intended for pedagogical objects to aid the reader in understanding the invention and the concepts contributed by the inventor to furthering the art, and are to be construed as being without limitation to such specifically recited examples and conditions. Although embodiments of the present disclosure have been described in detail, it should be understood that the various changes, substitutions, and alterations could be made hereto without departing from the spirit and scope of the present disclosure.

Claims

CLAIMSWhat is claimed is:

1. A collaborative robot comprising: an extension member configured to selectively interface with a load; a mobility' body; a first wheel operatively coupled to a first side of the mobility body; a second wheel operatively coupled to a second side of the mobility body, the first wheel and the second wheel configured to facilitate movement of the collaborative robot within an environment; and a support mast operatively coupled to the extension member, fixedly coupled to the mobility body at a proximal end of the support mast, and configured to adjust a height of the extension member to facilitate the selective interface of the extension member with the load.

2. The collaborative robot of claim 1 , wherein the extension member comprises a retention mechanism that defines an opening configured to selectively receive a handle of the load to selectively interface the extension member with the load.

3. The collaborative robot of claim 1, wherein the first side comprises a first side portion and the second side comprises a second side portion, the collaborative robot further comprising a third wheel operatively coupled to a third side portion of the mobility’ body and a fourth wheel operatively coupled to a fourth side portion of the mobility body.

4. The collaborative robot of claim 1 , wherein the extension member comprises a retention mechanism configured to rotate relative to the extension member to further facilitate the selective interface of the extension member with the load.

5. The collaborative robot of claim 1 wherein the support mast comprises a brake device configured to prevent the extension member from moving relative to the support mast while the collaborative robot moves within the environment.

6. The collaborative robot of claim 1 further comprising a sensor portion coupled to the support mast, the sensor portion configured to identify obstacles proximate to the collaborative robot within the environment to permit the collaborative robot to dynamically operate yvithin a dynamic environment.

7. The collaborative robot of claim 1. further comprising: a first ankle joint operatively coupled to the first side of the mobility body and to the first wheel, the first ankle joint configured to pivot around a first axis to change an orientation of the first wheel; and a second ankle joint operatively coupled to the second side of the mobility’ body and to the second wheel, the second ankle joint configured to pivot around a second axis to change an orientation of the second wheel.

8. The collaborative robot of claim 1, further comprising an interface device configured to show a visual representation corresponding to actions of the collaborative robot.

9. The collaborative robot of claim 1, wherein the mobility body defines an opening configured to receive a battery so as to position the battery proximate a geometric center of the mobility body.

10. The collaborative robot of claim 1, wherein the first wheel and the second wheel are configured to operate as a swerve drive.

11. A collaborative robot comprising: a cargo body comprising: a platform; and an extension member configured to position a load on and off the platform; a mobility body; a first leg coupled to the mobility body with a first wheel operatively coupled to a distal end of the first leg; a second leg coupled to the mobility body with a second wheel operatively coupled to a distal end of the second leg, the first leg and the second leg configured to: facilitate movement of the collaborative robot within an environment; and adjust a center of gravity of the collaborative robot, the load, or both while moving within the environment to compensate for the load, an environmental factor, a feature of a ground surface, or some combination thereof; and a support mast operatively coupled to the cargo body, fixedly coupled to the mobility body at a proximal end of the support mast, and configured to adjust a height of the cargo bodywithin a range of heights relative to the ground surface to permit the extension member to position the load on and off the platform at different heights within the range of heights.

12. The collaborative robot of claim 11, wherein: the range of heights comprises a first range of heights; the first leg and the second leg are configured to adjust a height of the mobility body and the support mast relative to the ground surface to facilitate the support mast adjusting the height of the cargo body within a second range of heights relative to the ground surface to permit the extension member to position the load on and off the platform at different heights within the second range of heights; and the second range of heights is at least partially different than the first range of height.

13. The collaborative robot of claim 12, wherein the first leg and the second leg are configured to adjust a height of the mobility body to permit: a bottom surface of the mobility body to contact the ground surface; and the extension member to position the load on the platform from the ground surface and off the platform to the ground surface.

14. The collaborative robot of claim 11. wherein the first leg and the second leg are configured to position the support mast based on a slope of an external surface from which the load is being positioned on or positioned off to reduce a difference in slope between the external surface and a surface of the platform.

15. The collaborative robot of claim 14. wherein the first leg and the second leg are configured to position the support mast based on a feature of the ground surface on which the collaborative robot is positioned.

16. The collaborative robot of claim 11, wherein the first leg comprises: an upper leg portion; a lower leg portion; a hip j oint operatively coupled to both a proximal end of the upper leg portion and the mobility body, the hip joint configured to pivot around a first axis to facilitate movement of the upper leg portion along an arc around the first axis;a knee joint operatively coupled to both a proximal end of the lower leg portion and a distal end of the upper leg portion, the knee joint configured to pivot around a second axis to facilitate movement of the lower leg portion along an arc around the second axis; and an ankle joint operatively coupled to both a distal end of the lower leg portion and the first wheel, the ankle joint configured to facilitate rotation of the first wheel relative to the lower leg portion.

17. The collaborative robot of claim 11, wherein the extension member comprises a finger coupled to a distal end of the extension member, wherein the finger is configured to transition between a load position and an unload position, wherein: in the load position, the finger extends away from the extension member at an angle that is generally non-parallel to the extension member to grab the load and permit the extension member to position the load on the platform; and in the unload position, the finger extends away from the extension member to cause the finger to permit the extension member to position the load off the platform.

18. The collaborative robot of claim 11 , wherein the extension member defines an opening configured to receive the load, the opening comprising an adjustable width to permit the extension member to receive the load and to avoid obstacles proximate to the load.

19. A collaborative robot comprising: a cargo body comprising: a platform; and an extension member configured to position a load on and off the platform; a mobility body including a body opening that is sized and shaped to receive the cargo body; a first leg coupled to the mobility body with a first wheel operatively coupled to a distal end of the first leg; a second leg coupled to the mobility body with a second wheel operatively coupled to a distal end of the second leg, the first leg and the second leg configured to: facilitate movement of the collaborative robot within an environment; and maintain a level position of the cargo body while moving within the environment; anda support mast operatively coupled to the cargo body, fixedly coupled to the mobility body at a proximal end of the support mast, and configured to adjust a height of the cargo body within a first range of heights relative to a ground surface to permit the extension member to position the load on and off the platform at different heights within the first range of heights, wherein: the first leg and the second leg are configured to adjust a height of the mobility body and the support mast relative to the ground surface to facilitate the support mast adjusting the height of the cargo body within a second range of heights relative to the ground surface to permit the extension member to position the load on and off the platform at different heights within the second range of heights; and the second range of heights is at least partially different than the first range of height.

20. The collaborative robot of claim 19, wherein: the first leg and the second leg are configured to adjust a height of the collaborative robot to permit: a bottom surface of the mobility body to contact the ground surface; and the extension member to position the load on the platform from the ground surface and off the platform to the ground surface; the first leg comprises: an upper leg portion; a lower leg portion; a hip joint operatively coupled to both a proximal end of the upper leg portion and the mobility body, the hip joint configured to facilitate movement of the upper leg portion relative to a plane; a knee joint operatively coupled to both a proximal end of the lower leg portion and a distal end of the upper leg portion, the knee joint configured to facilitate movement of the lower leg portion relative to the plane; and an ankle joint operatively coupled to both a distal end of the lower leg portion and the first wheel, the ankle joint configured to facilitate rotation of the first wheel relative to the lower leg portion; and the extension member comprises a finger coupled to a distal end of the extension member, wherein the finger is configured to transition between a load position and an unload position, wherein:in the load position, the finger extends away from the extension member at an angle that is generally non-parallel the extension member to grab the load and permit the extension member to position the load on the platform; and in the unload position, the finger extends away from the extension member to cause the finger to permit the extension member to position the load off the platform; the mobility body comprises a battery configured to be positioned between a bottom surface of the platform and the ground surface; and the platform comprises a ramp portion comprising a slope angled to compensate for a height of the battery to permit the extension member to position the load on and off the platform when the battery contacts the ground surface.

Images