Advanced array of sensor assemblies of a humanoid robot

Abstract

A humanoid robot includes an upper region with a torso, a pair of arm assemblies coupled to the torso, and a head and neck assembly. The head and neck assembly includes a neck portion coupled to the torso and a head portion coupled to the neck portion. The head portion has a head housing assembly with a first shell and a second shell defining a head volume. The first shell includes an opening with a cover extending across at least a majority of the opening. A first camera and a second camera are located within the head volume, each having horizontal and vertical fields of view exceeding specified angles. The first and second camera bodies are positioned less than 15 centimeters apart. The robot also includes a lower region with a pair of legs coupled to and spaced apart from the upper region.

Description

ADVANCED ARRAY OF SENSOR ASSEMBLIES OF A HUMANOID ROBOTCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority under 35 U.S.C. § 119(e) to the U.S. Provisional Patent Application No. 63 / 634,697, filed on April 16, 2024, which is expressly incorporated by reference herein in its entirety.

[0002] Reference is hereby made to: (i) PCT Application Nos. PCT / US25 / 10425, PCT / US25 / 11450, PCT / US25 / 12544, PCT / US / 16930, PCT / US25 / 19793, PCT / US25 / 23064, PCT / US25 / 23325, PCT / US25 / 24817, (ii) U.S. Patent Application Nos. 18 / 919,263, 18 / 919,274, 19 / 000,626, 19 / 006,191, 19 / 038,657, 19 / 064,596, 19 / 066,122, 19 / 180,106, and (iii) U.S.Provisional Patent Application Nos. 63 / 557,874, 63 / 558,373, 63 / 561,300, 63 / 561,307, 63 / 561,311, 63 / 561,313, 63 / 561,315, 63 / 564,741, 63 / 565,077, 63 / 573,226, 63 / 573,543, 63 / 574,349, 63 / 614,499, 63 / 615,766, 63 / 617,762, 63 / 620,633, 63 / 625,362, 63 / 625,370, 63 / 625,381, 63 / 625,384, 63 / 625,389, 63 / 625,405, 63 / 625,423, 63 / 625,431, 63 / 626,028, 63 / 626,030, 63 / 626,034, 63 / 626,035, 63 / 626,037, 63 / 626,039, 63 / 626,040, 63 / 626,105, 63 / 632,630, 63 / 632,683, 63 / 633,113, 63 / 633,405, 63 / 633,920, 63 / 634,599, 63 / 634,697, 63 / 685,856, 63 / 696,507, 63 / 696,533, 63 / 700,749, 63 / 706,768, 63 / 707,547, 63 / 708,003, 63 / 722 / 057, 63 / 633,941, 63 / 635,152, 63 / 556,102, 63 / 561,317, 63 / 561,318, 63 / 626,039, and 63 / 766,911, each of which is expressly incorporated by reference herein in its entirety.TECHNICAL FIELD

[0003] This disclosure relates to sensors of a robot, specifically sensors of a general-purpose humanoid robot. The sensors of the general -purpose humanoid robot are configured to allow said robot to substantially mimic a human’s movements, functionality, and capabilities.BACKGROUND

[0004] The current labor market within the United States is confronting an unprecedented labor shortage, characterized by over 10 million unfilled positions. A significant proportion of these vacancies pertain to occupations that are deemed unsafe, undesirable, or involve hazardousworking conditions. This persistent and escalating shortage of available labor has created an urgent imperative for the development and deployment of advanced robotic systems capable of performing tasks that are unattractive or pose risks to human workers. To effectively address this widening gap in the workforce, it has become critical to design and engineer robots that can operate with high efficiency and reliability within human-centric environments. These environments often demand capabilities such as physical dexterity, sustained endurance, precise manipulation, and the ability to navigate complex spaces designed for humans.

[0005] Advanced general-purpose humanoid robots have emerged as a promising solution to meet these challenges. These robots are meticulously engineered to replicate the human form and emulate human functionality, typically featuring bipedal locomotion with two legs, bilateral manipulation abilities with two arms, and a display to facilitate interaction with human users. The anthropomorphic design enables these robots to seamlessly integrate into environments originally designed for humans, thereby minimizing the need for extensive modifications to existing infrastructures. As these robots endeavor to mimic the human body, it becomes essential to equip them with an array of sensor assemblies that are designed to obtain data from their environment. To meet these requirements, the present disclosure introduces an innovative array of sensor assemblies that are embedded in the robot’s head, torso, and feet.SUMMARY OF THE INVENTION

[0006] The presently disclosed subject matter is directed to a humanoid robot comprising an upper region including: (i) a torso, (ii) a pair of arm assemblies coupled to the torso, and (iii) a head and neck assembly including a neck portion coupled to the torso and a head portion coupled to the neck portion. The head portion has a head housing assembly including a first shell and a second shell coupled to the first shell to define a head volume between the first shell and the second shell, wherein the first shell includes an opening formed therein. A cover extends across at least a majority of the opening formed in the first shell. The robot includes a first camera having an extent located within the head volume and having a first horizontal field of view that is greater than 45 degrees and a first vertical field of view that is greater than 15 degrees. The first camera includes: (i) a first body, and (ii) a first camera lens positioned between the cover and the first camera body. The robot also includes a second camera having an extent located within the head volume and having a second horizontal field of view that is greater than 45 degrees and a second vertical field of view that is greater than 15 degrees. The second camera includes: (i) asecond body positioned less than 15 centimeters from the first camera body, and (ii) a second camera lens positioned between the cover and the second camera body. The robot further comprises a lower region coupled to the upper region and spaced apart from the upper region, the lower region including a pair of legs.

[0007] The presently disclosed subject matter is directed to a humanoid robot comprising an upper region including: (i) a torso, (ii) a pair of arm assemblies coupled to the torso, and (iii) a head and neck assembly coupled to the torso and having a neck portion and a head portion coupled to the neck portion. The head portion includes a head housing assembly including a first shell and a second shell coupled to the first shell to define a head volume between the first shell and the second shell. An electronics assembly including a display is located in the head volume between the first shell and the second shell. A first camera is positioned in the head volume and located above the display. The robot further comprises a lower region coupled to the upper region and spaced apart from the upper region, the lower region including a pair of legs.

[0008] The presently disclosed subject matter is directed to a humanoid robot comprising an upper region including: (i) a torso, (ii) a pair of arm assemblies coupled to the torso, and (iii) a head and neck assembly coupled to the torso and having a neck portion and a head portion coupled to the neck portion. The head portion includes a head housing assembly including a first shell and a second shell coupled to the first shell to define a head volume between the first shell and the second shell. An electronics assembly including a display is located in the head volume between the frontal shell and the rear shell. A sensor recess is located above the display and configured to provide an inset region of the head portion relative to the frontal shell. The electronics assembly further comprises a camera aligned with an extent of the sensor recess. The robot further comprises a lower region coupled to the upper region and spaced apart from the upper region, the lower region including a pair of legs.

[0009] The presently disclosed subject matter is directed to a humanoid robot comprising an upper region including: (i) a torso, (ii) a pair of arm assemblies coupled to the torso, and (iii) a head and neck assembly coupled to the torso and having a neck portion and a head portion coupled to the neck portion. The head portion includes a first electronics assembly including a first camera having a first line of sight, and a second electronics assembly including a second camera having a second line of sight that is angled relative to the first line of sight. The robotfurther comprises a lower region coupled to the upper region and spaced apart from the upper region, the lower region including a pair of legs.

[0010] The presently disclosed subject matter is directed to a humanoid robot. Particularly, the robot comprises a head assembly including a first sensor assembly and a second sensor assembly, wherein the first sensor assembly comprises a plurality of upper cameras positioned above a display screen and directed forward, and the second sensor assembly comprises a plurality of lower cameras positioned below the display screen and angled downward. The robot includes a torso assembly connected to the head assembly, the torso assembly including a front sensor assembly positioned near a waist region and directed forward, and a rear sensor assembly positioned in an upper back region and directed rearward. The first sensor assembly, second sensor assembly, front sensor assembly, and rear sensor assembly are configured to provide overlapping fields of view to enable comprehensive environmental sensing. The robot includes a processor configured to receive and process data from the sensor assemblies to facilitate navigation and interaction of the humanoid robot with its environment.

[0011] The presently disclosed subject matter is directed to a method of operating a humanoid robot. Particularly, the method comprises capturing forward-facing visual data using a plurality of upper cameras positioned above a display screen in a head assembly of the humanoid robot. The method includes capturing downward-facing visual data using a plurality of lower cameras positioned below the display screen in the head assembly. The method includes capturing forward ground-level visual data using a front sensor assembly positioned near a waist region of a torso assembly of the humanoid robot. The method includes capturing rearward visual data using a rear sensor assembly positioned in an upper back region of the torso assembly. The method includes processing the captured visual data from the upper cameras, lower cameras, front sensor assembly, and rear sensor assembly to generate a comprehensive environmental map with overlapping fields of view. The method includes controlling movement and interactions of the humanoid robot based on the comprehensive environmental map.

[0012] The presently disclosed subject matter is directed to a humanoid robot. Particularly, the robot comprises a head assembly including a plurality of cameras arranged to provide a field of view of at least 270 degrees horizontally around the robot, wherein the plurality of cameras includes at least one forward-facing camera, one left-facing camera, and one right-facing camera, and a display screen positioned below the forward-facing camera. The robot includes a torsoassembly connected to the head assembly, a pair of arm assemblies connected to the torso assembly, a pair of leg assemblies connected to the torso assembly, and a processor configured to receive and process data from the plurality of cameras to facilitate navigation and interaction of the humanoid robot with its environment.

[0013] The presently disclosed subject matter is directed to a humanoid robot. Particularly, the robot comprises a head assembly including a first sensor assembly comprising at least three horizontally arranged cameras positioned in an upper region of the head assembly and directed forward, a second sensor assembly comprising at least three horizontally arranged cameras positioned in a lower region of the head assembly and angled downward, and a display screen positioned between the first and second sensor assemblies. The robot includes a torso assembly connected to the head assembly, a pair of arm assemblies connected to the torso assembly, a pair of leg assemblies connected to the torso assembly, and a processor configured to receive and process data from the first and second sensor assemblies to facilitate navigation and interaction of the humanoid robot with its environment.

[0014] The presently disclosed subject matter is directed to a sensor system for humanoid robots. Particularly, the system comprises a head assembly including a first sensor assembly comprising at least three horizontally arranged cameras positioned in an upper region of the head assembly and directed forward, a second sensor assembly comprising at least three horizontally arranged cameras positioned in a lower region of the head assembly and angled downward, a display screen positioned between the first and second sensor assemblies, and a deformable neck shield configured to accommodate head movements. The system includes a torso assembly connected to the head assembly, and a processor configured to receive and process data from the first and second sensor assemblies to facilitate navigation and object manipulation by the humanoid robot.

[0015] The presently disclosed subject matter is directed to a humanoid robot. Particularly, the robot comprises a head assembly including a plurality of cameras arranged to provide a 360- degree field of view horizontally around the robot, wherein the plurality of cameras includes at least two forward-facing cameras, one left-facing camera, one right-facing camera, and one rearfacing camera, and a display screen positioned below the forward-facing cameras. The robot includes a torso assembly connected to the head assembly, a pair of arm assemblies connected to the torso assembly, a pair of leg assemblies connected to the torso assembly, and a processorconfigured to receive and process data from the plurality of cameras to facilitate navigation and interaction of the humanoid robot with its environment.

[0016] The presently disclosed subject matter is directed to a humanoid robot. Particularly, the robot comprises a head assembly, a torso assembly connected to the head assembly, a pair of arm assemblies connected to the torso assembly, a pair of leg assemblies connected to the torso assembly, and a plurality of sensor assemblies distributed across the head assembly, torso assembly, and leg assemblies. The plurality of sensor assemblies includes at least one head sensor assembly positioned in the head assembly, at least one torso sensor assembly positioned in the torso assembly, and at least one foot sensor assembly positioned in each of the leg assemblies. The sensor assemblies are configured to provide overlapping fields of view to enable comprehensive environmental sensing. The robot includes a processor configured to receive and process data from the sensor assemblies to facilitate navigation, interaction, and safety functions of the humanoid robot.

[0017] The presently disclosed subject matter is directed to a method of operating a humanoid robot. Particularly, the method comprises capturing visual data using a plurality of sensor assemblies distributed across a head assembly, a torso assembly, and leg assemblies of the humanoid robot, wherein the plurality of sensor assemblies includes at least one head sensor assembly, at least one torso sensor assembly, and at least one foot sensor assembly in each leg assembly. The method includes processing the captured visual data to generate a comprehensive environmental map with overlapping fields of view. The method includes detecting potential hazards, including obstacles, uneven surfaces, and cliffs, based on the environmental map. The method includes controlling movement and interactions of the humanoid robot based on the detected potential hazards to ensure safe navigation and operation.

[0018] The presently disclosed subject matter is directed to a humanoid robot. Particularly, the robot comprises a head assembly, a torso assembly connected to the head assembly, a pair of arm assemblies connected to the torso assembly, a pair of leg assemblies connected to the torso assembly, and a plurality of sensor assemblies distributed across the head assembly, torso assembly, and leg assemblies. The plurality of sensor assemblies includes at least one head sensor assembly positioned in the head assembly, at least one torso sensor assembly positioned in the torso assembly, and at least one foot sensor assembly positioned in each of the leg assemblies. The sensor assemblies are configured to provide overlapping fields of view to enablecomprehensive environmental sensing. The robot also includes a processor configured to receive and process data from sensor assemblies to facilitate navigation, interaction, and safety functions of the humanoid robot.

[0019] In some embodiments, the humanoid robot comprises an advanced sensor assembly strategically distributed across the head, torso, and foot assemblies to enable comprehensive environmental perception and dynamic navigation capabilities. The head sensor assembly includes a first sensor assembly comprising three horizontally arranged upper cameras positioned above a display screen and directed forward for long-range depth perception, and a second sensor assembly comprising two vertically spaced lower cameras positioned below the display screen, angled downward to perform short-range depth perception. The torso assembly includes a front sensor assembly near the waist region, featuring an RGB camera, a VCSEL projector, left and right infrared (IR) detectors, and an inertial measurement unit (IMU), directed forward, and a rear sensor assembly located in an upper back region, directed rearward. Additionally, each foot sensor assembly integrates a time-of-flight camera, laser proximity sensor, and diffused proximity sensor to accurately detect voids within a safe stepping range, enhancing the robot's stability and walking safety.

[0020] The head assembly connects to the torso via a neck assembly comprising actuators configured for rotation and tilting movements, dynamically adjusting the cameras' fields of view. These actuators enable the robot to generate and continuously update a comprehensive three- dimensional environmental map by processing and fusing visual data, including stereo depth perception and inertial measurement data, thereby facilitating precise collision detection and avoidance. The humanoid robot employs algorithms configured to identify potential collisions, generate multiple alternative movement paths, evaluate these paths against predefined safety and efficiency criteria, and execute optimal navigational strategies. The head assembly further incorporates a deformable neck shield made of a multi-layered material with an inner protective layer for internal components, an outer aesthetically appealing and environmentally protective layer, and embedded reinforced sections for durability in high-stress regions. This comprehensive sensor and actuator arrangement collectively ensures robust perception and agile movement, enabling the humanoid robot to effectively detect, navigate, and interact with its surrounding environment across varying distances and terrain complexities.BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawing figures depict one or more implementations in accord with the present teachings, by way of example only, not by way of limitation. In the figures, like reference numerals refer to the same or similar elements.

[0022] FIG. l is a perspective view of a first embodiment of a humanoid robot in an extended, upright standing position, and the robot includes: (i) an upper portion having the following parts: (a) a head / neck having a upper head sensor assembly and a lower head sensor assembly, (b) a torso having a frontal torso sensor assembly and a rear torso sensor assembly, (c) left and right shoulders, (d) left and right upper arm assemblies that each include an upper humerus, lower humerus, upper forearms, and lower forearms, (e) left and right wrists, and (f) left and right hands, (ii) a central portion having the following parts: (a) a spine, (b) a pelvis, (c) left and right hips, (d) left and right upper thighs, and (f) left and right lower thighs, and (iii) a lower portion having the following parts: (a) a left and right shins, (b) left and right talus, and (c) left and right feet;

[0023] FIG. 2 is a perspective view of an array of sensor assemblies included in the robot of FIG. 1;

[0024] FIG. 3 is a top view the array of sensor shown in FIG. 2;

[0025] FIG. 4 is a side view of the sensor assemblies contained in the upper portion of the robot of FIG. 1;

[0026] FIG. 5 is a front view of the sensor assemblies of FIG. 4;

[0027] FIG. 6 is a front view of the head and neck assembly of the robot of FIG. 1;

[0028] FIG. 7 is a side view of the head and neck assembly of FIG. 6, the vertical field of view of the upper head sensor assembly (FoVvi), and the vertical field of view of the lower head sensor assembly (FoVvz);

[0029] FIG. 8 is a top view of the head and neck assembly of FIG. 6, and the horizontal field of view of the upper head sensor assembly (FOVHI);

[0030] FIG. 9 is an exploded view of the head and neck assembly of FIG. 6;

[0031] FIG. 10A is a perspective view of the head and neck assembly of FIG. 6, wherein the head housing assembly is removed to show the electronics assembly contained therein;

[0032] FIG. 10B is a front view of the electronics assembly of FIG. 10A;

[0033] FIG. 1 1 is a perspective view of the upper head sensor assembly and the lower head sensor assembly that are included in the electronics assembly of the head and neck assembly of FIG. 6;

[0034] FIG. 12 is a rear perspective view of the torso and waist of FIG. 1, which shows the rear interface panel and rear sensor assembly;

[0035] FIG. 13 is a front perspective view of the torso and waist of FIG. 1, which shows the front interface panel and frontal sensor assembly;

[0036] FIG. 14A is a front view of the torso and waist of FIG. 1;

[0037] FIG. 14B is a cross-sectional view of the torso and waist taken along line 14B-14B ofFIG. 14 A;

[0038] FIG. 14C is a zoomed in view of the front interface panel and frontal sensor assembly of FIG. 14B;

[0039] FIG. 15 is an exploded view of the torso and waist of FIG. 1, and wherein said exploded view shows the (i) battery, (ii) compute, (iii) power distribution, (iv) housing that includes the skeleton and covers, (v) waist having a spine actuator, (vi) arm actuators (JI), (vii) front interface panel along with the frontal sensor assembly, (viii) rear interface panel along with the rear sensor assembly;

[0040] FIG. 16A is a front perspective view of the frontal and rear torso sensor assemblies;

[0041] FIG. 16B is a rear perspective view of the frontal and rear torso sensor assembly shown in FIG. 15;

[0042] FIG. 17 is a side view of the humanoid robot of FIG. 1 in said extended, upright standing position, which shows: (i) a vertical field of view of the upper head sensor assembly (FoVvi), (ii) a vertical field of view of the lower head sensor assembly (FoVv2), (iii) a vertical field of view of the frontal torso sensor assembly (FoVvn), and (iv) a vertical field of view of the rear torso sensor assembly (FoVv4);

[0043] FIG. 18 is a side view of the humanoid robot of FIG. 17 and its associated fields of view FOVVI-FOVV4, and wherein the robot is in a head down pose as the head of the robot is moved downward about a head yes actuator axis;

[0044] FIG. 19 is a side view of the humanoid robot of FIG. 17 and its associated fields of view FOVVI-FOVV4, and wherein the robot is in a head down and torso bending forward pose asthe head of the robot is moved downward about the head yes actuator axis, and the upper portion of the robot is moved downward about a hip pitch axis;

[0045] FIG. 20 is a side view of the humanoid robot of FIG. 17 and its associated fields of view FoVvi-FoVv4, and wherein the robot is in a head up pose as the head of the robot is moved upward about the head yes actuator axis;

[0046] FIG. 21 is a side view of the humanoid robot of FIG. 17 and its associated fields of view FoVvi-FoVv4, and wherein the robot is in a head up and torso bending rearward pose as the head of the robot is moved upward about the head yes actuator axis, and the upper portion of the robot is moved upward about the hip pitch axis;

[0047] FIG. 22 is a top view of the humanoid robot of FIG. 1 in said extended, upright standing position, which shows: (i) a horizontal field of view of the upper head sensor assembly (FOVHI), lower head sensor assembly (FoVm), and frontal torso sensor assembly (FoVm), and (ii) a horizontal field of view of the rear torso sensor assembly (FOVH4);

[0048] FIG. 23 is a top view of the humanoid robot of FIG. 22 and its associated fields of view FOVHI-FOVH4, and wherein the robot is in a head turned left pose as the head of the robot is moved left about a head no actuator axis;

[0049] FIG. 24 is a top view of the humanoid robot of FIG. 22 and its associated fields of view F0V111-F0V114, and wherein the robot is in a head turned right pose as the head of the robot is moved right about the head no actuator axis;

[0050] FIG. 25 A is a side view of the robot and sensor FoVs of FIG. 17, and wherein said robot is standing on a continuous support surface SS;

[0051] FIG. 25B is a side view of the robot and sensor FoVs of FIG. 25 A, and wherein said robot is approaching a vertical drop off that may be in the form of a stair or a cliff;

[0052] FIG. 25C is a side view of the robot and sensor FoVs of FIG. 25B, and wherein said robot is approaching a vertical drop that is adjacent to a stair;

[0053] FIG. 25D is a side view of the robot and sensor FoVs of FIG. 25B, and wherein said robot is approaching a vertical drop that is adjacent to a cliff;

[0054] FIG. 26 is a perspective view of a second embodiment of a humanoid robot in the extended, upright standing position, and wherein said humanoid robot includes a frontal head sensor assembly, a rear head sensor assembly, a frontal torso sensor assembly, and a rear torso sensor assembly;

[0055] FIG. 27 is a front view of the head and neck assembly of the robot of FIG. 26;

[0056] FIG. 28 is a side view of the head and neck assembly of the robot of FIG. 26;

[0057] FIG. 29 is a top view of the head and neck assembly of the robot of FIG. 26, and showing the individual sensor FoVs for the three cameras contained in the frontal head sensor assembly and the F0V2 for the rear head sensor assembly;

[0058] FIG. 30 is a side view of the humanoid robot of FIG. 26, which shows: (i) a vertical field of view of the frontal head sensor assembly (FoVvi) in: (a) a upright pose, (b) a head down pose, (c) a head up pose, (ii) a vertical field of view of the rear head sensor assembly (F0VV2) in: (a) a upright pose, (b) a head down pose, (c) a head up pose, (iii) a vertical field of view of the frontal torso sensor assembly (FoVva), and (iv) a vertical field of view of the rear torso sensor assembly (FoVv4);

[0059] FIG. 31 is a top view of the humanoid robot of FIG. 26, which shows: (i) a horizontal field of view of the frontal head sensor assembly (FOVHI) in: (a) a upright pose, (b) a head turned left pose, (c) a head turned right pose, (ii) a horizontal field of view of the rear head sensor assembly (FoVm) in: (a) a upright pose, (b) a head turned left pose, (c) a head turned right pose, (iii) a horizontal field of view of the frontal torso sensor assembly (FoVna), and (iv) a horizontal field of view of the rear torso sensor assembly (FOVH4);

[0060] FIG. 32 is a perspective view of a third embodiment of a humanoid robot in the extended, upright standing position, and wherein said humanoid robot includes a frontal head sensor assembly, and a rear torso sensor assembly;

[0061] FIG. 33 is a front view of the head and neck assembly of the robot of FIG. 32;

[0062] FIG. 34 is a side view of the head and neck assembly of the robot of FIG. 32 showing the vertical field of view of the head sensor assembly (FOVVF) in an upright pose;

[0063] FIG. 35 is a top view of the head and neck assembly of the robot of FIG. 32, and showing the individual sensor FoVs for the three cameras contained in the frontal head sensor assembly;

[0064] FIG. 36 is a side view of the humanoid robot of FIG. 32, which shows: (i) a vertical field of view of the head sensor assembly (FOVVF) in: (a) a upright pose, (b) a head down pose, (c) a head up pose, (ii) a vertical field of view of the rear torso sensor assembly (FOVVR);

[0065] FIG. 37 is a top view of the humanoid robot of FIG. 32, which shows: (i) a horizontal field of view of the frontal head sensor assembly (FOVHF) in: (a) a upright pose, (b) a head turnedleft pose, (c) a head turned right pose, (ii) a horizontal field of view of the rear torso sensor assembly (FOVHR);

[0066] FIG. 38 is a perspective view of a fourth embodiment of a humanoid robot in an upright standing position, and wherein said humanoid robot includes an upper head sensor assembly, and a lower head sensor assembly;

[0067] FIG. 39 is a front view of a head and neck assembly of the robot of FIG. 38;

[0068] FIG. 40 is a side view of the head and neck assembly of FIG. 39, and showing the vertical extent of the FoVs of the upper and lower head sensor assemblies;

[0069] Fig. 41 is a top view of the head and neck assembly of FIG. 39, and showing the horizontal FoVs of the upper and lower sensor assemblies;

[0070] FIG. 42 is a side view of the humanoid robot of FIG. 38 in said extended, upright standing position, which shows: (i) a vertical field of view of the upper head sensor assembly (FoVvi), (ii) a vertical field of view of the lower head sensor assembly (FoVvz);

[0071] FIG. 43 is a top view of the humanoid robot of FIG. 38 in said extended, upright standing position, which shows: (i) a horizontal field of view of the upper head sensor assembly (FOVHI), (ii) a horizontal field of view of the lower head sensor assembly (FOVHZ);

[0072] FIG. 44 is a perspective view of a fifth embodiment of a humanoid robot in the upright standing position, and wherein said humanoid robot includes a frontal head sensor assembly, a left head sensor assembly, and a right head sensor assembly;

[0073] FIG. 45 is a front view of a head and neck assembly of FIG. 44;

[0074] FIG. 46 is a side view of the head and neck assembly of FIG. 45, and showing the vertical field of view FOVVF and the head sensor assemblies;

[0075] Fig. 47 is a top view of the head and neck assembly of FIG. 45, and showing the horizontal field of view FOVHF, FOVHL, FOVHR and the head sensor assemblies;

[0076] FIG. 48 is a side view of the humanoid robot of FIG. 44, which shows: (i) a vertical field of view of the frontal head sensor assembly (FoVvi) in: (a) an upright pose, (b) a head down pose, (c) a head up pose;

[0077] FIG. 49 is a top view of the humanoid robot of FIG. 44, which shows: (i) a horizontal field of view of the frontal head sensor assembly (FOVHF) in: (a) a upright pose, (b) a head turned left pose, (c) a head turned right pose, (ii) a horizontal field of view of the left head sensor assembly (FOVHL) in: (a) a upright pose, (b) a head turned left pose, (c) a head turned right pose,and (iii) a horizontal field of view of the right head sensor assembly (FOVHR) in: (a) a upright pose, (b) a head turned left pose, (c) a head turned right pose;

[0078] FIG. 50 is a perspective view of a sixth embodiment of a humanoid robot in the upright standing position, and wherein said humanoid robot includes a frontal head sensor assembly, a rear head sensor assembly, a left head sensor assembly, and a right head sensor assembly;

[0079] FIG. 51 is a front view of a head and neck assembly of the robot of FIG. 50;

[0080] FIG. 52 is a side view of the head and neck assembly of the robot of FIG. 51, and showing the FoVs for the three cameras contained in the frontal and rear head sensor assemblies, along with the left sensor assembly; and

[0081] Fig. 53 is a top view of the head and neck assembly of FIG. 51, and showing the horizontal FoVs of the sensor assemblies include the two frontal sensor assemblies along with the left, right, and rear sensor assemblies;

[0082] FIG. 54 is a side view of the humanoid robot of FIG. 50, which shows: (i) a vertical extent of the field of view of the frontal head sensor assemblies (FOVFL, FOVFR) in: (a) a upright pose, (b) a head down pose, (c) a head up pose, (ii) a vertical field of view of the rear head sensor assembly (FOVVR) in: (a) a upright pose, (b) a head down pose, (c) a head up pose;

[0083] FIG. 55A is a top view of the humanoid robot of FIG. 50, which shows: (i) a horizontal field of view of the frontal head sensor assembly (FOVHA) in: (a) a upright pose, (b) a head turned left pose, (c) a head turned right pose, (ii) a horizontal field of view of the frontal head sensor assembly (FOVHB) in: (a) a upright pose, (b) a head turned left pose, (c) a head turned right pose, and (iii) a horizontal field of view of the rear head sensor assembly (FOVHE) in: (a) a upright pose, (b) a head turned left pose; and

[0084] FIG. 55B is a top view of the humanoid robot of FIG. 50, which shows: (i) a horizontal field of view of the left head sensor assembly (FOVHC) in: (a) a upright pose, (b) a head turned left pose, (c) a head turned right pose, (ii) a horizontal field of view of the right head sensor assembly (FOVHD) in: (a) a upright pose, (b) a head turned left pose.DETAILED DESCRIPTION

[0085] In the following detailed description, numerous specific details are set forth by way of examples in order to provide a thorough understanding of the relevant teachings. However, it should be apparent to those skilled in the art that the present teachings may be practiced withoutsuch details. In other instances, well-known methods, procedures, components, and / or circuitry have been described at a relatively high-level, without detail, in order to avoid unnecessarily obscuring aspects of the present disclosure.

[0086] While this disclosure includes several embodiments in many different forms, there is shown in the drawings and will herein be described in detail embodiments with the understanding that the present disclosure is to be considered as an exemplification of the principles of the disclosed methods and systems and is not intended to limit the broad aspects of the disclosed concepts to the illustrated embodiments. As will be realized, the disclosed methods and systems are capable of other and different configurations and several details are capable of being modified without departing from the scope of the disclosed methods and systems. For example, one or more of the following embodiments, in part or whole, may be combined consistent with the disclosed methods and systems. As such, one or more steps from the flow charts or components in the Figures may be selectively omitted and / or combined consistent with the disclosed methods and systems. Additionally, one or more steps from the flow charts or the method of assembling the shoulder and upper arm may be performed in a different order. Accordingly, the drawings, flow charts and detailed description are to be regarded as illustrative in nature, not restrictive or limiting.

[0087] While FIGs. 1-25 show a first embodiment of an advanced array of sensor assemblies in a humanoid robot, FIGs. 26-55 show five alternative advanced arrays of sensor assemblies that may be used interchangeably in connection with the first embodiment of the humanoid robot 1 shown in FIG. 1. Each of the alternative embodiments has slightly different structures and configurations, but each embodiment includes similar sensors that are designed to obtain data about the environment that surrounds the humanoid robot. As discussed below, the features and / or components of each embodiment may be interchanged, added, or removed from features and / or components of other embodiments. For example, the lower cameras 304a, 304b incorporated in the chin of the first embodiment may be removed like how the lower recess was removed from the fourth, fifth, and sixth embodiments. Additionally, utilizing deformable material in the neck assembly and including actuators in the neck assembly to allow the head to move may be added to the head and neck assemblies of the fifth embodiment. It should be understood that these are only examples, and any feature and / or component may be interchanged, added or removed from any other embodiment disclosed herein.A. Introduction

[0088] Despite advancements in sensors utilized by robots, conventional robotic systems often face limitations in sensor coverage and efficiency. For example, there are often challenges in sensor placement, particularly when parts of a robot's structure, like arms or legs, can occlude a sensor's field of view (FoV). Traditional sensor placements may require the robot to maneuver extensively to gather necessary data, which can be inefficient and may limit the robot's ability to perform tasks effectively. Additionally, conventional robots may lack the ability to monitor both what they carry and their surroundings without significant movement or processing of extraneous data.

[0089] The sensors disclosed in this Application are designed to be components within a robot system, potentially a versatile humanoid robot. The sensors may be coupled to various components of the robot including the head, torso, and feet to detect information regarding at least the environment surrounding the robot. Unlike conventional robots, the sensors have a simplified arrangement to detect significant information without requiring continuous processing of extraneous information. Although the robot may include additional sensors for various purposes (e.g. position or relative position of components), detailed herein are the sensor assemblies contained in the head, torso, and feet for sensing the environment surrounding the robot.

[0090] The sensor assemblies embedded in the humanoid robot may be of same or different types, including cameras, inertial measurement units (IMUs), proximity sensors, among others. Incorporating multiple types of sensors in the head and torso offers significant benefits in terms of accuracy and robustness. These sensors can provide diverse data streams that enhance the robot's ability to perceive its environment comprehensively. By strategically placing sensors in different locations, the robot can achieve overlapping fields of view, allowing for crossreferencing of data and improved reliability. For instance, a head camera might capture visual details of an object, while a torso camera could detect the same object, providing complementary perspectives. Additionally, cross-referencing data from different sensors helps in creating a more complete and accurate understanding of the environment, reducing the risk of errors or missed details. This redundancy ensures that if one sensor fails, the others can still function effectively, maintaining the robot's operational integrity.

[0091] The robot's mobility also provides an advantage over fixed-sensing systems by enabling dynamic compensation for sensing limitations. The ability to turn the head, bend the torso, and lean forward or backward allows the robot to adjust FoV in real-time. Such movements enable the robot to sense additional spatial information that may be outside the initial FoV of its sensors. For example, if an object is partially occluded from the initial FoV, the robot 1 can reposition itself by tilting its head or bending its torso to bring the object into view. This dynamic adjustment of the FoV further enhances sensing diversity by creating overlapping FoV between different sensors. For instance, when the robot 1 leans forward, the FoV of the forehead sensors may overlap with the FoV of the torso sensors, enabling cross-referencing of data to improve accuracy. This ability to dynamically reposition sensors and overlap their FoVs ensures robustness in sensing, as redundancy allows the system to compensate for potential sensor failures or inaccuracies. For example, if one camera malfunctions, the overlapping data from other sensors can still provide reliable information about the environment. Additionally, this approach enables the robot to adapt to changing scenarios, such as navigating through cluttered spaces or inspecting objects at different heights, by actively adjusting its FoV to gather the necessary data.

[0092] In the first embodiment, the disclosed sensors may be integrated in the robot head 10, which has an overall shape that generally resembles a human head. As such, the head does not include large flat surfaces (e.g., opposed sides of a head, or is not in the shape of: (a) cube, (b) hexagonal prism, or (c) pentagonal prism). Instead, almost all the surfaces in the robot head 10 are curvilinear or have a curvilinear aspect. However, as shown in the Figures, the head does include a recess with a small flat sensor cover or lens. The flat sensor cover or lens is recessed in a top portion of the head and is designed to decrease sensor signal distortion that may be caused if the sensor signals are required to travel through a curvilinear cover, shield, or lens. Additionally, while the overall head shape is designed to be human-like, the disclosed head lacks human facial structures (cheeks, eye sockets, or other moving structures).

[0093] Unlike conventional robot heads, the disclosed head includes two separate sensor assemblies. The first or upper sensor assembly is positioned within the robot l ’s forehead region, while the second or lower sensor assembly is positioned within the robot 1 's chin region. The position of the first sensor assembly: (i) enables a larger screen to be utilized within the head, and (ii) allows the robot 1 to see into a bin that is placed on a high shelf. Whereas thesecond sensor assembly enables the robot 1 to see what it is carrying (including looking into a bin) without using the first sensor assembly. This is beneficial over conventional robots that lack the second sensor assembly because the conventional robots must bend and turn their neck more to obtain the data captured from the second sensor assembly. Also, neither sensor assembly is positioned where a human’s eyes would typically be located, above the crown of the head, nor on either side of the robot 1’s head. However, the robot head 10 is coupled with the torso via a two degree of freedom (DoF) neck, which enables the robot 1 to scan either side by turning the head left or right with ease.

[0094] The sensors may be integrated in the robot torso assembly 16, which extends between the waist, the shoulders, and head / neck. The torso is designed to: (i) provide the robot 1 with a generally humanoid shape, (ii) provide structural and operable support for the arm assemblies and the head / neck, and (iii) house and protect the arm actuators and an electronic assembly (e.g., that includes a battery, a computing device, a power distribution assembly, sensors, etc.). Unlike conventional robot torsos, the disclosed torso includes two separate sensor assemblies. The first sensor assembly is positioned within the robot l’s waist region, while the second sensor assembly is positioned within the robot l’s upper back region. The position of the first sensor assembly: (i) enables the robot 1 to see a forward ground level view in front of the robot including the feet, (ii) enables the robot 1 to sense obstructions, obstacles, or uneven ground surfaces in a predicted path of travel, and (iii) allows the robot 1 to modify actions based on the sensed environment. The second sensor assembly: (i) provides a rearward view not captured by the head sensors, (ii) allows the robot 1 to sense obstructions or obstacles before moving in the rearward direction, (iii) allows the robot 1 to view an object approaching from the rear.

[0095] The inclusion of a sensor assembly in the upper back of a robot 1's torso 16 addresses the limitation of rearward sensing, which the head sensors lack. To achieve comprehensive rearward sensing without rear-facing sensors, the robot 1 has to turn its body, specifically by rotating around its spine Z axis, because turning the head provides only side views and does not effectively address the rearward visibility. The second sensor assembly on the upper back allows the robot 1 to detect objects or movements behind it without the need to rotate the torso, thus expanding its field of view and improving situational awareness. Unlike head-mounted sensors, which may have dynamic positioning due to frequent head movements, the fixed sensors in the upper back offer a stable and consistent reference point. This fixed placement simplifiescalibration and ensures reliable data collection, reducing the likelihood of errors related to sensor misalignment. Additionally, this design enhances the robot l's ability to navigate and interact safely in environments where rearward awareness is more important, such as home or healthcare facilities.

[0096] This design of using front-facing and rear-facing sensors combined with head movement to achieve a 360-degree horizontal FoV is beneficial over conventional robots by avoiding the need for dedicated side sensors to acquire sensing data from either side of the robot. This reduces the number of sensors and parts, and lowers production costs, making the design more economical. Fewer sensors also reduce the overall weight and energy consumption, which is beneficial for mobile robots operating on battery power. Also, both torso sensor assemblies are positioned in the torso 16, below the robot l’s head 10, extending the vertical FoV of the robot 1 and providing a different perspective in the view.

[0097] More diverse and redundant sensors can be incorporated into the humanoid robot 1 to further enhance safety, improve reliability, and prevent common cause failures (CCF). For example, robots may utilize a combination of time-of-flight (TOF) cameras, forward-looking infrared (FLIR) cameras, laser proximity sensors, and diffused proximity sensors. These sensors can be strategically placed on the foot 92 of the robot 1 to detect cliffs and voids, ensuring safe navigation and preventing falls. The robot 1 can also correlate data from different sensor types to enhance detection accuracy and reduce the risk of failures.

[0098] Unlike the first embodiment, the second embodiment includes a rear sensor assembly located in the head portion 2010 of the robot 2001. This additional sensor allows the robot 2001 to obtain more information about the environment surrounding the rear of the robot 2001 with minimal expenditure of energy. Additionally, it may be easier to position the FoV of the rear head sensor in a desired location in comparison to positioning the FoV of the rear torso sensor of the first or second embodiments. Further, the second embodiment omits the second sensor assembly positioned in the chin region of the head portion 2010 of the robot 2001. Omitting this sensor assembly may be desirable in applications where the robot 2001 can rely on the upper sensor assembly because omitting said second sensor assembly will enable the robot 2001 to collect less data that needs to be processed and analyzed.

[0099] Unlike the first two embodiments, the third embodiment omits the lower frontal torso sensor assembly. Omitting this sensor assembly may be desirable in applications where the robot3001 does not need to continuously view the ground that may be obscured by an object (e.g., tote, sheet metal, etc.) the robot 3001 is carrying. Without this additional sensor assembly, robot 3001 may have a heavy reliance on the upper sensor that is positioned within its head, which may in turn increase energy usage of the robot 3001 due to the constant movement of the robot 3001’s head 3010 to obtain an accurate picture of the robot 3001’s environment. Nevertheless, this increased energy usage caused by neck movement may or may not be more energy efficient overall due to the decrease in energy consumption associated with collecting, processing, and analyzing data from other sensor assemblies contained in the first two embodiments.

[0100] Unlike the first three embodiments, the fourth embodiment includes a fixed head portion. In other words, the fourth embodiment lacks a neck that includes at least one, and preferably two, degrees of freedom. The fixing of the head portion 4010 of the robot 4001 simplifies calibration but requires that the robot 4001 move its torso 4016 to change the field of view that could have been captured by simply moving the robot 400 l’s head 4010. Further, unlike the first three embodiments, the fourth embodiment lacks a rear sensor assembly. This may be beneficial in certain industrial environments where the environment that the robot is working in is structured and will likely lack any object, items, or things that are positioned behind the robot 4001.

[0101] Unlike the first four embodiments, the fifth embodiment includes sensor assemblies that are positioned within the robot 500 l’s head 5010. These additional sensor assemblies will help the robot 5001 detect objects and / or people that may approach the robot 5001 from its side. This design may be beneficial for robots that are designed to work in environments that are less structured in comparison to the environments that the other robot embodiments are configured to work within. However, as discussed above, the additional data captured from these additional sensor assemblies may undesirably increase the overall energy usage of the robot 5001. However, to potentially offset the collection of additional data, this embodiment forgoes the inclusion of a sensor assembly within its torso.

[0102] Finally, the sixth embodiment includes a new combination of sensor assemblies that are designed to work together to collect data in 360 degrees around the robot 6001. While this 360-degree sensor array may be extremely beneficial in obtaining data in unstructured environments, it lacks sensor assemblies that are positioned within the torso. The lack of torsosensor assemblies may be undesirable in certain environments where the robot 6001 is in a head down pose and needs to know about what is located behind him.

[0103] As discussed above, each configuration may have substantial benefits or drawbacks, which enables said embodiment to be better suited for a certain operating environment. In addition to the above-described embodiments, this application contemplates combining, modifying, altering, and / or changing each and every one of the embodiments to build an optimized general-purpose humanoid robot that is well suited for use in its intended environment. Additionally, it should be understood that an embodiment may be created that includes all of the above sensor assemblies and it may selectively use said sensor assemblies depending on its configuration (e.g., based on the user’s selected purchase, monthly subscription selection, and / or the designers configuration based on the operating environment). In other words, the robots may have the capability to software lock or unlock certain sensor assemblies depending on the user’s and / or designer’s selections. In further embodiments, the robot 1 may include any combination of the described sensor assemblies.B. Robot Architecture

[0104] FIG. 1 is a diagram illustrating a perspective view of a humanoid robot 1 in an extended, upright standing position, according to the first embodiment. As shown in FIG. 1, the humanoid robot 1 may include the following systems, assemblies, components and / or parts: (i) an upper region 2 including a head / neck 10, torso 16, left and right arms 5, and left and right hands 56; (ii) a central region 3 including a spine 60, a pelvis 64, left and right upper leg assemblies, each upper leg including a hip 70, an upper thigh 76, a lower thigh 80; and (iii) a lower region 4 including left and right lower leg assemblies, each lower leg including a shin 84 and a talus 88, and feet 92. Each arm 5 includes a shoulder 26, an upper humerus 30, a lower humerus 36, an upper forearm 40, a lower forearm 46, and a wrist 50. Each leg 6 includes a hip 70, an upper thigh 76, a lower thigh 80, a shin 84 and a talus 88. The parts provide the robot 1 with a humanoid shape and contain various actuators that function together to enable said robot 1 to perform human-like movements, which are not possible using conventional robots. The robot 1 can have a range of motion similar to a human to operate in a human-centric environment. Additional information about the range of motion of said robot 1 and or its components is disclosed within PCT / US2025 / 16930 and PCT / US2025 / 019793, both of which are fully incorporated herein by reference.

[0105] The torso 16 extends between the spine 60, the shoulders 26, and head / neck 10. The torso 16 includes a torso housing 162 that substantially surrounds an electronic assembly 200 and arm actuators (JI) 190. As will be described in greater detail, the torso housing 162 includes a front skeleton 164, rear skeleton 166, rear interface panel 176, and shell assembly 172. The torso 16 is designed to (i) provide said robot 1 with a generally humanoid shape, (ii) provide structural and operable support for the arm assemblies 5 and the head and neck 10, and (iii) house and protect the arm actuators (JI) 190 and an electronic assembly 200. The front skeleton 164 of the torso 16 is configured with structural support and load paths to transfer torque from arms 5 that are coupled to the arm actuators (JI) 190 housed in the torso 16. The head and neck 10 include sensor assemblies and other electronics that are communicatively coupled to the electronic assembly 200 contained in the torso 16. Additionally, other sensors, including actuator encoders, torque sensors, pressure sensors, etc., are also communicatively coupled to the electronic assembly 200.

[0106] The spine 60 includes a waist 604 and the torso twist actuator (J 10) 620. The waist 604 is configured to house the torso twist actuator (JI 0) 620 and couples the torso 16 and upper portion of the robot 1 to the pelvis 64 and legs 6. The waist 604 includes: (i) a waist body 604.2, (ii) perforated vent panels 604.4, and (iii) battery support bracing 604.6. The waist 604 is shaped and contoured to transition the form of the robot 1 from the torso 16 to the pelvis 64. Unlike conventional robots, the torso twist actuator (JI 0) 620 is not centered beneath the robot l’s torso 16. Instead, the torso twist actuator (JI 0) 620 is offset towards a forward-most extent of said torso 16. This helps position and center the mass of the torso over the legs 6, which helps increase the stability and balance of the robot 1 and thus mirrors human movement. Additional actuators housed in the pelvis 64 and hips 70 cooperate with the torso twist actuator (JI 0) 620 to provide pitch, roll, and yaw movements to the torso 16. It should be understood that in other embodiments, some of these systems, assemblies, components and / or parts may be omitted, combined, or replaced with alternative systems, assemblies, components and / or parts.C. General Sensor Assemblies

[0107] As shown in FIGs. 2-5, 9-16, the robot 1 includes an advanced array of sensor assemblies 995. Said advanced array of sensor assemblies 995 may include any known sensor technology, actual sensor, sensing component, component of a sensor, or aspect of a sensor or its technology. In particular, said sensing technologies that may be included in the array of sensorassemblies 995, include: (i) scan camera(s), (ii) monochrome camera(s), (iii) color camera(s), (iv) CMOS camera(s), (v) CCD sensor(s) or camera(s) that include CCD sensor(s), (vi) camera(s) or sensor(s) that have rolling shutter or global shutter, (vii) other types of 2D digital camera(s), (viii) other types of 3D digital camera(s), (ix) camera(s) or sensor(s) that are capable of stereo vision, structured light, and laser triangulation, (x) sonar camera(s) or ultrasonic camera(s), (xi) infrared sensor(s) and / or infrared camera(s), (xii) radar sensor(s), (xiii) LiDAR, (xiv) other structured light sensors, camera(s), or technologies, (xv) dot projecting camera(s) or sensor(s), or (xvi) any combination of the above or any other known camera or sensor.

[0108] The advanced array of sensor assemblies 995 may include or exclude: (i) optical and imaging elements (e.g., lens, optical filter, infrared filter, aperture, shutter (mechanical, electronic, rolling, global, leaf, focal-plane), color filter array (e.g., Bayer filter), beam splitter, optical window, polarizer, microlens array, protective cover, optical alignment mechanism, neutral density filter, diffuser, collimating lens, Fresnel lens, aspheric lens, prism assembly, light pipe, anti-reflective coating, optical isolator, optical encoder, field lens, cylindrical lens), (ii) image sensors and pixel-level components (e.g., image sensor, CCD sensor, CMOS sensor, pixel array, photodiode, back-illuminated sensor (BSI), global shutter sensor, rolling shutter sensor, monochrome sensor, color sensor, avalanche photodiode (APD), single-photon avalanche diode (SPAD), photogate, quantum dot sensor, organic photoconductive film (OPF) sensor, stacked sensor, curved sensor, time-of-flight (TOF) sensor, depth sensor, HDR sensor), (iii) signal conditioning and conversion (e.g., signal amplifier, analog-to-digital converter (ADC), digital-to- analog converter (DAC), timing generator, low-pass filter, high-pass filter, band-pass filter, sample-and-hold circuit, correlated double sampling (CDS) circuit, programmable gain amplifier (PGA), voltage regulator, noise reduction circuit, clamping circuit, black level correction unit, signal multiplexer (mux), demultiplexer (DEMUX), phase-locked loop (PLL)), and / or (iv) processing and logic units (e.g., image processor, FPGA (field-programmable gate array), dsp (digital signal processor), depth engine, internal clock, digital interface controller, memory module, calibration EEPROM, embedded microcontroller, neural processing unit (NPU), vision processing unit (VPU), real-time operating system (RTOS), system-on-chip (SOC), arithmetic logic unit (ALU), data buffer, control logic, timing controller (TCON), bus interface unit, cache memory, machine learning accelerator).

[0109] Additionally, the advanced array of sensor assemblies 995 may include or exclude: (i) illumination and projection systems (e.g., laser emitter, infrared emitter, dot projector, structured light projector, time-of-flight emitter, light source (LED, LASER, OR VCSEL) that may emit light in the visible or invisible spectrum including 940 nm, may be compliant with IEC 62471 :2006, may or may not have a field of illumination that is greater than the FoV of the IR detectors (e.g., cameras). Further, said illumination and projection systems may use class 1 or class 2 lasers and may protect any pattern or number of dots, including more than 4500 or less than 10,000. Further, the advanced array of sensor assemblies 995 may include or exclude: (i) illumination controller, flash lamp, ring light, collimated light source, strobe light, near-infrared illuminator, multi -wavelength projector, scanning laser module, beam expander, beam shaper, galvanometer scanner, projection lens assembly, holographic light projector, tunable light source, intensity modulator), (ii) focus, zoom, and stabilization mechanisms (e.g., focus mechanism, zoom mechanism, autofocus module, manual focus ring, motorized zoom actuator, optical calibration module, lens position encoder, focus distance sensor, variable focus lens, image stabilization module, electronic image stabilization (EIS), optical image stabilization (OIS), hybrid stabilization system, gimbal or stabilizer, vibration dampening system), (vii) motion and orientation sensing (e.g., IMU (inertial measurement unit), stereo baseline, baseline alignment mechanism, gyroscope, accelerometer, magnetometer, tilt sensor, compass module, motion tracking sensor, optical flow sensor, 6-DoF sensor, 9-DoF sensor, inclinometer, pose estimation unit, visual odometry module), (iii) acoustic and ultrasonic components (e.g., ultrasonic transducer, microphone array, vibration isolation mount, piezoelectric microphone, electret condenser microphone, mems microphone, ultrasonic receiver, ultrasonic emitter, acoustic lens, acoustic reflector, acoustic absorber, ultrasonic focusing lens, acoustic coupling gel, time-of- flight ultrasonic module, acoustic signal processor, resonant cavity, acoustic impedance matcher), (iv) radar and RF components (e.g., GPS, radar transceiver, antenna array, radar signal processor, frequency modulated continuous wave (FMCW) module, pulse radar module, monopulse radar unit, radar front-end module, low noise amplifier (LNA), power amplifier (pa), phase shifter, mixer, local oscillator, duplexer, waveguide, RF switch, RF filter, RF attenuator, directional coupler, radar calibration module), (v) power and thermal management (e.g., power supply module, heat sink, cooling fan or thermoelectric cooler), and / or (vi) environmental and support systems: environmental sensors (e.g., temperature, humidity, pressure, air quality,barometric, ambient light, UV, vibration, sound level), mounting bracket, housing or enclosure, weatherproof enclosure, shock absorber, desiccant pack, thermal insulation layer, ventilation grille, EMI shielding, gasket seal, anti-fog coating, drainage channel, environmental control unit.

[0110] Further, the sensors contained within the sensor array 995 may take frames with megapixel rating that is between 0.5 MP to 200 MP (e.g., 0.5, 0.8, 0.9, 1.3, 2.0, 2.1, 2.3, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 8.3, 10.0, 12.0, 13.0, 16.0, 18.0, 20.0, 24.0, 26.0, 30.0, 33.0, 36.0, 40.0, 42.0, 48.0, 50.0, 64.0, 100.0, 200.0), a resolution of the depth sensing and / or camera that is between 640x480 and 11648x8736 (e.g, 640x480, 800x600, 1024x768, 1280x720, 1280x1024, 1366x768, 1600x900, 1920x1080, 2048x1080, 2560x1440, 2560x1600, 2880x1800, 3200x1800, 3840x2160, 4096x2160, 5120x2880, 6016x3384, 6144x3160, 6720x4480, 7680x4320, 8192x4320, 10240x4320, 11648x87360, may record video at 5.6 FPS to 480 FPS (e. ., 12, 15, 23.976, 24, 25, 29.97, 30, 48, 50, 59.94, 60, 90, 120, 240, 480), preferably between 10 and 120 FPS, and most preferable between 20 and 90 FPS, and / or may have a pixel size may range from 0.4 um to 50 um.[0U1] Further and as discussed in great detail below, the sensors 302, 304, 208.2, 208.4, 932.2 included within the sensor array 995 may have: (i) a vertical field of view FoV between 5 degrees and 160 degrees, preferably between 30 and 80 degrees, and most preferably between 40 and 60 degrees, and (ii) a horizontal field of view FoV between 30 degrees and 180 degrees, preferably between 50 and 120 degrees, and most preferably between 60 and 110 degrees. In addition to these fields of view, it should be understood that any number contained between the upper bound and the lower bound is contemplated by this Application.

[0112] It should be understood that any torso sensor assembly 998 may be used and contained within the robot l’s head 10, and any head sensor assembly 997 may be used or contained within the robot l’s torso 16. In other words, any sensor contained within any part of the robot 1 may include any known or disclosed sensor technology, actual sensor, sensing component, component of a sensor, or aspect of a sensor or its technology. Further, it should be understood that additional sensors may be added to the sensor array 995, wherein said additional sensors may be positioned within the sides of the torso 16, an upper frontal extent of the torso 16 (which is below an extent of the arm actuators JI), in the arm assemblies (e.g., wrist or palms), or any other location.D. Torso Sensor Assemblies a. Torso Housing

[0113] The torso housing 162, as shown in FIGS. 12-15, includes a front skeleton 164, rear skeleton 166, rear interface panel 176, and shell assembly 172. As such, the torso housing 162 may have casing 164.2 and a rear portion that includes the rear interface panel 176 and / or the rear skeleton 166. The front skeleton 164 includes a torso casing or casing 164.2 and a gorget164.4. The casing 164.2 is designed to carry the majority of the structural loads of the torso 16. The gorget 164.4 resides on and attaches to the casing 164.2 and transfers loads from the neck and head 10. In alternative embodiments, the casing 164.2 and gorget 164.4 may be integrally formed as a single component. Alternatively, said casing 164.2 may be formed from multiple components that are coupled to one another using mechanical or chemical means. i. Front Sensor Panel

[0114] Additionally, and as shown in FIGs. 13-14, the front skeleton 164 and specifically the casing 164.2 includes a frontal sensor panel recess 164.2.3 formed in a lower extent of the skeleton / casing 164, 164.2. Said sensor panel recess 164.2.3 extends upward from a lowermost edge 164.2a of the skeleton / casing 164, 164.2 and is designed to receive the frontal sensor panel172.5. The frontal sensor panel 172.5 includes an outer surface 172.5a: (i) with a recessed portion 172.5.2 that is designed to protect the frontal sensor assembly 208.2, and (ii) a curvilinear portion 172.5.4 that surrounds said recessed portion 172.5.2 and is designed to be substantially flush with an outer extent of the torso 16. It should be understood that the sensor panel 172.5 is separate and distinct from the skeleton / casing 164, 164.2 and is designed to be coupled thereto. In other embodiments, said frontal sensor panel 172.5 may be integrally formed with an extent of the skeleton / casing 164, 164.2, moved upward from the lower edge to the middle of the torso 16, moved to the side of the robot 1, positioned in any other location contained within the torso 16, or omitted.

[0115] The recessed portion 172.5.2 of the frontal sensor panel 172.5 is formed by a combination of contoured regions 172.6.2, which is comprised of outer and inward angled walls 172.6.2.6, 172.6.2.8 that are connected to one another via angled end walls 172.6.2.2 172.6.2.4. Said combination of contoured regions 172.6.2 surround a frontal sensor opening 164.2.10.10 and are designed in a manner to help ensure that they do not interfere with the field of view of the frontal sensor assembly 208.2. The frontal sensor assembly 208.2 abuts an inner extent of therecessed portion 172.5.2 and includes a sensor center that is aligned with a center of the frontal sensor opening 164.2.10.10. This positional relationship of the frontal sensor panel 172.5 and the frontal sensor assembly 208.2 causes said frontal sensor assembly 208.2 to be positioned within an extent of the robot 1, specifically within the torso 16, and more specifically within the casing 164.2. Additionally, said positioning causes the frontal sensor assembly 208.2 to be recessed in comparison to an adjacent extent of the outer surface 600a of the waist. The frontal sensor assembly 208.2 is retained and secured in this position by a plurality of mounts. It should be understood that in other embodiments, the frontal sensor assembly 208.2 may be secured within the torso 16 or waist using any known method including snap-fit, friction fits, integral forming, etc. ii. Rear Sensor Panel

[0116] The rear skeleton, rear brace, or rear cover 166 is coupled to the front skeleton 164 and includes structural features for stiffness and shear transfer. The rear skeleton 166 is also configured as a cover that is lighter in weight to hold the rear shell 170. In the illustrative embodiment, the rear skeleton 166 includes at least one aperture or open area 166.4.4.2 with back braces 166.4.4.4 spanning the open area to manage and transfer torsional loads from the casing 164.2 from one side around to the other side of the casing 164.2. As such, a rear interface panel, rear panel, or rear portion 176 is designed to fit within one of the apertures 176.4 formed in the rear skeleton 166. In other embodiments, the rear skeleton 166 may omit the apertures, the rear interface panel or rear portion 176 may be integrally formed with or coupled to the rear skeleton, rear brace, or rear cover 166.

[0117] The rear interface panel, rear panel, or rear portion 176 is designed to couple with the casing 164.2 and (i) provides an external interface to the electronics assembly 200 contained within the torso 16 and (ii) enhances the structural features by including rigid supports that transfer loads to the casing 164.2. To facilitate the coupling between the rear interface panel, rear panel, or rear portion 176 and the casing 164.2, the rear panel 176 includes mounting extensions 176.2.2 that extend from the rear interior surface and interface with rear panel mounts 164.2.6.8.8.6 of the casing 164.2. The rear sensor panel 176 includes a sensor region 176.4: (i) with a recessed portion 176.6 that is designed to protect the rear sensor assembly 208.4, and (ii) a curvilinear portion that surrounds said recessed portion 176.6 and is designed to be substantially flush with an outer extent of the torso 16. It should be understood that the rear portion 176 isseparate and distinct from the skeleton / casing 164, 164.2 and is only designed to be coupled thereto. In other embodiments, said rear sensor panel 176 may be integrally formed with an extent of the skeleton / casing 166, 164.2, battery pack 202, moved downward to the middle of the torso, upward to an upper edge of the torso, positioned in any other location contained within the torso, or omitted in its entity.

[0118] As best shown in FIG. 12, the recessed portion 176.6 of the rear sensor panel 176 is formed by a combination of contoured regions 176.6.2, which is comprised of top and bottom angled walls 176.6.2.2, 176.6.2.4 that are connected to one another via angled end walls 176.6.2.6 176.6.2.8. Said combination of contoured regions 176.6.2 surround a rear sensor aperture 176.4.2 and are designed in a manner to help ensure that they do not interfere with the field of view of the sensors 208.4. The rear sensor assembly 208.4 abuts an inner extent of the recessed portion 176.6 and includes a sensor center that is aligned with a center of the rear sensor aperture 176.4.2. This positional relationship of the rear sensor panel 176 and the rear sensor assembly 208.4 causes said rear sensor assembly 208.4 to be positioned within an extent of the robot 1, specifically within the torso 16, and more specifically within the casing 164.2.Additionally, said positioning causes the rear sensor assembly 208.4 to be recessed in comparison to an adjacent extent of the outer surface of the torso 16. The rear sensor assembly 208.4 is retained and secured in this position by a plurality of mounts 176.2.4. It should be understood that in other embodiments, the rear sensor assembly 208.4 may be secured within the torso 16 using any known method including one or more fasteners - namely threaded, projections, snap-fit connector, bayonet mount, pin-and-hole connection, press-fit / interference fit, clamp or clip mechanism, magnets, hook-and-loop, rivets, ball detent, hinge joints, sliding rails, cam locks, toggle clamps, quick-release pins, spring-loaded connectors, wedge locks, dowel pins, ratchet mechanisms, T-slot connectors, twist locks, latches, locking tabs, intergrally forming, adhesive, etc.

[0119] The rear interface panel 176 may also include one or more power button apertures 176.4.4, charging port access 176.10, and access to other ports or interfaces for the electronics assembly 200 contained within the torso 16. In the illustrative embodiment, first and second power button apertures 176.4.4.2, 176.4.4.4 of the power button apertures 176.4.4 may accommodate power buttons that are coupled to the power distribution assembly 204 and / or battery pack 202 of the electronics assembly 200. In alternative embodiments, the power buttonapertures 176.4.4 may be omitted. The rear interface panel 176 may also include a port access region 176.10 with a charging port aperture 176.10.4 formed therethrough. The port access region 176.10 may also include apertures 176.10.6, 176.10.8 or access to additional features, such as data ports (e.g., ethernet port 206.6.2 and / or USB port 206.6.4) communicatively coupled to the computing device 206. In the illustrative embodiment, the port access region 176.10 includes a recessed surface 176.10.4 that may be covered with an access door 176.10.2 that may be opened to insert a removable charging port adapter into a charging port 202.2 for the battery pack 202. iii. Shell Assembly

[0120] The shell assembly 172 is configured to surround the front and rear skeletons 164, 166 and is designed to protect the said skeletons 164, 166 from external objects and accidental contact between the torso 16 and the arm assemblies 5. The shell assembly 172 includes: (i) a front shell 168, (ii) a rear shell 170, (iii) a shroud or side extent 172.2, and (iv) energy attenuation assembly 172.4. It should be understood that the shell assembly 172 may be omitted or made from any known material including plastics or textiles. Further, the shell assembly 172 may be omitted, and the torso housing 162 may only include skeleton and / or casing components. Finally, additional disclosure about the torso 16, its structure, and / or components may be discussed within U.S. Provisional Application 63 / 766,911 and U.S. Patent Application 19 / 066,122, which are fully incorporated herein by reference. b. Torso Sensor Assemblies

[0121] As shown in FIGS. 12-14 and discussed above, the torso 16 also includes a frontal sensor assembly 208.2 and a rear sensor assembly 208.4. The frontal sensor assembly 208.2 may be positioned between the waist and the torso 16, while it is configured to obtain data through a frontal sensor opening 164.2.10.10 in the frontal sensor panel 172.5 that is at least partially covered by the lower torso or frontal sensor cover 172.8. The rear sensor assembly 208.4 may be positioned near the arm actuators (JI), while it is configured to obtain data through a rear sensor aperture 176.4.2 in the rear sensor panel 176 that is at least partially covered by the upper torso or rear sensor cover 176.8.

[0122] Referring to FIG. 16, the torso sensor assemblies 208.2, 208.4 may include stereo depth sensor 208.3.2, which may include the following components, aspects, parts, functions, and / or features: (i) a RGB camera 208.3.2.2 with a middle sensor lens 208.3.2.2a, a middle lenshousing 208.3.2.2b, a middle lens hood 208.3.2.2c, a middle camera body 208.3.2.2d, a middle seal 208.3.2.2e, and middle mask portion 208.3.2.2f, a, (ii) structured light projector or IR projector (e.g., VCSEL projector) 208.3.2.4, (iii) a left IR detector (e.g., left camera) 208.3.2.6 with a left sensor lens 208.3.2.6a, a left lens housing, a left lens hood, a left camera body, a left seal, and left mask portion, (iv) a right IR detector (e.g., right camera) 208.3.2.8 with a right sensor lens 208.3.2.8a, a right lens housing, a right lens hood, a right camera body, a right seal, and right mask portion, (v) a processor 208.3.2.10, (vi) a triangulator 208.3.2.12, (vii) a heat sink 208.3.2.14, (viii) an IMU 208.3.2.16, and (ix) a protective cover 172.8, 176.8. Additionally or alternatively, the sensor assemblies 208.2, 208.4 may have any other properties, technologies, or features that are discussed within U.S. Patents 9,494,415, 9,835,773, 9,992,474, 10,007,994, 10,154,246 10,310,362, 10,586,394, 10,656,511, 10,924,638, 11,736,677, 11,321,876, U.S. Publications US2012 / 0218,464, US2016 / 0112,954, US2011 / 0188,028, US2020 / 0200,951, and US2020 / 0322,594, or Publication L. Keselman, J. Iselin Woodfill, A. Grunnet Jepsen, et al., “Intel Real Sense stereoscopic depth cameras,” in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition Workshops, pp. 1-10, 2017, other Intel RealSense LiDAR Camera technology, all of which are incorporated herein by reference.

[0123] In one illustrative embodiment, the sensor 208.3.2 may employ stereoscopic depth sensing based on active infrared stereo vision technology to accurately measure the distance to objects in a scene. During operation, the structured light projector or IR projector 208.3.2.4 is configured to emit a structured infrared pattern onto the environment. Specifically, IR projector 208.3.2.4 may be a vertical-cavity surface-emitting laser (VCSEL) projector, LED-based projector, edge-emitting laser, and / or superluminescent diodes. This projected pattern: (i) may be a pseudorandom dot matrix, array, grid, or other structured pattern variations (e.g., line-coded patterns, random speckle patterns), and (ii) can serve as a dense set of identifiable features that facilitate more accurate depth calculations, especially in scenarios where ambient lighting is insufficient or when surface textures lack distinguishable features.

[0124] The sensor assembly 208.2, 208.4 includes two infrared detectors (IR detectors), specifically the left IR detector (e.g., left camera) 208.3.2.6 and the right IR detector (e.g., right camera) 208.3.2.8. In other embodiments, said infrared detectors may be InGaAs-based sensors, microbolometer-based sensors, QWIP sensors, sCMOS sensors, MCT-based sensors (mercury- cadmium-telluride), pyroelectric sensors, or other IR imaging modules. These two detectors208.3.2.6, 208.3.2.8 are separated by a known baseline distance, WI. Because each of the detectors 208.3.2.6, 208.3.2.8 captures the projected pattern of the IR projector 208.3.2.4 from a slightly different vantage point, the resulting images exhibit parallax or disparity — a small shift in the location of corresponding pattern features between the left and right images. By comparing these two slightly offset images, the sensor 208.3.2 calculates the depth of each pixel or patch in the scene via stereoscopic triangulation algorithms (for instance, using approaches like semi- global matching (SGM), block matching, dynamic programming-based methods, or phase correlation). This process of triangulation becomes far more robust when the environment is illuminated with an actively projected infrared pattern rather than relying solely on naturally occurring texture or features. Hence, even in low-visibility conditions or on objects with minimal or uniform surface texture, the sensor 208.3.2 can still reliably detect and match high-frequency features introduced by the structured light.

[0125] Accordingly, this active IR stereo approach greatly enhances depth estimation under a variety of conditions. In high-ambient-light environments, it supplements any natural surface features with an additional layer of structured infrared detail. In extremely low-light environments or on objects with uniform surfaces, it provides useful features that would otherwise be absent from the scene. By leveraging the structured IR pattern, the sensor 208.3.2 is thus able to achieve highly accurate disparity calculations, minimize matching ambiguities, and deliver robust depth maps with high spatial resolution. Moreover, because the IR projector 208.3.2.4 operates outside the visible spectrum, it does not interfere with normal visual perception or traditional color imaging. This ensures that depth sensing remains unobtrusive to human operators and does not impact on the performance of other imaging systems.

[0126] The left sensor lens 208.3.2.6a, right sensor lens 208.3.2.8a, and middle sensor lens 208.3.2.2a are configured to focus the light onto the imager contained within the camera body 208.3.2.2d. To achieve this, the lenses may have any known configuration, which includes a convex configuration with a substantially planar rear wall, or any configuration or feature described within US7,725,016 US9,869,847, US10,921,558, US11,347,030, and US18 / 071,259, each of which is fully incorporated herein by reference.

[0127] Further, the lens hood 208.3.2.2c and mask with its associated mask portions 208.3.2.2f are configured to absorb an extent of the light positioned adjacent to the lenses. As such, the lens hood 208.3.2.2c and mask with its associated mask portions may be made fromany light-absorbing material, including the materials and designs described within US11,686,884, which is fully incorporated herein by reference.

[0128] The IMU 208.3.2.16 provides the spatial position of the sensor 208.4 when the data is obtained. For example, the overall position of the robot 1 may be stationary if the legs 6 of the robot 1 are stationary; however, the torso 16 may still be positioned with two degrees of freedom which will change the location of the spatial position of the torso sensor assemblies 208.2, 208.4. The IMU 208.3.2.16 may be in data communication with the processor 208.3.2.10 and / or the computing device 206. This positional information, combined with the image and depth data, provides robust situational information to robot 1. The processor 208.3.2.10 is in data communication with the computing device 206 located within the torso 16 of the humanoid robot 1. These components are compactly arranged to optimize spatial efficiency, with the heat sink 208.3.2.14 thermally coupled to the processor 208.3.2.10 and configured for both passive and active thermal dissipation. The heat sink 208.3.2.14 is cooled by the ambient cooling and / or torso’s internal ventilation system, which may include forced-air fans, heat pipes, or phasechange materials to maintain optimal operating temperatures and ensure long-term reliability of internal electronics.

[0129] In alternative embodiments, the sensor assembly 208.2, 208.4 may utilize time-of- flight (ToF) sensors or LiDAR-based systems for depth estimation, depending on applicationspecific requirements such as range, resolution, power consumption, or environmental adaptability. Furthermore, the RGB camera 208.3.2.2 may be substituted or augmented with multispectral or hyperspectral sensors to enhance material classification, object recognition, or other capabilities. The described components may be mounted on a gimbaled platform or pan-tilt assembly to enable dynamic reorientation of the field of view. Additionally, the processor 208.3.2.10 and / or other internal compute resources (e.g., computing device 206) may incorporate hardware acceleration (e.g., GPUs or FPGAs) to support real-time processing of image and depth data for applications such as navigation, object tracking, gesture recognition, and scene reconstruction. i. Frontal Torso Sensor Assembly

[0130] To protect the at least a majority of the sensors 208.3.2.2, 208.3.2.4, 208.3.2.6, 208.3.2.8 contained in the frontal sensor assembly 208.2, said frontal sensor assembly 208.2 includes a lower torso sensor cover 172.8 that is positioned between the frontal sensor panel172.5 and said sensor 208.3.2.2, 208.3.2.4, 208.3.2.6, 208.3.2.8. As such, the lenses 208.3.2.2a, 208.3.2.6a, 208.3.2.8a of the frontal sensor assembly 208.2, and specifically of the sensors 208.3.2.2, 208.3.2.4, 208.3.2.6, are positioned between the sensor bodies 208.3.2.2d, 208.3.2.6d, 208.3.2.8d and the lower torso sensor cover 172.8. To ensure that the sensor bodies 208.3.2.2d, 208.3.2.6d, 208.3.2.8d are sealed from the environment, the lower torso sensor cover 172.8 extends over a majority, if not the entirety of, the frontal sensor opening 164.2.10.10. In other embodiments, the lower torso sensor cover 172.8 may be omitted, and the lenses 208.3.2.2, 208.3.2.6, 208.3.2.8, and potentially sensors 208.3.2.2, 208.3.2.4, 208.3.2.6, 208.3.2.8, may be exposed to the environment that surrounds the robot 1. In a further embodiment, the lower torso sensor cover 172.8 may not extend across the entirety of the frontal sensor opening 164.2.10.10. Instead, said lower torso sensor cover 172.8 may cover a majority of the frontal sensor opening 164.2.10.10, while including openings formed therein to receive the lenses 208.2.2.2, 208.2.2.6,208.2.2.8.

[0131] The lower torso sensor cover 172.8 may be made from any known material and may include any known coating that enables data collection through said lower torso sensor cover172.8. Said materials and coating (e.g., anti -reflection coatings, hard coatings, anti-static coatings, anti-fog coatings) include, but are not limited to soda-lime glass, tempered glass, borosilicate glass, aluminosilicate glass, gorilla glass, dragontrail glass, schott glass, fused silica, quartz glass, sapphire glass, acrylic (PMMA), polycarbonate (PC), plastic films, polyurethane (PU), polyester (PET / PETG), cyclic olefin copolymer (COC / COP), polysulfone (psu / pes), polyetherimide (PEI / ULTEM), silicone, fluoropolymers (ETFE / PFA / FEP), alumina, zirconia, silicon nitride, aluminum nitride, aluminum rings, stainless steel, titanium, anti -refl ection (AR) coatings, hard coatings, anti-scratch coatings, diamond-like carbon (DLC) coatings, anti-static (ESD) coatings, anti-fog coatings, hydrophobic coatings, oleophobic coatings, anti-glare coatings, UV-blocking coatings, IR coatings / filters, bandpass filters, neutral density (ND) filters, colored coatings / filters, polarizing coatings / films, dichroic coatings / filters, mirror coatings, chemical resistant coatings, parylene coatings, anti -microbial coatings, anti-bacterial coatings, conductive coatings (ITO), EMI / RFI shielding coatings, described within U.S. patent application nos. 16 / 896,016, 16 / 698,775, 16 / 417,311, 16 / 126,983, 15 / 359,317, 15 / 515,966, each of which are incorporated herein by reference, any other similar material or coating, and / or any combination thereof. Moreover, said lower torso sensor cover 172.8 may include any number(e.g., between 1 and 30) of layers of the above-described materials, coatings, and / or similar materials or coatings. Said lower torso sensor cover 172.8 may be planar, substantially planar, and / or curvilinear (e.g., convex or concave), and the lenses 208.3.2.2, 208.3.2.6, 208.3.2.8 may be positioned adjacent to said cover 172.8, wherein an extent of the outer surface of the lenses 208.3.2.2, 208.3.2.6, 208.3.2.8 is parallel with the an extent of the lower torso sensor cover 172.8.

[0132] The frontal sensor assembly 208.2 may have a modular design to allow for easy integration and maintenance, aligning with the overall design philosophy of the robot 1, which emphasizes durability, adaptability, and ease of service. Overall, at least a majority of the frontal sensor assembly 208.2, including the sensor 208.3.2.2, 208.3.2.4, 208.3.2.6, 208.3.2.8 and their associated lenses 208.3.2.2a, 208.3.2.6a, 208.3.2.8a, are positioned between the sensor bodies 208.3.2.2d, 208.3.2.6d, 208.3.2.8d (e.g., camera body) and the lower torso sensor cover 172.8. As such, a majority of the frontal sensor assembly 208.2 is fully contained within the torso housing 162, which helps prevent misalignment and aids in a stable positional relationship with other internal robot structures. ii. Rear Torso Sensor Assembly

[0133] The rear sensor assembly 208.4 may be positioned at the rear support 164.2.2.4 and / or coupled to and covered by the rear interface panel 176 (FIG. 22). Similar to the front sensor assembly 208.2, the rear sensor assembly 208.4 is housed within the torso and positioned such that it is aligned with the rear sensor aperture 176.4.2 through the rear interface panel 176. To protect the at least a majority of the sensors 208.3.2.2, 208.3.2.4, 208.3.2.6, 208.3.2.8 contained in the rear sensor assembly 208.4, said rear sensor assembly 208.4 includes an upper torso sensor cover 176.8 that is positioned between the rear sensor panel 176 and said sensor 208.3.2.2, 208.3.2.4, 208.3.2.6, 208.3.2.8. As such, the lenses 208.3.2.2a, 208.3.2.6a, 208.3.2.8a of the sensor assembly 208.4, and specifically of the sensors 208.3.2.2, 208.3.2.4, 208.3.2.6, are positioned between the sensor bodies 208.3.2.2d, 208.3.2.6d, 208.3.2.8d and the upper torso sensor cover 176.8. To ensure that the sensor bodies 208.3.2.2d, 208.3.2.6d, 208.3.2.8d are sealed from the environment, the upper torso sensor cover 176.8 extends over a majority, if not the entirety of, the rear sensor aperture 176.4.2. In other embodiments, the upper torso sensor cover 176.8 may be omitted, and the lenses 208.2.2.2, 208.2.2.6, 208.2.2.8, and potentially sensors 208.3.2.2, 208.3.2.4, 208.3.2.6, 208.3.2.8, may be exposed to the environment thatsurrounds the robot 1 . In a further embodiment, the upper torso sensor cover 176.8 may not extend across the entirety of the rear sensor aperture 176.4.2. Instead, said upper torso sensor cover 176.8 may cover a majority of the rear sensor aperture 176.4.2, while including openings formed therein to receive the lenses 208.2.2.2, 208.2.2.6, 208.2.2.8.

[0134] The lower torso sensor cover 172.8 may be made from any known material and may include any known coating that enables data collection through said lower torso sensor cover 172.8. Some of these materials and coating are discussed above, and likewise can be used in connection with the rear sensor assembly 208.4, and as such, they will not be repeated herein. The rear sensor assembly 208.4 may have a modular design to allow for easy integration and maintenance, aligning with the overall design philosophy of the robot 1, which emphasizes durability, adaptability, and ease of service. Overall, at least a majority of the rear sensor assembly 208.4, including the sensor 208.3.2.2, 208.3.2.4, 208.3.2.6, 208.3.2.8 and their associated lenses 208.3.2.2a, 208.3.2.6a, 208.3.2.8a, are positioned between the sensor bodies 208.3.2.2d, 208.3.2.6d, 208.3.2.8d (e.g., camera body) and the lower torso sensor cover 172.8. As such, a majority of the rear sensor assembly 208.4 is fully contained within the torso housing 162, which helps prevent misalignment and aids in a stable positional relationship with other internal robot structures.E. Head Sensor Assemblies a. Hand and Neck Housing

[0135] As shown in FIGs. 1 and 6-11, the head and neck assembly 10 includes: (i) a head portion 202a, and (ii) a neck portion 202b coupled to the head portion 202a and the torso 16. Among other parts, components, and regions, the head portion 202a includes: (i) housing 234 that includes: (a) frontal shell assembly 236 having a visor 236.2, (v) a rear shell assembly 238, (ii) a display 330, (iii) a head sensor assembly 997, (iv) an electronics mount 240, and (v) other electronics that may include a speaker 240.1, microphone 240.2, antennas 240.3, illumination assembly 240.4, etc. Meanwhile, the neck portion 202b includes: (i) an upper mount 242.1, (ii) a cover 242.2 coupled between the upper mount 242.1 and the lower mount 242.4, (iii) at least one actuator, and preferably two actuators, J8.1-J8.2 242.3, (iv) a lower mount 242.4. i. Head Portion

[0136] FIGS. 6-8 are a front view, a side view and a top view of the head and neck assembly 10 of the humanoid robot 1, respectively. As shown in these figures, the head portion 202aincludes: (i) a first or frontal shell assembly 236 having a lower extent 236a and an upper extent 236b, and (ii) a second or rear shell assembly 238 having a lower extent 238a and an upper extent 238b, and wherein said rear shell assembly 238 is coupled to the frontal shell assembly 236. The combination of the first or frontal shell assembly 236 and the second or rear shell assembly 238 work together to define a head volume, wherein an electronics assembly 222 of the head portion 202a is positioned within said head volume. In other words, the combination of the first or frontal shell assembly 236 and the second or rear shell assembly 238 at least partially, and preferably fully surround, said electronics assembly 222. Specifically, said electronics assembly 222 may be positioned between a frontal shield 288 and the rear shell assembly 238.

[0137] The frontal shield 288 includes: (i) a main body 288.2 with a curvilinear surface, (ii) a rear projection or rim 288.4 that extends from said curvilinear surface, (iii) a collection of sensor projections 288.6 that surrounds an extent of the sensor recess 290 formed in the frontal shield 288, and (iv) a plurality of light emitting housing projections 288.8a-288.8d that extend inward from the rim 288.4. The frontal shield 288 also includes: (i) an upper recessed extent 288.10 that is formed between an extent of the collection of sensor projections 288.6 and the rim 288.4, (ii) a lower recessed extent 288.12 is formed between an extent of the collection of sensor projections 288.6, the rim 288.4, and the light emitting housing projections 288.8a-288.8d, and wherein a sensor region 290 is positioned between the upper recessed extent 288.10 and the lower recessed extent 288.12.

[0138] The lower recessed extent 288.12 may include a display opening 288.12.2 positioned to receive the display 330. The display 330 may be rectangular, square, circular, or any other known shape. The lower recessed extent 288.12 may include contours that are disposed around the display opening 288.12.2 to receive the curved shape of the display 330 without obstructing the view. The lower recessed extent 288.12 may also have a tapered extent and / or include additional contours between the display opening 288.12.2 and the rim 288.4. In other embodiments, the frontal shield 288 may be omitted, and the visor 236.2 may not be opaque. Further, the plurality of light emitting housing projections 288.8a-288.8d may be omitted, and the illumination assembly 240.4 may be installed between the visor 236.2 and the rear shell assembly 238. Moreover, the illumination assembly 240.4 may be omitted and / or other electronics may be added or omitted.

[0139] The sensor region 290 of the frontal shield 288, frontal shell assembly 236, and of the head 202a, includes a front sensor recesses 290.2. The frontal sensor recess 290.2 provides an inset region of the head portion 202a with a cover 292 having a non-curvilinear extent. The use of said cover 292 beneficially minimizes potential distortion that may be caused if the head sensor assembly 997 were set behind and were required to obtain data through a visor or cover with a curvilinear design. Thus, the head sensor assembly 997 can forgo using complex algorithms to remove or attempt to remove the distortion caused by said curvilinear visor or cover. However, as explained in other embodiments, said front sensor recesses 290.2 may be omitted and the head sensor assembly 997 may utilize said algorithms to remove or attempt to remove the distortion caused by said curvilinear visor or cover.

[0140] Said frontal sensor recess 290.2 includes: (i) a shelf 290.2.2, (ii) an overhang 290.2.4, (iii) a sensor cover 292, and (iv) side walls 290.2.6, 290.2.8 that extends between the shelf 290.2.2 and the overhang 290.2.4, as illustrated in FIG. 6. The frontal sensor recess 290.2: (i) is positioned above a lower extent 236a and below the upper extent 236b, (ii) forms a cavity 290.1 that provides an unobstructed field of view for its upper frontal sensors (e.g., upper cameras) 302, (iii) is positioned above the display 330, and (iv) is positioned above the light emitting housing projections 288.8a-288.8d. The shelf 290.2.2 extends forward and downward from the sensor cover 292 to the frontal shell assembly 236 at a predefined angle, wherein said angle has been determined to avoid interference with the operational range of the sensors. This design of the shelf 290.2.2 causes it to provide a lower bound of the above described cavity 290.1. It should be understood that in other embodiments, the shelf 290.2.2 may not be angled and instead it may be perpendicular, or substantially perpendicular, to an extent of the sensor cover 292.

[0141] The overhang 290.2.4, formed by the forward projection of the frontal shell assembly 236 in the upper extent 236b and beyond the sensor cover 292, serves both functional and protective roles and provides an upper bound of the above described cavity 290.1. Said overhang 290.2.4 may act as a shield against environmental factors such as direct sunlight, precipitation, or debris, thereby enhancing the durability and reliability of the sensors (e g., cameras). Additionally, the contoured surface connecting the shelf 290.2.2 to the overhang 290.2.4 ensures a seamless transition, reducing sharp edges or discontinuities that could compromise structural integrity or aesthetic appearance. Further, the shelf 290.2.2 extends forward and downward away from the planar sensor cover 292 at an angle to increase a separation distance between the shelf290.2.2 and the overhang 290.2.4 as the shelf 290.2.2 and the overhang 290.2.4 extend away from the rear shell. The side walls 290.2.6 and 290.2.8, which enclose the recess 290.2 and therefore provide the lateral bounds for the above described cavity 290.1, provide structural rigidity and additional protection against lateral impacts. The recess 290.2 is designed to ensure that the embedded sensors (e.g., cameras) remain optimally aligned within the recess 290.2 and with the sensor cover 292.

[0142] The inset nature and positional relationship between said frontal shield 288 and the visor 236.2 helps ensure that mechanical stresses, such as those resulting from impacts or vibrations, are distributed across the entire housing assembly, minimizing localized deformation or failure. Additionally, the shelf 290.2.2 is configured to interlock with the visor 236.2 through complementary geometries, such as grooves or notches, ensuring precise alignment and a secure fit. This interlocking mechanism enhances the structural bond between the two components, preventing dislodgement during operation. The overhang 290.2.4 further strengthens this relationship by providing a protective canopy that shields the junction between the recess and the visor 236.2, mitigating environmental exposure and mechanical wear.

[0143] The frontal sensor recess 290.2 includes an upper head sensor opening or opening 291 that is centered within the frontal sensor recess 290.2. Said central opening 291 does not extend through the visor 236, but instead extends through the frontal shield 288. As best shown in FIG.6, said opening 291 has a width Wo that is less than the width Wh of the head 202a, and preferably less than the width Wd of the display opening 288.12.2 and / or the display 330. However, the width Wo of the opening 291 is less than the width of the sensor cover 292. This enables the sensor cover 292 to extend across at least a majority of the opening 291 formed in the first shell assembly 236 or the frontal shield 288. Also, the height of the upper head sensor opening or opening 291 is larger than the lenses 302.2a-302.2b. While the upper head sensor opening or opening 291 is not formed in the visor 236.2 in this embodiment, it should be understood that this application contemplates forming said upper head sensor opening or opening 291 directly in the visor 236.2. Thus, the visor 236 would include an opening that would allow for inclusion of a flat or planer cover to be positioned therein, behind, or in front of, which would form a flat or planer region in the visor 236.2.

[0144] The frontal sensor recess 290.2, along with its associated components, is typically fabricated using high-strength, lightweight materials that meet the dual requirements ofmechanical durability and environmental resilience. These materials may include or exclude polymers, metals, and another other material or combination of materials disclosed herein. For applications demanding enhanced electromagnetic shielding, the frontal sensor recess 290.2, the frontal shield 288 and / or other components of the head portion 202a may be coated with conductive materials or integrated with Faraday cage-like features to minimize interference. The manufacturing process may involve precision injection molding, CNCing, stamping, casting, or any other known method of manufacturing. Surface treatments such as anodizing, powder coating, or weather-resistant coatings may be applied to enhance longevity and resistance to wear and environmental exposure.

[0145] The sensor cover 292 is positioned between the overhang 290.2.4 and the shelf 290.2.2, adjacent to the upper head sensor opening or opening 291, and is substantially parallel with an extent of the lenses 302.4 of the cameras 302 located behind the sensor cover 292. As such, the sensor cover 292 serves as an optical window for the sensors (e.g., cameras) and is engineered to minimize distortion or interference. The sensor cover 292 may be planar (as shown in the Figures), convex, concave, include multiple layers of material or coatings, and / or have any configuration that is discussed above in connection with the lower torso sensor cover 172.8. Additionally and / or alternatively, the sensor cover 292 may have openings formed therein for receiving an extent of a sensor (e.g., camera lens). In further embodiments, the frontal sensor recess 290.2 may be omitted and the visor 236.2 may include openings formed therein for receiving an extent of a sensor (e.g., camera lens). Finally, the sensor cover 292 may be integrally formed with the visor 236.2, wherein said visor 236.2 includes a substantially planar or flat extent. In other words, the visor 236.2 may have curvilinear extents that surround a flat or planar extent or the visor 236.2 may have a substantially flat or planar configuration, wherein a specific sensor portion having a flat or planar extent is not necessary. Also, the sensor cover 292 extends along a first plane that is oriented substantially parallel with a second plane of a lens of the camera located behind the sensor cover 292.

[0146] To avoid forming a flat or planar extent in the visor 236.2, the visor 236.2 includes a main body 236.2.2, two wing-like projections 236.2.4, 236.2.6 that extent upward from the main body 236.2.2, and a central notch 236.2.8 that is positioned between the two wing-like projections 236.2.4, 236.2.6. As such, the visor 236.2 is designed to at least partially surround (e.g., on three sides) and / or conform to the frontal sensor recess 290.2. Surrounding orconforming to the frontal sensor recess 290.2 is primarily achieved by allowing the wing-like projections 236.2.4, 236.2.6 to flank the frontal sensor recess 290.2 and have extents positioned adjacent to the curvilinear borders of the frontal sensor recess 290.2. In other words, the visor236.2 does not overlie or is positioned outside of the frontal sensor recess 290.2. Additionally, viewed from the side, the visor 236.2 may have a rearwardly sloping substantially linear edge 236. 10 with a forward angle (e.g., extending rearward from horizontal) between 90 degrees and 140 degrees, preferably 110 degrees from horizontal when the robot 1 is in a normal vertical position (sagittal and coronal planes of the head are parallel with the sagittal and coronal planes of the robot 1, respectively). The curvature of the visor 236.2 may vary and have different curvatures (i.e. radii and arcs) at different locations, some of which are disclosed within US Provisional Applications 63 / 707,949 and 63 / 707,897, both of which are fully incorporated herein by reference. The visor 236.2 may include light recesses 236.2.12 to conform with the shape of light emitter housings 288.8a-288.8d. The visor 236.2 may be made from any material disclosed above, include any number of layers, coatings, and / or may be clear, opaque, or may include regions that are clear and regions that are opaque. ii. Neck Portion

[0147] As discussed above, the neck portion 202b includes: (i) an upper mount 242.1, (ii) a cover 242.2 coupled between the upper mount 242.1 and the lower mount 242.4, (iii) at least one actuator, and preferably two actuators, J8.1-J8.2 242.3, (iv) a lower mount 242.4. The actuators,242.3 may allow the head to: (i) twist or rotate about a first neck axis or head no axis, and (ii) tilt or change the pitch about a second neck axis or head yes axis. Unlike conventional robots, the actuators 242.3 are hidden underneath a deformable neck shield 242.2. Movement of the actuators causes the deformable neck shield 242.2 to deform and accommodate such movements. The deformable neck shield 242.2 is designed to extend to the jaw line of the head portion 202a and into a rear extent of the head portion 202a and does not extend into the side regions of the head 202a. This configuration ensures that the neck shield 242.2 is sufficiently attached to the head 202a, but minimizes the head’s surface area covered by the deformable neck shield 242.2. Minimizing the coverage of the deformable neck shield 242.2 in the side regions of the head 202a allows for the inclusion of more durable materials in these regions without using overlapping materials. This is beneficial over conventional robot heads because it reduces materials and / or increases the lateral protection for the electronics contained within the head.

[0148] The frontal extent of the neck shield 242.2, along with the upper mount 242.1 , includes a sensor aperture 242.2.2 formed therein to minimize potential distortion that may be caused if the head sensor assembly 997 were set behind and were required to obtain data through the neck shield 242.2. Like the upper head sensor cover 292 that is described above, a lower head sensor cover 293 is utilized to help protect the head sensor assembly 997. As such, the above described configuration, materials, layers, and coatings can be used in connection with said lower sensor cover 292. Additionally, said lower sensor cover 293 is positioned within the neck portion 202b and is designed to at least cover a majority, and preferably the entirety, of the sensor aperture 242.2.2 formed within said neck shield 242.2 along with the upper mount 242.1. Finally, in other embodiments, the lower sensor cover 293 may be omitted and said lower sensor cover 292 may be integrally formed with the head portion 202a and / or the visor 236.2.

[0149] The deformable neck shield 242.2 may be constructed from a variety of flexible and durable materials to accommodate the dynamic movements of the humanoid robot 1's head 202a (e.g., twisting and pitching of the head), while maintaining a sleek and functional appearance (e.g., not pinching or bunching). Suitable materials for the deformable neck shield 242.2 may include stretchable fabrics such as spandex, neoprene, or polyester blends, which offer elasticity and resilience. Alternatively, deformable plastics, such as thermoplastic elastomers (TPE), silicone, or polyurethane, may be employed to provide both flexibility and durability.

[0150] The neck shield 242.2 may feature a multi-layered construction, where an inner layer provides comfort and protection to internal components, while an outer layer enhances the aesthetic appeal and protects against environmental factors such as dust, moisture, and UV radiation. In some embodiments, the deformable neck shield 242.2 may incorporate reinforced sections or embedded support structures to ensure durability in high-stress areas, such as at the base or connection points. These reinforcements could be achieved through the integration of flexible mesh fabrics, carbon fiber inserts, or Kevlar-like materials to prevent wear and tear over prolonged use. Additionally, the deformable neck shield 242.2 may include a memory fabric or shape-retentive polymer that helps it return to its original state after deformation, ensuring consistent performance and appearance.

[0151] To further enhance its functionality, the neck shield 242.2 may be designed with a segmented or accordion-like structure, allowing for smoother and more controlled movements in all directions without creating folds or creases that could interfere with the robot 1 's appearanceor performance. The design may also include strategically placed ventilation holes or breathable sections to prevent heat buildup within the neck area, particularly when the robot 1 operates for extended periods. Variations of the neck shield 242.2 may also include customizable surface finishes, such as matte, glossy, or textured coatings, to align with the robot l's intended use case or aesthetic requirements. In some cases, the neck shield 242.2 may be treated with hydrophobic or anti-static coatings to improve its resistance to environmental contaminants. Additionally, the neck shield 242.2 may incorporate sensors, such as strain gauges or pressure sensors, to monitor the stress and strain experienced during head movements, providing feedback to the robot l's control system for more precise motor adjustments. In certain implementations, the neck shield 242.2 may also be modular or interchangeable, allowing for easy replacement or customization. The modular design could also facilitate quick repairs and maintenance, ensuring minimal downtime for the robot 1. b. Head Sensors

[0152] FIG. 11 is a side view of the head sensor assembly 997, which may include a variety of sensing devices and systems to enhance the humanoid robot l’s perception capabilities and adaptability in various environments. Like the torso sensor assemblies 998, the head sensor assembly 997 may include: (i) one or more cameras 302a, 302b, 304a, 304b, (ii) temperature sensors to detect ambient or object temperatures for safety and operational adjustments, (iii) pressure sensors to measure contact or surface pressures, (iv) force sensors for detecting applied forces during interactions, (v) inductive sensors for proximity and metal object detection, (vi) capacitive sensors to sense touch or proximity, (vii) any combination of these sensors, or (viii) other known sensors including ultrasonic, acoustic, or gas sensors for additional environmental monitoring. Said head sensor assembly 997 are positioned within the head volume, wherein said head volume is for defined between the first shell 236 and a second shell 238.

[0153] As shown in FIGs. 10A and 10B, the head sensor assemblies 997 may include: (i) a set of first or upper cameras 302a, 302b with upper camera lens 302.2a, 302.2b, and upper camera body 302.4a, 302.4b, and (ii) a set of lower cameras 304a, 304b with lower camera lens 304.2a, 304.2b, and lower camera body 304.4a, 304.4b. Thus, said cameras 302a, 302b, 304a, 304b are positioned within said head volume and include: (i) a first camera 302a with a first camera body 302.4a and a first camera lens 302.2a positioned between the cover 292 and the first camera body 302.4a, (ii) a second camera 302b that is horizontally offset from the first camera 302a andincludes a second camera body 302.4b and a second camera lens 302.2b positioned between the cover 292 and the second camera body 302.4b, (iii) a third camera 304a is positioned vertically below (not directly vertically aligned) the first and second cameras 302a, 302b, and wherein said third camera 304a includes a third camera body 304.4a and a third camera lens 302.4a positioned between the cover 293 and the third camera body 304.4a, and (iv) a fourth camera 302a is horizontally offset from the third camera 304a, and includes a fourth camera body 304.4a and a fourth camera lens 304.2a positioned between the cover 293 and the fourth camera body 304.4a.

[0154] It should be understood that the numbering of the camera may be altered from the above described configuration. For example, the upper left camera 302a may be the first camera, the lower left camera 304a may be the second camera, the upper right camera 302b may be the third camera, and the lower right camera 304b may be the fourth camera. Further, the bottom two cameras 304a, 304b may be the first and second cameras, while the top two cameras 302a, 302b may be the third and fourth cameras. Also, the upper left camera 302a may be the first camera, the lower right camera 304b may be the second camera, the upper right camera 302b may be the third camera, and the lower left camera 304a may be the fourth camera. Additionally, the torso cameras may be any camera number, including the third, fourth, etc. Based on this disclosure it should be understood that any camera contained within the specification of shown in the figures may be associated with any camera number.

[0155] As shown in FIGs. 10A, 10B, 11, the first, second, third, and fourth camera 302a, 302b, 304a, 304b have fixed locations and as such they are coupled to the internal mounting frame 240 at respective mounting positions. The cameras 302a, 302b, 304a, 304b may include the following components, aspects, parts, functions, and / or features: a megapixel resolution of between 0.4 MP to 200 MP, may record video at 5.6 FPS to 286 FPS, may have a CMOS sensor, pixel size may range from 2.4 um to 6.9 um, may utilize a starves rolling shutter technology, can operate in 55 degree c ambient air temperatures, and may have any other properties, technologies, or features that are discussed herein or are discussed within U.S. Patents 11,402,726, 11,599,009, 11,333,954, or 11,600,010, all of which are incorporated herein by reference. It should be understood that the cameras are typically configured as video cameras but may have an alternative configuration, such as an image camera.

[0156] Additionally, the two upper cameras or the first and second 302a, 302b may be positioned above the display 330 and directed forward, and two lower cameras 304a, 304b maybe positioned below the display 330 and at a downward and forward angle. As shown in FIGs. 4- 5, the upper cameras 302 and the lower cameras 304 may be positioned at different angles to provide a collective field of view (FoV). For example, the upper sensor assembly 302 can be strategically mounted on the forehead, facing directly forward, perpendicular to the coronal plane PF of the robot 1. While the lower sensor assembly 304 can be angled downward and forward at an angle between 55 and 83 degrees, e.g., approximately 72 degrees, relative to the coronal plane PF to maximize the collective fields of view of both sensors. This strategic placement may create a significant vertical field of view in front of the robot 1, effectively mitigating blind spots and providing a more complete understanding of the environment immediately surrounding the robot l’s base - essential for obstacle avoidance and interaction with nearby objects.

[0157] In other embodiments, the head sensor assembly 997 may include additional or different cameras or sets of cameras 302. For example, the cameras 302 may include rear-facing camera(s) to monitor the area behind the robot 1, which may improve safety during backward movements or when the robot 1 operates in dynamic environments with multiple moving objects. In some aspects, side-mounted cameras on each side of the head may provide a full 360-degree field of vision, ensuring the robot 1 can detect lateral movements and peripheral activities. In certain implementations, the cameras 302 may be mounted on adjustable or retractable arms or may be detachable to enable them to be reconfigured or repositioned based on specific operational requirements. These adjustable mounts may include motorized mechanisms to dynamically adjust the angle and position of each camera, allowing for on-the-fly adaptation to different tasks and environments. For example, during inspection tasks, the cameras may be reoriented to focus on specific areas of interest, while during navigation, they may return to a default position to maximize the robot l’s field of vision.

[0158] Additionally, the head sensor assembly 997 may incorporate advanced imaging techniques, such as multi-frame noise reduction algorithms, to improve image clarity in low-light conditions. Advanced autofocus systems, including phase-detection and contrast-detection autofocus, may be integrated to provide rapid and precise focus adjustments. For enhanced environmental adaptability, the head sensor assembly 997 may be equipped with polarization filters to reduce glare and improve visibility in reflective or water-covered environments. For reliability and redundancy, the head sensor assembly 997 may feature modular cameras 302 that can be hot-swapped, allowing for seamless replacement without disrupting the robot l'soperations. These units may also include self-cleaning mechanisms like hydrophobic coatings, ultrasonic vibration systems to dislodge dust, or small wipers to maintain lens clarity.Additionally, automated diagnostics systems could be integrated to monitor the health and performance of each camera 302, alerting the robot 1 to potential issues and enabling proactive maintenance. To enhance resilience in harsh environments, the cameras 302 may be housed in rugged enclosures with shock-absorbing mounts, protecting them from physical impacts and vibrations.

[0159] Although head sensor assembly 997 are illustrated as cameras, it should be understood that other types of sensors may be utilized and mounted to the internal frame in a similar manner to achieve optimal directional alignment for various detection, sensing, or signal reception tasks. For example, the head sensor assembly 997 may incorporate time-of-flight (ToF) sensors, structured light projectors paired with infrared cameras, stereo cameras with variable baselines to enhance depth perception and generate accurate three-dimensional spatial maps, and / or any other sensor, part, technology, aspect, or component that is described herein. Additionally, radar and ultrasonic sensors may be integrated to provide redundant distance measurements, which can be particularly valuable in low-visibility conditions or dynamic environments. In certain embodiments, LiDAR sensors may be employed for precise long-range distance measurements, while thermal imaging cameras can detect heat signatures and monitor temperature variations. Multi-spectral or hyperspectral imaging systems may further improve object recognition by identifying materials based on their unique spectral characteristics, thereby enhancing the robot l's ability to navigate and interpret complex environments.F. Foot Sensor Assemblies

[0160] As shown in FIGs. 2-3, the array of sensor assemblies 995 includes at least one head sensor assembly 997 positioned in the head assembly, at least one torso sensor assembly 998 positioned in the torso assembly, and at least one foot sensor assembly 932.2 positioned in each of the leg assemblies. The foot sensor assembly 932.2 may integrate one or more of a time-of- flight (TOF) camera, a laser proximity sensor, and a diffused proximity sensor, or any other technology or sensor disclosed herein. These sensors can operate on distinct principles and provide diverse data streams, which can be correlated to create a comprehensive and reliable environmental map, thereby potentially mitigating the risks associated with common cause failures. Compared to traditional camera-based sensors that may struggle with varying lightconditions and require complex processing algorithms, the diverse sensor combination of the foot sensor assembly 932.2 can provide robust and reliable data even in challenging environments. This inherent diversity offers fault tolerance, ensuring that if one sensor type is compromised — such as a camera being blinded by glare — data from alternative sensors can still provide essential environmental information, preventing a perception failure. Multi-modal data stream can be used to effectively detect features immediately beneath the foot, enabling sensors like contact or proximity detectors to identify hazards such as ascending / descending stairs, cliffs, or voids by registering expected or unexpected pressure or changes in ground distance.

[0161] The foot assembly 92 of the humanoid robot 1 may include apertures that receive the attachment of the sensor assembly 932.2 through the sole 920. These apertures may allow for an unobstructed field of view of the sensor 932.2, such as around 45 degrees. The sensor assembly 932.2 can be mounted at the center of the foot base structure 922 or at the front of the foot base structure 922 within a toe box portion 924 of the foot assembly 92. The sensor portion 932.2 may be enclosed by a shell 932.1 that extends from the front of the foot base structure 922 to the rim of the talus frame 880, creating a seamless and integrated appearance while maintaining the structural integrity of the foot 92. This shell 932.1 provides an additional layer of protection to the internal components, including the sensor assembly 932.2, ensuring their durability and longevity in various operating conditions.G. Movements and FoVs

[0162] The disclosed sensor assemblies are strategically positioned within the head 10 and torso 16 of the humanoid robot 1 such that the sensors 996 provide overlapping and complementary FoVs, reducing the need for constant head 10 and torso 16 movements, enhancing the robot l’s ability to perceive and react to its environment. FIG. 2 is a perspective view of sensors 996 contained in the robot of FIG. 1, shown without housings and other components of the robot 1 to illustrate the internal placement of the sensors while the robot 1 is standing upright. As shown in FIG. 2, the head 10 may include a sensor assembly 997. The sensor assembly 997 may include one or more cameras, temperature, pressure, force, inductive, capacitive, any combination of these sensors, or other known sensors. In the illustrative example, the sensor assembly 997 includes a set of upper cameras 302a, 302b and a set of lower cameras 304a, 304b coupled to the internal mounting frame at their respective mounting positions. For example, two upper cameras 302a, 302b may be positioned above the display 330and directed forward, and two lower cameras 304a, 304b may be positioned below the display 330 and at a downward and forward angle (as shown in FIGs. 9-10).

[0163] FIG. 3 is a top view of the same sensors 995 shown in FIG. 2, without showing housings and other components of the robot 1 to illustrate the internal placement of the sensors 995. The upper cameras 302a, 302b is shown on top of the lower cameras 304a, 304b and the front torso sensor assembly 208.2. FIG. 4 is a side view of sensors 996 contained in upper portion 997 and central portion 998 of the robot 1, and FIG. 5 is a front view of sensors 996 contained in upper portion 997 and central portions 998 of the robot 1 of FIG. 1.

[0164] As shown in FIGs. 4-5, the upper cameras 302a, 302b are horizontally aligned, so are the lower cameras 304a, 304b. The upper cameras 302a, 302b, lower cameras 304a, 304b, and front torso sensor assembly 208.2 are all positioned in a frontal extent of the torso 16 and vertically aligned with the frontal extent of the torso 16. Additionally, the upper cameras 302a, 302b and lower cameras 304a, 304b are aligned along a plane that is parallel with the saigittal plane of the robot 1. As such, a third camera (e.g., 208.3.2.8) contained in front torso sensor assembly 208.2 is both positioned in a frontal extent of the torso 16 and is substantially vertically aligned with an extent of the first camera 302a. Likewise, a fourth camera (e.g., 208.3.2.2) contained in front torso sensor assembly 208.2 is both positioned in a frontal extent of the torso 16 and is substantially vertically aligned with an extent of the second camera 304a and the fourth camera 304b. Finally, a fifth camera (e.g., 208.3.2.6) contained in front torso sensor assembly 208.2 is both positioned in a frontal extent of the torso 16 and is substantially vertically aligned with an extent of the third camera 302a.

[0165] Both are shown without housings and other components of the robot 1 to illustrate details about the relative placement of the sensors 996. The relevant mounting distance and angles between the upper cameras 302a, 302b, the lower cameras 304a, 304b, the front sensor assembly 208.2 and the rear sensor assembly 208.4 are illustrated in Table 1 and Table 2, respectively. For example, the distance between the upper cameras 302a, 302b and the lower cameras 304a, 304b ranges between 140mm and 210mm with a preferable range of 157mm - 192mm. Similarly, the rear sensor assembly 208.4 is mounted 147mm - 220mm away horizontally from the lower cameras 304a, 304b, and 292mm - 439mm above the front sensor assembly 208.2 with an angle of 16 - 24 degrees from the vertical axis.

[0166] As shown in the Table 2, The lower cameras 304a, 304b may be mounted with an angle of 55 - 83 degrees relative to the vertical axis, preferably between 62 - 76 degrees, which is different from the mounting angle of the upper cameras 302a, 302b, which is almost perpendicular to the vertical axis. The upper camera 302a, 302b and the lower cameras 304a, 304b positioned at different angles can be beneficial to provide a combined fuller field of view (FoV) with minimal overlap between their respective FoVs.Table 1Table 2

[0167] The upper cameras 302a, 302b may be horizontally aligned and spaced apart at a baseline Bl different from the baseline B2 between the lower cameras 304a, 304b, which may be also horizontally aligned, as shown in FIG. 5. This use of stereoscope cameras with different baselines Bl and B2 provides the robot 1 with robust depth perception capabilities, enhancing its ability to navigate, manipulate objects, and interact safely with its environment. For example, cameras with a larger baseline (e.g., Bl between 302a and 302b) are optimized for long-range depth detection and can provide accurate depth information for objects farther away, which is crucial for navigation and obstacle detection at a distance. While cameras featuring a shorter baseline (e.g., B2 between 304a and 304b) are designed for short-range depth perception, which can offer precise depth information for objects close to the robot 1, such as during manipulation tasks or when navigating uneven terrain. The combination of long-range and short-range depth perception via 302a, 302b, 304a, 304b enables more precise and safe movements for the robot 1.Furthermore, the presence of two separate stereoscope systems ensures that cross-referencing data from both sensors is possible - if one is occluded or malfunctioning, the other can still provide essential depth information, enhancing the robot l's reliability in various environments. In other implementations, one of the upper cameras 302a (or 302b) and one of the lower cameras 304a (or 304b) can be combined to form a pair to provide stereoscopic vision when the humanoid robot is standing upright even though they are positioned vertically apart. Special processing may be needed to compute a depth map for this configuration.

[0168] The FoV of the robot 1 is not static but can dynamically change as the robot 1 moves the head 10 and torso 16. This capability is useful for navigating complex environments and enhancing situational awareness. FIGS. 17-21 are side views illustrating the varying vertical FoVs of the sensors as the humanoid robot 1 moves the head 10 and torso 16. FoV refers to the extent of the observable environment that the sensors 996 can capture at any given moment and is typically described using angles. FoV has two primary components that define the boundaries of the view: (i) vertical field of view FoV that measures the angle “up and down,” from the lowest point to the highest point visible within a sensor's view, and (ii) horizontal or lateral field of view FoV, which measures the angle “side to side,” from the leftmost point to the rightmost point visible within a sensor's view. It should be noted that “V” denotes the vertical component or extent of the field of view, while “H” denotes the horizontal or lateral component or extent of the field of view.

[0169] As shown in FIG. 17, the vertical field of view FoVvi of the upper camera assembly 302a, 302b is defined by the angle or area between lines Ln and L12 on both sides of a center line of sight Lio. In some implementations, the upper cameras 302a, 302b in the head 10 may have a forward facing vertical field of view FoVvi of about 20 degrees to about 110 degrees, preferably about 60 degrees to about 90 degrees (e.g., the vertical field of view FoVvi of the upper cameras 302a, 302b may be about 76 degrees). When the robot 1 is in the extended, upright standing position Su (FIG. 17 and FIG. 7), the upper angle formed between line Ln and the coronal plane PF is about 52 degrees. However, as shown in FIGs. 18-21, this angle may be changed by 30 degrees due to the sole movement of the robot l's head 10 via actuators J8.1 and J8.2 contained in the robot l's neck. In other words, this angle between the coronal plane PF and line Ln may range from 22 degrees (FIG. 20) in the head down pose Hd to 82 degrees in the head up pose Hu(FIG. 18). These angles can be further increased or decreased when the robot 1 moves theposition of its torso 16, which are shown in FIGs. 19 and 21 . Tn other words, the upper angles between the coronal plane PF and center line of sight Lio of the FoVi is designed to change when the robot 1 moves its head 10 and / or torso 16.

[0170] Similarly, the lower camera assembly 304a, 304b has a vertical field of view FoVv2 defined by the angle or area between lines L21 and L22. In some implementations, the lower cameras 304a, 304b in the head 10 may have a maximum downward facing vertical field of view FOVV2 of about 20 degrees to about 110 degrees, preferably about 30 degrees to about 70 degrees (e g., the vertical F0V2 the lower cameras 304a, 304b may be about 55 degrees). However, vertical field of view FoVv2 is limited due to the design of the head portion 202a and the neck portion 202b. While the lower camera assembly 304a, 304b vertical field of view FoVv2 is the same as the upper camera assembly 302a, 302b, the practical vertical field of view FoVv2 is less than vertical field of view FoVvi. As also shown in FIG. 15, a center line of sight L20 of the lower cameras 304a, 304b has a lower angle of about 38.5-45 degrees from the coronal plane PF of the robot head 10. However, as shown in other embodiment, the lower camera assembly 304a, 304b and its vertical field of view FoVv2 can be omitted and / or it may have a vertical field of view FOVV2 that is larger than vertical field of view FoVvi.

[0171] The vertical field of view FoVvs of the front torso sensor assembly 208.2, as shown in FIG. 17 as well, is defined by the angle or area between lines L31 and L32 with a center line of sight L30. In some implementations, when the robot 1 is in the extended, upright standing position (FIG. 17), the front torso sensor assembly 208.2 may have a forward facing vertical field of view FoVvs of about 85 degrees, while the center line of sight L30 is about 45 degrees forward from the coronal plane PF. As best shown in FIG. 17, robot 1 is at least in a neutral position Su, the torso 16 further includes a third camera (for example, one of 208.3.2.2, 208.3.2.6, 208.3.2.8) contained in front torso sensor assembly 208.2, and wherein said front torso sensor assembly 208.2 includes an extent positioned within the torso 16 and below the arm 5, and has a center line L30 of a vertical field of view FoVvs that is nonparallel with a substantially flat support surface S that the humanoid robot 1 is standing upon. In other words, the center line L30 of a vertical field of view FoVvs is angled relative to the support surface S, wherein said inner angle may be between 30 and 50 degrees. Also, as shown in FIG. 17, when the robot 1 is at least in a neutral position Su, the torso 16 further includes a fourth camera (for example, one of 208.3.2.2, 208.3.2.6, 208.3.2.8) contained in rear torso sensor assembly 208.4, and wherein said rear torsosensor assembly 208.4 includes an extent positioned within the torso 16 and below the neck portion 202b, and has a center line LRO of a vertical field of view FoVv4that is nonparallel with a substantially flat support surface S that the humanoid robot 1 is standing upon. In other words, the center line LRO of a vertical field of view FoVv4is angled relative to the support surface S, wherein said inner angle may be between 30 and 50 degrees.

[0172] Also, as shown in FIG. 17, a lower angle is formed between the coronal plane PF and line L32 is about 2 degrees. However, as shown in FIG. 21, this lower angle may range from 0 degrees in the bending forward pose Tf (FIG. 19) to 30 degrees in the bending backward pose Tb (FIG. 21) due to the sole movement of the robot 1’s torso 16. However, the lower angel between line L32 and coronal plane PF is not moving along with the center line of sight L30 and remains at about 0-2 degrees because vertical field of view FoVv3 may be occluded by the legs 6 of the robot 1 when the torso 16 of the robot 1 is either in neutral position or upright standing pose Su or bending forward Tf pose. In other words, the upper angles between the coronal plane PF and the F0V3 is designed to change when the robot 1 moves its torso 16. Similarly, the back torso sensor assembly 208.4 has a vertical field of view FoVv4 defined by the angle or area between lines L41 and L42 with a center line of sight L40 and having an angle about 85 degrees.

[0173] In summary, the first camera 302a has (i) a first horizontal field of view FOVHI that is greater than 45 degrees, and (ii) a first vertical field of view FoVvi that is greater than 15 degrees. Specifically, said first camera 302a has a vertical field of view FoVvi that is between 20 and 110 degrees, preferably between 60 and 90 degrees, and most preferably between 70 and 80 degrees. Additionally, said first camera 302a has a horizontal field of view FOVHI that is between 5 and 100 degrees, preferably between 30 and 80 degrees, and most preferably between 50 and 60 degrees. Likewise, the second camera 302b that is horizontally offset from the first camera 302a, includes (i) a second horizontal field of view FOVHI that is greater than 45 degrees, and (ii) a second vertical field of view FoVvi that is greater than 15 degrees. Specifically, said second camera 302b has a vertical field of view FoVvi that is between 20 and 110 degrees, preferably between 60 and 90 degrees, and most preferably between 70 and 80 degrees. Additionally, said first camera 302a has a horizontal field of view FOVHI that is between 5 and 100 degrees, preferably between 30 and 80 degrees, and most preferably between 50 and 60 degrees. It should be understood that the first and second cameras 302a, 302b has the same reference numbers for their fields of view in order to simplify the figures and disclosure. However, as explained herein,it should understood that each of these cameras have separate fields of view that may drastically, substantially, or minimally differ from one another.

[0174] As shown in FIGS. 17-21, vertical field of view FoVvi of the upper cameras 302a, 302b and vertical field of view FoVv2 of the lower cameras 304a, 304b in the head 10 may or may not have partially overlapping area directly in front of the robot 1. For example, vertical field of view FoVi partially overlaps with vertical field of view FoVv2 since lines Ln and L21 intersect when: (i) the robot 1 is in the upright standing position (FIG. 17), (ii) in the head down pose Hd as the head 10 of the robot 1 is moved downward about the head yes actuator axis 10.2 (FIG. 18), (iii) in a head down Hd and torso bending forward pose Tf as the head 10 of the robot 1 is moved downward about the head yes actuator axis 10.2, and the upper portion 2 of the robot 1 is moved downward about a hip 70 pitch axis 70.2 (FIG. 19), and (iv) in a head up Huand torso bending rearward pose Tras the head 10 of the robot 1 is moved upward about the head yes actuator axis 10.2, and the upper portion 2 of the robot 1 is moved upward about the hip pitch axis 70.2 (FIG. 21). On the other hand, vertical field of view FoVvi does not overlap with vertical field of view FoVv2 since lines L12 and L21 do not intersect in front of the robot 1 when the robot 1 is in a head up Hupose as the head 10 of the robot 1 is moved upward about the head yes actuator axis (FIG. 20). In addition, vertical field of view FoVv2 overlaps with vertical field of view FOVV3 significantly since the line L31 always intersects both lines L21 and L22 that defines vertical field of view FoVv2, as shown in FIGs. 17-21. Further, the torso 16 and legs 6 may often occlude a portion of the vertical field of view FoVv2 of the lower cameras 304a, 304b. For example, when the robot 1 is in the neutral position or upright standing pose Su shown in FIG. 17, the lower cameras 304a, 304b have a vertical field of view FoVv2 in front of the robot 1, confined by line L22, of about 33 degrees to 49 degrees, preferably about 40 degrees to about 45 degrees (e.g., the vertical FoVv2 of the lower cameras 304a, 304b may be about 43 degrees).

[0175] Based on the above disclosure it should be understood that the field of view FoVs of the robot 1 may vary as the robot 1 moves and the relative position of the head 10 and torso 16 changes. For example, when the robot 1 tilts the head 10 and / or torso 16 backward, the collective field of view in the front of the robot 1 may increase due to decreased overlapping area between vertical field of view FoVvi and vertical field of view FoVv2 (FIG. 20), while the head 10 and / or torso 16 tilts forward, the collective field of view in the front of the robot 1 may decrease due to occlusion by the leg 6 of the robot 1 to FoVvs and increased overlapping area between verticalfield of view FoVv2 and vertical field of view FoVvs (FIG. 19). As such, the first center Lio of the first vertical field of view FoVvi can move by at least 15 degrees in a third direction (down, as shown in FIG. 18) about a head yes or second neck axis, and (ii) a first center Lio of the second horizontal field of view FOVHI by at least 15 degrees in a fourth direction (up, as shown in FIG. 20) about the head yes or second neck axis, wherein said third direction or down is oriented: (a) opposite to said fourth direction or up, and (b) perpendicular to the first and second directions. To note, that the representation of generally the FoVi, first center of the first vertical field of view FoVvi, and first center Lio of the second horizontal field of view Lio are shown as a single representation in the Figures to simplify their representation; however, it should be understood that each camera includes its own FoV and its own center.

[0176] FIGS. 22-24 are top views illustrating the varying horizontal or lateral field of view FoVs of the sensors 996 for various poses of the humanoid robot 1. FIG. 22 is a top view of the horizontal field of view FoVs of the humanoid robot 1 in a neutral position or upright standing pose Su. As shown in FIGs. 22 and 8, the horizontal field of view FoVs of the robot 1 include a front FOVHI of the upper camera assembly 302a, 302b, a front FOVH2 of the lower camera assembly 304a, 304b, a front FOVH3 of the front torso sensor assembly 208.2, and a rear FOVH4 of the back torso sensor assembly 208.4. The front horizontal field of view FOVHI and FOVH2 are defined by lines Ln and LF2 with a center line of sight Lro, while the rear horizontal field of view FOVHR is defined by lines LRI and LR2 with a center line of sight LRO, both are about 112 degrees wide. Finally, horizontal field of view FoVro is defined by lines LF5 and LR6. Lines LFI, LF3 and LFS are positioned approximately 34 degrees away from the coronal plane PF of the robot 1 when the humanoid robot 1 in a neutral position or upright standing pose Su

[0177] FIGS. 23 and 24 show how the horizontal field of view FOVHI and FoVm moves relative to the sagittal plane and relative to the horizontal field of view FOVH3, as the robot 1 moves from a neutral position or upright standing pose Su to: (i) a head-turn-left pose Hi in FIG. 23, and (ii) a head-turn-right pose Hr in FIG. 24. Specifically, when the robot 1 turns the head about 60° to the left or in a third direction relative to the rotational axis of the second neck actuator, as shown in FIG. 23, the front horizontal field of view FOVHI and FOVH2 also shifts counterclockwise about 60°. However, the horizontal field of view FOVH3 and FOVH4 remain unchanged or unrotated. Likewise, when the robot 1 turns the head about 60° to the right or in a fourth direction relative to the rotational axis of the second neck actuator, as shown in FIG. 24,the front horizontal field of view FOVHI and FOVH2 also shifts clockwise about 60°. Similarly, in this state, the horizontal field of view FOVH3 and FOVH4 remain unchanged or unrotated. In other words, the angles between the coronal plane PF and the center line of sight LFO of FOVHI and FOVH2 is designed to change when the robot 1 moves its head 10.

[0178] Note that the rear FOVHR of the back torso sensor assembly 208.4 remains unchanged as the robot 1 keeps torso 16 fixed while turning the head 10 left and right, as shown in FIGs. 23 and 24. In summary, when the robot 1 moves its head portion 202a: (i) the horizontal field of view FOVHI, FOVH2, the vertical field of view FoVvi, FoVv2, or both of said vertical and horizontal fields of view FoVi, F0V2 of the first and second cameras are altered, and (ii) the horizontal field of view FOVH3, FOVH4, the vertical field of view FoVvs, FoVv4, or both of said vertical and horizontal fields of view F0V3, F0V4 of the of the third camera (for example, one of 208.3.2.2, 208.3.2.6, 208.3.2.8) contained in front torso sensor assembly 208.2 and the fourth camera (for example, one of 208.3.2.2, 208.3.2.6, 208.3.2.8) contained in rear torso sensor assembly 208.4.

[0179] Based on the above disclosure, it should be understood that the first center LFO of the first horizontal field of view FOVHI can move by at least 45 degrees in a first direction (to the left, as shown in FIG. 23) about a first neck axis, and (ii) a first center LFO of the second horizontal field of view F0V111 by at least 45 degrees in a second direction (to the right, as shown in FIG. 24) about the first neck axis, wherein said second direction or right is oriented opposite to said first direction or left. To note, that the representation of generally the F0V1, first center of the first horizontal field of view F0V1, and first center LFO of the second horizontal field of view LFO are shown as a single representation in the Figures to simplify their representation; however, it should be understood that each camera includes its own FoV and its own center. In another example, neck portion 202b may include a first degree of freedom J8.1 is configured to move an extent of an extent of the first horizontal field of view FOVHI, FOVH2 by at least 30 degrees about a head yes axis, and a second degree of freedom J8.2 is configured to move an extent of an extent of the first vertical field of view FoVvi, FoVv2 by at least 15 degrees about a head no axis.

[0180] Overlapping vertical and horizontal fields of view between the head sensors 302 and 304, and torso sensors 208.2 and 208.4 allow the robot 1 to stitch together a wide-angle environmental map, reducing blind spots and improving obstacle detection. For example, in a crowded warehouse or a cluttered urban setting, the robot 1 can use the forward ground-levelview from the lower cameras 304a, 304b and the front sensor assembly 208.2 to detect obstacles and uneven surfaces, while the rearward view from the rear sensor assembly 208.4 ensures safe movement when reversing or changing direction. The advanced sensor configurations described above provide the humanoid robot 1 with multi-sensor data fusion capabilities to enhance its mobility and manipulation, which may offer a wide range of applications beyond basic navigation and environmental interaction, as well as detect and prevent abnormal behavior in both the robot 1 and its environment.

[0181] The combination of forward-facing sensors 302a, 302b, 304a, 304b in the torso 16 and head 10, along with data correlation from diverse sensor types like Time-of-Flight (ToF) and FLIR, enables the humanoid robot 1 to map and navigate complex environments with greater precision and reliability. To minimize risks such as Common Cause Failures (CCF), the robot 1 may also employ redundant sensors, potentially from different manufacturers. This multi-sensor approach ensures comprehensive environmental monitoring; for instance, the robot l’s ability to sense ground-level obstacles and uneven surfaces using foot-mounted sensors provides additional layers of redundancy crucial for detecting hazards like cliffs and voids. Upon detecting such a potential hazard, the robot can process data from multiple sensors, correlate the information, and take immediate protective action, such as stopping, moving slowly to investigate, or stepping back, thereby preventing falls and ensuring personnel safety. This capability makes the robot 1 ideal for operation on diverse terrains, like uneven sidewalks, staircases, or natural outdoor environments, where it can use correlated environmental data to adjust its gait or speed based on terrain difficulty. It can also modify actions based on sensed environmental data for real-time path planning. For instance, if the robot 1 detects a blocked path ahead from its upper cameras 302a, 302b or lower cameras 304a, 304b, it can use the rearward view from the rear sensor assembly 208.4 to identify alternative routes or safely reverse. This adaptive capability, underpinned by robust, redundant sensing and data correlation, is particularly useful in dynamic environments like busy streets or active construction zones, where the robot 1 has to continuously adapt to changing conditions, reducing the likelihood of undetected hazards.

[0182] In addition, the multi sensor assemblies in the head 10 and torso 16 allow the robot 1 to monitor objects it is carrying with high precision. For example, if the robot 1 is tasked with carrying fragile items or irregularly shaped objects, the lower cameras 304a, 304b can provide adetailed view of the object, while the front sensor assembly 208.2 ensures the robot l ’s path remains clear of obstacles. In industrial settings, the robot 1 can use its sensors to detect and prevent collisions with machinery or other objects while manipulating or transporting materials.

[0183] The overlapping vertical and horizontal fields of view between the head and torso sensors 302, 304 and 208,2, 208.4 also enable the robot 1 to perform precise pick-and-place operations. For instance, the upper cameras 302a, 302b can detect objects on a high shelf, while the front sensor assembly 208.2 ensures the robot l’s manipulator can access the object without colliding with nearby items. This capability is particularly useful in logistics and assembly line environments, where accurate and efficient object manipulation is important. The robot l’s ability to monitor its carried load and surroundings makes it an ideal collaborator in human-robot teams. For example, in a shared workspace, the robot 1 can use its sensors to detect human workers nearby and adjust its actions to avoid collisions or interference. For example, the rearward view from the rear sensor assembly 208.4 allows the robot 1 to detect approaching humans or objects, ensuring safe operation in collaborative environments.

[0184] FIGs. 25A-25D is a side view illustrating the humanoid robot 1 with foot-mount sensors 932.2 for stair navigation and cliff detection. Diverse sensors can be utilized for these safety purposes, such as time-of-flight (ToF) cameras, laser proximity sensors, diffused proximity sensors, and / or any sensor or combination of sensors disclosed herein. For example, foot-mounted diffused proximity sensors 932.2 can be down facing and detect voids within a safe stepping range. These sensors 932.2 use level measurements to compare the height of the foot 92a to the other foot 92b, calculating surface distance and identifying cliffs beyond safe stepping limits. As shown in FIG. 25A, when the robot 1 walks, both FoVv2 of the lower cameras 304 and FoVvs from the frontal torso sensor 208.2 can be used for the detection of flat ground ahead. When the robot 1 moves forward, the lower cameras 304 in the head 10 may detect a sudden change of depth (FIG. 25B) as the line L22 passes over the edge, while the frontal torso sensor 208.2 may corroborate that with a detection of the edge through depth discrepancy within its FoVvs as the line L32 remains on the flat ground.

[0185] At this moment, the robot 1 may determine to approach the edge of the dip slowly in smaller steps until it reaches the edge. Via sensor 932.2 with FoVvs between lines Lsi and L52, robot 1 may raise one of the legs 6 over the edge to investigate. If the sensor 932.2 at the bottom of the foot 92 detects a stair (FIG. 25C), the robot 1 can move forward and step down the stairsafely. Otherwise, when the sensors 932.2 detect a dip deeper than a predetermined safety limit, e.g., 25-35 cm (FIG. 25D), the robot 1 can stop immediately before shifting the center of mass forward or step backwards. In addition, the robot 1 can move both arms 5 forward to create stopping inertia and to counteract the body inertia.H. Alternative Embodiments

[0186] FIGs. 26-55 show four alternative embodiments of the sensor assemblies that may be used interchangeably in connection with the first embodiment of the humanoid robot 1 shown in FIG. 1. Each of the alternative embodiments has slightly different structures and configurations, but each embodiment is similar in structure, features, and generally tapered shape. As discussed below, the features and / or components of each embodiment may be interchanged, added, or removed from features and / or components of other embodiments. For example, the lower cameras 304a, 304b incorporated in the chin of the first embodiment (e.g., FIGs. 26-31) may be removed, similar to how the lower recess was removed from the fourth, fifth, and sixth embodiments. Additionally, utilizing a deformable material in the neck assembly and including actuators in the neck assembly to allow the head to move may be added to the head and neck assembly 10 of the first embodiment. It should be understood that these are only examples and any feature and / or component may be interchanged, added or removed from any other embodiment disclosed herein. a. Second Embodiment

[0187] As shown in FIG. 26, the robot 2001 includes the following parts: (i) a head and neck 2010, (ii) a torso 2016, (iii) left and right arms 2005, (iv) left and right hands 2056, (v) spine and pelvis 2060, 2064, (vi) left and right legs 2006, and (vii) left and right talus and feet 2088, 2092. Each arm 2005 includes an upper humerus 2030, lower humerus 2036, upper forearms 2040, and lower forearms 2046, and wrist 2050. Each leg includes hip 2070, upper thighs 2076, lower thigh 2080, and shin 2084. The parts provide the robot 2001 with a humanoid shape and contain various actuators that function together to enable said robot 2001 to perform human-like movements, which are not possible using conventional robots. The robot 2001 can have a range of motion similar to a human to operate in a human-centric environment. For the sake of brevity, the above disclosure in connection with robot 2001 will not be repeated below, but it should be understood that numerals, such as torso 2016 and spine 2060, generally represent similar or like structures in the various embodiments.

[0188] Compared to the first embodiment, the second embodiment features several differences in sensor design and placement for robot 2001. Notable changes include: (i) a head sensor assembly 2302 similar to the torso sensor assembly 208.2 of the first embodiment; (ii) omission of the lower head or chin sensor assembly 304 of the first embodiment; (iii) an additional rear-facing camera 2305 at the back of the head 2010; and (iv) head structure including a recess for accommodating the rearview camera 2305 at the back of the head 2010.

[0189] As shown in FIGs. 27-29, the functionality and operation of the head and neck assembly 2010 is in general similar or identical to the features and functionality disclosed with respect to the head and neck assembly 10. The primary differences between head and neck assembly 10 and head and neck assembly 2010 include both front and rear sensor recesses 2272, 2277 and an upper shell 2270 in the housing assembly 2220, as well as a frontal shell 2228 having a different shape compared to visor 236.2 of the first embodiment due in part to the omission of the lower head or chin sensor assembly 304.

[0190] Note that in the second embodiment, the upper shell 2270 was added to the housing assembly 2220 to accommodate the front and rear sensor recesses 2272, 2277. The frontal sensor recess 2272, with its shelf 2284, overhang 2285, planar sensor cover 2286, and side walls 2287 and 2288, provides an inset region for sensors 2302 that may be similar to the torso sensor assembly 208.2 from the first embodiment, ensuring an unobstructed field of view and protection. The shelf 2284 extends forward and downward from the planar sensor cover 2286 to the fontal shell 2228 at a predefined angle to avoid interference with the operational range of the sensors 2302. The rear sensor recess 2277 functions as either a viewport for a rear-facing camera 2305 or a ventilation system, and its design mirrors the front sensor recess 2272 for design consistency and provides a similar inset region for the camera 2305 to ensure unobstructed field of view and protection.

[0191] Similar to the first embodiment, the housing assembly 2220 is configured to hold the display 2330 and at least one sensor, such as the head sensor assembly 2302, of the electronics assembly 2222 mounted on an electronics support 2254 and aligned with the sensor recess 2272. The head sensor assembly 2302 may be substantially similar or identical in both design and operation to the torso sensor assembly 208.2. or 208.4 from the first embodiment. For example, the sensor assembly 2302 may include a middle camera 2208.6, an IR projector 2208.4, a left camera 2208.6, and a right camera 2208.8, among other components. The structure andfunctionality of the head sensor assembly 2302 mirror those of the torso sensor assembly 208.2 or 208.4, therefore, the detailed descriptions on the sensor assembly 208.2 and 208.4 above in the first embodiment apply to the head sensor assembly 2302.

[0192] As shown in FIGs. 27-29, the head sensor assembly 2302 includes the left camera 2208.6 with a front left field of view FOVIL, the middle camera 2208.2 with a front middle field of view FOVIM, and the right camera 2208.8 with a front right field of view FOVIR. In some implementations, the lights of sight LOSL, LOSR, and LOSM for the plurality of upper cameras 2302 are parallel with one another and perpendicular to the coronal plane PF in a first direction (FIG. 29), while being slightly angled relative to the coronal plane PF in a second direction (Lio 91 degrees angled from coronal plane PF in FIG. 28). Since each camera 2208.2, 2208.6, 2208.8 of the plurality of upper cameras 2302 has a similar horizontal FoV about 44 degrees, the collective FoVi of the upper cameras 2302 is about 44 degrees horizontally (FIG. 29) and about 60 degrees vertically (FIG. 28). Finally, the rear camera 2305 that has a field of view F0V2 about 82 degrees horizontally (FIG. 29) and 20 degrees vertically (FIG. 28), wherein said light of sight LOSRR is perpendicular to the rear plane PR in both directions (FIG. 29).

[0193] This configuration has a narrower front horizontal FOVF about 44 degrees defined by the angle between lines LFI and LF2, and a rear horizontal FOVR about 82 degrees defined by the angle between lines LRI and LR2 for rearview. Both the front FoVr and FOVR shift as the robot 2001 turns the head left or right. For example, when the head turns about 60° to the left, FOVF would rotate counterclockwise to the area between lines Ln-ieft and LF2-ieft, while FOVR shifts to the area between lines Lai-ieit and LR2-ieft. On the other hand, when the robot 2001 turns the head to the right, front FOVF rotates clockwise to the area between Lpi-right and LF2-right, while the rear FOVR rotates clockwise to the area between LRi-nght and LR2-right, as shown in FIG. 31.

[0194] The vertical FoVi or vertical component of the FoVi of the forehead cameras 2302 defined by the angle between lines Ln and L12, is about 60 degrees and about 61 degrees forward away from the coronal plane PF. As shown in FIG. 30, FoVi overlaps with F0V3 of the front torso sensor assembly 2208.2, which is about 85 degrees between lines L31 and L32 and has a light of sight L30 at about 45 degrees forward away from the coronal plane PF. This overlap ensures a comprehensive coverage of the area in front of the robot 2001 even without the chin sensor assembly 304a, 304b. Additionally, F0V2 of the rear-facing camera 2305 on the back of the head covers about 20 degrees between lines L21 and L22 and has an upper angle of about 70degrees from the coronal plane PF. While the rear-facing torso sensor assembly 2208.4 has a vertical F0V4 or vertical component of the F0V4 of about 85 degrees between lines L41 and L42 and is about 68 degrees backward from the coronal plane PF. The intersecting lines L22 and L41 show that F0V2 overlaps with F0V4, effectively extending the rearview vertical FoV and enhancing overall safety and navigation capabilities.

[0195] Both F0V1 and F0V2 shift up and down when the robot 2001 moves the head upward and downward. For example, F0V1 would rotate upward to the area between lines Ln-upand L12- up as the head 2010 of robot 2001 moves up about the head yes axis 2010.2, or downward to the area between lines Ln-down and Ln-down as the head 10 moves downward about the head yes axis 2010.2, as shown in FIG. 30. Similarly, F0V2 would rotate downward to the area between lines L21-UP and L22-UP as the head moves up about the head yes axis 2010.2, or upward to the area between lines L i-down and L22-down as the head moves down about the head yes axis 2010.2. In other words, the angles between the coronal plane PF and the F0V1 and F0V2 are designed to change when the robot 2001 moves its head 2010.

[0196] Unlike the first embodiment, the second embodiment omits the under-chin head cameras 304a, 304b, relying instead on the forehead cameras 2302 and the front torso sensors 2208.2 for forward perception. The rear head camera 2305 has been introduced in the second embodiment, providing the robot 2001 with an enhanced rearview capability. For example, as shown in FIG. 30, the F0V1 of the forehead cameras 2302 and F0V3 of the front torso sensors 2208.2 overlaps slightly. Compared to the first embodiment (FIG. 17), the omission of the chin cameras 304 causes the overlapping FoVs in the lower vertical field to reduce significantly. On the other hand, the inclusion of the rear head camera 2305 and its F0V2 may compensate for this reduction by providing valuable overlapping information with the F0V4 of the back torso sensor 2208.4 about the environment behind the robot 2001.

[0197] The omission of the lower head or chin cameras 304 in the second embodiment offers several advantages. Firstly, it simplifies the head structure, reducing mechanical wear and tear caused by frequent head rotations. Secondly, the reduction in the number of sensors decreases the amount of data that needs to be processed and analyzed, leading to improved energy efficiency and faster response times. Moreover, for the rearview, it can be much easier for the robot 2001 to target the FoV with the rear head sensor than with the rear torso sensors. Additionally, the combined vertical FoVs from the rear head camera 2305 and the back torsosensors 2208.4 enable the robot 2001 to detect and respond to obstacles and moving objects more reliably and accurately, which is particularly desirable in dynamic environments such as warehouses or crowded public spaces.

[0198] The design of the second embodiment also leverages overlapping FoVs to achieve redundancy, which enhances system reliability and accuracy. The extended vertical FoVs and enhanced rearview provide the robot 2001 with improved navigation in complex environments, such as warehouses, where detecting multiple obstacles and moving objects is crucial. The overlapping vertical FoV between the forehead cameras 2302 and the front-facing torso sensor 2208.2 ensures that the robot 2001 can monitor its surroundings without compromising on accuracy, despite the removal of the chin camera. In conclusion, the second embodiment head sensor assemblies represent alternative design, offering enhanced rearview coverage and improved redundancy. While it addresses certain limitations, such as the limited rearview, it also introduces trade-offs in terms of processing demands and head complexity. b. Third Embodiment

[0199] FIGS. 32-37 shows another alternative embodiment of a humanoid robot 3001. As shown in FIG. 32, the robot 3001 includes the following parts: (i) a head and neck 3010, (ii) a torso 3016, (iii) left and right arms 3005, (iv) left and right hands 3056, (v) spine and pelvis 3060, 3064, (vi) left and right legs 3006, and (vii) left and right talus and feet 3088, 3092. Each arm 3005 includes an upper humerus 3030, lower humerus 3036, upper forearms 3040, and lower forearms 3046, and wrist 3050. Each leg includes hip 3070, upper thighs 3076, lower thigh 3080, and shin 3084. For the sake of brevity, the above disclosure in connection with robot 3001 will not be repeated below, but it should be understood that numerals, such as torso 3016 and spine 3060, generally represent similar or like structures in the various embodiments. Similar to the head and neck assemblies 10 and 2010 described above in connection with FIGs. 6-11 and FIGs. 27-29, respectively, FIGS. 32-37 illustrate a third embodiment of a head and neck assembly 3010. For example, the disclosure regarding display 3330 applies equally to display 330 and 2330. Further, it should be understood that the functionality and operation of the head and neck assembly 3010 is similar or identical to the features and functionality disclosed with respect to the head and neck assembly 10 and 2010.

[0200] Unlike the first and the second embodiments, the third embodiment relocate the frontal torso sensors 208.2 of the first embodiment to the head sensor 3302, while the rear-facing headcamera 2305 in the second embodiment has been removed. In other words, the third embodiment features one front-facing head sensor assembly 3302 placed in the forehead of the head 3010, and one rear-facing torso sensor assembly 3208.4 on the back of the torso 3016 of the robot 3001. Both the head sensor assembly 3302 and the torso sensor assembly feature substantially similar or identical design and functionality to the torso sensor 208.2 or 208.4 of the first embodiment (FIG. 16) and the sensor assembly 2302 present in the second embodiment (FIG. 27). Other differences in the sensor array design include the omission of the lower head or chin sensor assembly 304 and the lower frontal torso sensor assembly 208.2 from the first embodiment. This omission may work in applications where the robot 3001’s view of the ground is unobstructed, even when carrying objects. However, the absence of the lower frontal torso sensor shifts the reliance onto the upper sensor assembly 3302 positioned within the robot 3001’s head 3010. This increased dependence on head sensors may necessitate more frequent and extensive head movements to capture an accurate representation of the robot 3001’s surroundings. Consequently, this may lead to increased energy consumption due to the constant actuation of the robot 3001’s neck. Nevertheless, the overall energy efficiency of the third embodiment may still be comparable to that of the first two embodiments, because the third embodiment collects, processes, and analyzes data from fewer sensors.

[0201] The third embodiment also differs from the first two embodiments in its elimination of the recesses (e.g., recess 272 in FIG. 6, and recesses 2272 and 2277 in FIG. 28) for the head camera assemblies, opting for a smooth, curved head cover instead. This design choice offers a more streamlined design with improved aesthetics, reduced form factor, and enhanced protection of the sensors from environmental hazards. Furthermore, the omission of recesses may simplify the manufacturing process, leading to reduced production costs and improved assembly efficiency. However, the elimination of recesses for the head sensors 3302 also presents challenges, particularly in terms of image distortion and processing demands. The curved head cover of the third embodiment may introduce optical distortions, such as barrel or pincushion distortion, which can adversely affect the accuracy and reliability of the sensor data. To mitigate this issue, the robot 3001’s processing algorithms can be equipped with various techniques, such as sensor calibration, advanced image correction, and specialized lenses (e.g., fisheye lens), to compensate for the distortions and ensure the veracity of the sensor data. Additionally, the increased dependence on head sensors 3302 may lead to higher processing demands, as thealgorithms must continually analyze and integrate data from multiple sensors to maintain an accurate representation of the robot 3001 ’s environment. To address this challenge, the robot 3001 ’s processing unit can be equipped with sufficient computational resources and optimized algorithms to handle the increased data load efficiently.

[0202] As shown in FIG. 33, the sensor assembly 3302 includes three forward facing cameras 3302al, 3302a2, and 3302a3, an IR projector 3302b, among other sensors. Each of these three cameras 3302a have horizontal fields of view FOVIL, FOVIM, and FOVIR of about 44 degrees horizontally (FIG. 35) and the same vertical FoVi or vertical component of the FoVi of about 60 degrees (FIG. 34). FOVIL, FOVI M, and FOVIR partially overlap with one another to form a collective field of view about 44 degrees to aid in providing a 3D reconstruction of the robot 3001’s environment. The partially overlapping FoVs also help eliminate blind spots directly in front of the robot 3001, while improving the depth perception. The lights of sight LOSL, LOSM, and LOSR for each camera may be parallel with one another and angled relative to the coronal plane PF, wherein said coronal plane PF is parallel with the coronal plane PF of the robot 3001. Said angle between the center light of sight Lio and the coronal plane PF may be between 91 degrees and 150 degrees, and preferably 110 degrees, as shown in FIG. 34.

[0203] This design of the third embodiment simplifies the sensor assemblies 995 of the first embodiment. The sensor assembly of the robot 3001 comprises a front sensor assembly 3302 mounted on the forehead of the head 3202a, and a back torso sensor 3208.4 placed on the torso 3016 for rearview. As shown in FIG. 37, this configuration maintains the horizontal front FOVF of about 44 degrees defined by the angle between lines LFI and LF2, which are both at a forward angle of 68 degree from the coronal plane PF. The field of view FOVR of the back torso sensor 3108.4 cover an angle about 82 degrees and is at a backward angle of about 49 degrees from the coronal plane PF.

[0204] For example, the front horizontal FOVF shifts as the robot 3001 turns the head left or right. For example, when the head turns about 60° to the left, FOVF would rotate counterclockwise to the angle between lines Lpi-ieft and LF2-ieft. Whereas FOVF rotate clockwise to the angle between lines Lpi-nght and LF2-right when the head turn to the right. Note the FOVR between lines LRI and LR2 remains unchanged if the torso does not move.

[0205] The vertical FoVi or vertical component of the FoVi of the forehead cameras is about 60 degrees and at a forward angle of about 62 degrees from the coronal plane PF, as shown inFIG. 36. The robot 3001 relies solely on the forehead sensor assembly 3302 without any frontfacing torso sensor assembly. To extend vertical FoVi defined between lines Ln and L12, the head movements upward or downward about the head yes axis 3010.2 are needed. For example, F0V1 may shift upward to the angle between lines Lii-upand Li2-upas the head 3010 moves upward, or downward to the angle between lines Ln-down and Li2-down as the head 3010 moves downward. This reduces the number of sensors and parts, and lowers production costs, making the design more economical. Further, the rearview F0V4, defined as the angel between lines L41 and L42, depends on the rear-facing torso sensor assembly 3108.4, without rear-facing camera on the back of the head, as shown in FIG. 36. Note the FoV4 between lines L41 and L42 of the back torso sensor assembly 3108.4 would not rotate along with the head movements. c. Fourth Embodiment

[0206] FIGS 38-43 shows a fourth embodiment of a humanoid robot 4001. As shown in FIG. 38, the robot 4001 includes the following parts: (i) a head 4010, (ii) a torso 4016, (iii) left and right arms 4005, (iv) left and right hands 4056, (v) spine and pelvis 4060, 4064, (vi) left and right legs 4006, and (vii) left and right talus and feet 4088, 4092. Each arm 4005 includes an upper humerus 4030, lower humerus 3036, upper forearms 4040, and lower forearms 4046, and wrist 4050. Each leg includes hip 4070, upper thighs 4076, lower thigh 4080, and shin 4084. For the sake of brevity, the above disclosure in connection with robot 4001 will not be repeated below, but it should be understood that numerals, such as torso 4016 and spine 4060, generally represent similar or like structures in the various embodiments. Similar to the head and neck assemblies 10, 2010, 3010 described above in connection with FIGs. 1-25, FIGs. 26-31, FIGs. 32-37, FIGs. 38-43 illustrate a fourth embodiment of a head and neck assembly 4010. For the sake of brevity, the above disclosure in connection with the head and neck assemblies 10, 2010, 3010 will not be repeated below, but it should be understood that numerals generally represent similar or like structures in the various embodiments.

[0207] Unlike the first three embodiments, the fourth embodiment features a fixed head 4010 with no neck actuator. This design choice simplifies the mechanical structure of the robot 4001, reducing complexity, cost, and potential points of failure. By eliminating the neck actuator, the robot 4001’s control and coordination algorithms are also simplified, as they no longer need to manage the additional one or two degrees of freedom associated with head 4010’s movement. However, the fixed head 4010 restricts the robot 400 l’s ability to adjust its field of viewindependently of its torso 4016, potentially limiting its situational awareness in dynamic or cluttered environments. To compensate for this limitation, the robot 4001 can rely on torso 4016 movements to change its field of view, which may result in slower response times and less efficient navigation. Hence, this design of the head 4010 may be more desirable in less interactive or dynamic applications or environments.

[0208] The fourth embodiment employs a minimal sensor configuration, with only two sensors mounted on the head 4010: an upper sensor 4302 around the forehead and a lower sensor 4303 under the chin angled towards the ground, similar to those of the first embodiment. This configuration is designed to provide basic environmental perception capabilities, focusing on the area directly in front of the robot 4001. The omission of sensors from the torso 4016 simplifies the design, reduces cost, and decreases the amount of data that needs to be processed and analyzed. However, the minimal sensor configuration limits the robot 4001’s field of view and situational awareness. The absence of rear sensors, in particular, allow the robot 4001 to work only in environments where obstacles or moving objects approach only from front of the robot 4001, with little hazards or opportunities coming into its lateral or rear vision.

[0209] The fourth embodiment also lacks a head cover that surrounds the sensors 4302, 4303, as well as a display for visual output or communication. As shown in FIG. 39, each of the upper and lower sensors 4302, 4303 are enclosed in their respective electronic assembly housing 4900, 4902. However, the absence of a head cover may expose the sensor assemblies 4302, 4303 to potential damage from environmental hazards, such as impacts, moisture, or contaminants. The lack of a display may also limit the robot 400 l’s ability to communicate with humans or other robots, potentially hindering its effectiveness in collaborative or interactive tasks. However, this design choice offers improved heat dissipation, as the sensors 4302, 4303 are exposed to the environment and can be actively cooled if necessary. The absence of housing also simplifies the manufacturing process, leading to reduced production costs and improved assembly efficiency. Moreover, the lack of a display may be desirable in certain industrial environments, where visual output may be unnecessary to the robot 400 l’s operation.

[0210] The difference between previously described head and neck assemblies and head and neck assembly 4010 is the fact that the head 4010a does not substantially mimic the shape of a human head and instead includes an upper electronics assembly 4222, a lower electronics assembly 4223, and a neck 4010b supporting the upper and lower electronics assemblies 4222,4223. The upper cameras 4302 are oriented substantially horizontally and perpendicular to a vertical plane 4904 (i.e. coronal plane PF of the humanoid robot 4001). The lower cameras 4303, and thus the light of sight (LoS) of the cameras, are angled downwardly at an angle 4906 to the frontal or vertical plane 4904, wherein said frontal or vertical plane 4904 is parallel with the coronal plane PF of the robot 4001. The angle 4906 is, for example, within a range of about 120 degrees to about 140 degrees, and preferably 130 degrees. In the illustrative embodiment, each plurality of cameras 4302, 4303 includes three cameras having overlapping fields of view FOVT, FOVB, although in other embodiments any number of cameras can be used. Furthermore, other sensors or devices can be included in the housings 4900, 4902. Each of the sensor assemblies 4302 and 4303 includes three cameras, which could allow the robot 4001 to capture a broader area, enhancing its ability to detect objects and navigate effectively in various environments. As shown in FIGs. 41 and 43, this configuration extends the horizontal front FOVF defined by the angle between lines LFI and LF2 to about 110 degrees, both lines LFI and LF2 have a forward angle of about 35 degrees from the coronal plane PF of the robot 4001, allowing the robot 400 Ito cover a wider angle without the need for constant head 4010’s movements. The vertical FoVi or vertical component of the FoVi of the upper cameras 4222 covers about 65 degrees between lines Ln and L12 at a forward angle of about 61 degrees from the coronal plane PF, as shown in FIGs. 40 and 42. Similarly, the lower cameras 4223 have a vertical F0V2 or vertical component of the F0V2 of about 65 degrees between lines L21 and L22, with line L22 almost parallel to the coronal plane. FoVi of the upper cameras 4222 barely overlaps and compliments -F0V2 of the lower cameras 4223, ensuring comprehensive coverage in front of the robot 4001.

[0211] Additionally, the upper cameras 4222 may focus on long-range depth detection and can provide accurate depth information for objects farther away, which is crucial for navigation and obstacle detection at a distance. While lower cameras 4223 can be optimized for short-range depth perception, which can offer precise depth information for objects close to the robot 4001, such as during manipulation tasks or when navigating uneven terrain. The combination of long- range and short-range depth perception enables more precise and safe movements for the robot 4001. Even the two sensor assemblies 4302, 4303 may not have overlap in their respective FoVs and the neck 4010b may be fixedly mounted on torso 16, the presence of two separate sensor assemblies 4302, 4303 ensures that cross-referencing data from both sensors is possible throughtorso 4016 movements. If one is occluded or malfunctioning, the other can still provide essential depth information, enhancing the robot 400 l’s reliability in various environments. d. Fifth Embodiment

[0212] FIGS. 44-49 shows a fifth embodiment of a humanoid robot 5001. As shown in FIG. 44, the humanoid robot 5001 is designed to have substantial similarities in form factor and anatomy to human beings including many of the same major appendages that human beings have. Similar to the head and neck assemblies 10, 2010, 3010, 4010 described above in connection with FIGS. 1-43, FIGS. 44-49 illustrate a fifth embodiment of a head and neck assembly 5010. For the sake of brevity, the above disclosure in connection with the head and neck assemblies 10, 2010, 3010, 4010 will not be repeated below, but it should be understood that like numerals generally represent similar or like structures in the various embodiments. For example, the functionality and operation of the head and neck assembly 5010 is similar or identical to the features and functionality disclosed with respect to the head and neck assemblies 10, 2010, 3010, 4010.

[0213] Unlike the first four embodiments, the robot 5001 of the fifth embodiment only includes sensor assemblies 5302 that are positioned within the robot 5001 ’s head 5010. The plurality of sensors 5302 includes a frontal camera 5302a facing a forward direction of the robot 5001, and a pair of side cameras 5302b, 5302c facing in opposed lateral directions of the robot 5001. These additional sensor assemblies will help the robot 5001 detect objects and / or people that may approach the robot 5001 from its side. This design may be beneficial for robots that are designed to work in environments that are less structured in comparison to the environments that the other robot embodiments are configured to work within. However, as discussed above, the additional data captured from these additional sensor assemblies may undesirably increase the overall energy usage of the robot 5001. However, to potentially offset the collection of additional data, this embodiment forgoes the inclusion of any sensor assembly within its torso.

[0214] The fifth embodiment also differs from the first two embodiments in its omission of the recesses for the head camera assemblies 5302, similar to the third embodiment. This design choice offers a more streamlined design with improved aesthetics, but presents challenges, particularly in terms of image distortion and processing demands. The curved head cover may introduce optical distortions, which may adversely affect the accuracy and reliability of the sensor data. Various techniques, such as sensor calibration, advanced image correction, andspecialized lenses (e.g., fisheye lens), can be equipped to compensate for the distortions and ensure the veracity of the sensor data. The mitigation may require higher processing power, as the algorithms need to continually analyze and optimize data from the sensors behind the curved housing to maintain an accurate representation of the robot 500 l’s environment. The higher power requirement, however, may be offset by omission of the torso assemblies in this embodiment.

[0215] As shown in FIGS. 45-47, the head and neck assembly 5010 includes a plurality of cameras 5302 configured to provide a field of view around all or a majority of the robot 5001. The combination of these cameras cover the majority of both the lateral and vertical field of views in the front and on both sides of the robot head 5010, as shown in FIGs. 48-49. For example, the vertical FoVi or vertical component of the FoVi of the frontal camera 5302a covers about 60 degrees between lines Ln and L12, with line L12 at a forward angle of about 62 degrees from the coronal plane PF of the robot 5001 (FIGs. 46 and 48). However, a rearview camera is not incorporated into either the head or the torso, hence the lack of FoV coverage for the back of the robot 5001.

[0216] The inclusion of camera 5302b on the left side and camera 5302c on the right side within the head 5010 introduces an enhanced side visibility, aiming to improve the robot 500 l’s situational awareness and operational efficiency. As shown in FIGs. 47 and 49, The front camera 5302a has a horizontal FOVF of about 94 degrees and a forward angle of about 43 degrees from the coronal plane PF. The two side cameras 5302b and 5302c positioned on the coronal plane PF of the robot 5001, each provide an extended lateral field of view of about 40 degrees, allowing the robot 5001 to detect objects and obstacles to the sides more effectively. This is particularly advantageous in tight spaces or when avoiding obstacles or people.

[0217] One of the primary advantages of this design is the improved situational awareness it offers without the aid from sensor assemblies on the torso. Combined with neck movements, the head sensor assembly 6302 can provide 360 degrees collective lateral FoV coverage, ensuring that the robot 5001 is more attuned to its surroundings, enhancing its ability to navigate safely and effectively. This design is particularly beneficial in environments where the robot 5001 needs to operate in close proximity to people or objects, such as in warehouses or healthcare settings. In addition, removing torso sensors and relying more on head sensors offers potential benefits in terms of cost reduction and enhanced mobility. Head sensors 5302 can movedynamically, allowing the robot 5001 to scan wider areas and adjust its field of view more effectively than fixed torso sensors. For example, when the robot 5001 turns the head about 60° to scan the left, the front FOVF, the side FOVL and FOVR all rotate counterclockwise. Specifically, FOVF between lines LFI and LF2 shifts to the angle between lines Lpi-ieft and LF2-ieft, FOVL between lines LLI and LL2 shifts to the angle between lines Lu-ieft and LL2-ieft, and FOVR between lines LRI and LR2 shifts to the angle between lines LRi-ieft and LR2-ieft. Opposite shifts of the FOVF, FOVL and FOVR apply when the robot 5001 turns the head to scan the right, as shown in FIG. 49.

[0218] Positioned higher, head sensors can overlook obstacles that might block lower torso sensors, providing a broader perspective. Reducing the number of torso sensors can simplify the robot 5001’ s design, lower production costs, and decrease maintenance complexity. Without the chin camera or the front torso sensor, the robot 5001 may scan up and down with forehead camera assembly 5302. For example, FoVi of the forehead sensor 5302 between lines Ln and L12 may shift upward to the angle between lines Ln-Up and Li2-uPas the head moves upward about the head yes axis 5010.2, or downward to the angle between lines Lii-down and Ln-down as the head moves downward about the head yes axis 5010.2, as shown in FIG. 48. In other words, the angles between the coronal plane PF and the vertical FoVi and horizontal FOVF, FOVL and FOVR are designed to change when the robot 5001 moves its head 5010. e. Sixth Embodiment

[0219] Similar to the head and neck assemblies 10, 2010, 3010, 4010, 5010 described above in connection with FIGs. 1-52, FIGs. 50-55 illustrate a sixth embodiment of a head and neck assembly 6010. For the sake of brevity, the above disclosure in connection with the head and neck assemblies 10, 2010, 3010, 4010, 5010 will not be repeated below, but it should be understood that like numerals generally represent generally similar or like structures in the various embodiments. For example, the functionality and operation of the head and neck assembly 6010 is similar or identical to the features and functionality disclosed with respect to the head and neck assemblies 10, 2010, 3010, 4010, 5010. It should be understood that any one or more features of the head and neck assemblies 10, 2010, 3010, 4010, 5010 may be used in combination with those disclosed with respect to the head and neck assembly 6010, and that any one or more features of the head and neck assembly 6010 may be used in combination with those disclosed with respect to the head and neck assemblies 202, 2010, 3010, 4010, 5010. The primary difference between head and neck assembly 5010 and head and neck assembly 6010 isthe fact the frontal shell 6228 provides substantially all of an exterior surface of the head 6010a. As shown in FIG. 51, the head 6010a further includes a light emitting assembly 6264a coupled to the frontal shell 6228. The neck shell 6230 can also include a second light emitting assembly 6264b located adjacent to an edge of the frontal shell 6228 at a junction between the frontal shell 7228 and the deformable neck cover 6230.

[0220] The sixth embodiment includes a new combination of sensor assemblies that are designed to work together to collect data in 360 degrees around the robot 6001. Similar to the fifth embodiment, the sixth embodiment only include sensor assemblies 6302 positioned in the head 6010 of the robot 6001. In the fifth embodiment shown in FIG. 47, the sensor configuration comprises front camera 5302a positioned centrally and side cameras 5302b and 5302c mounted on either side of the head. The single front camera 5302a provides a straightforward and cost- effective solution for forward perception. However, it lacks depth perception and stereo vision capabilities, as a single camera may not be able to provide the necessary binocular cues for accurate depth estimation. Moreover, this three-camera arrangement may be susceptible to occlusion and blind spots, particularly in complex or cluttered environments. The absence of a rear camera leaves the robot 5001 vulnerable to unseen obstacles or hazards approaching from behind, which can potentially compromise its safety and operational efficiency.

[0221] Unlike the fifth embodiment though, the head sensor assemblies 6302 include a pair of frontal cameras 6302a, 6302b, a pair of side cameras 6302c, 6302d, and a rear camera 6302e. The configuration of five head cameras in the sixth embodiment, as shown in FIG. 53, offers several advantages over the fifth embodiment. Firstly, the stereo vision provided by the two front cameras 6302a, 6302b enables accurate depth perception, allowing the robot 6001 to better understand the three-dimensional structure of its environment. This capability is more desirable for tasks that require precise object manipulation, navigation, and collision avoidance. The stereo front cameras 6302a, 6302b can also improve the robot 6001 ’s robustness to occlusion and environmental changes. By comparing the images from both cameras 6302a, 6302b, the robot 6001 can identify and compensate for occlusions, such as those caused by moving objects or dynamic lighting conditions. This redundancy can enhance the reliability and accuracy of the robot 6001’ s perception system, making it better suited for complex and unpredictable environments. Secondly, the addition of a rear camera 6302e can further enhance the robot 600 l’s situational awareness by providing a field of view that is not covered by the othercameras. This rearward perception capability is particularly valuable in dynamic environments, where obstacles or moving objects can approach the robot 6001 from behind. Moreover, the rear camera 6302e can facilitate backward navigation and maneuvering, enabling the robot 6001 to operate more effectively in confined or cluttered spaces.

[0222] While this 360-degree sensor array may be extremely beneficial in obtaining data in unstructured environments, it lacks sensor assemblies that are positioned within the torso 6016. The lack of torso sensor assemblies may be undesirable in certain environments where the robot 6001 is in a head down pose and needs to know about what is located behind him. Moreover, 360-degree sensing comes with increased computational demands and potential synchronization issues, which need to be addressed through optimized algorithms and sufficient processing resources. The choice between the two configurations in the fifth and sixth embodiments will depend on the specific requirements and constraints of the intended applications, balancing the need for comprehensive environmental perception with the practical considerations of cost, complexity, and computational resources.

[0223] As shown in FIGs. 51-53, the head and neck assembly 6010 further includes an electronics assembly 6222 including a plurality of cameras 6302 configured to provide a field of view around all or a majority of the robot 6001 (i.e. 360 degrees). For example, the plurality of cameras 6302 includes i) a pair of frontal cameras 6302a, 6302b facing in a forward direction of the robot 6001, having a lateral FOVFL and FOVFR of about 40 degrees, respectively, ii) a pair of side cameras 6302c, 6302d facing in opposed lateral directions of the robot 6001, having a lateral FOVL and FOVR of about 40 degrees, respectively, and iii) a rear camera 6302e facing in a rearward direction of the robot 6001, having a lateral FOVRR of about 94 degrees at a backward angle about 43 degrees from the coronal plane PF of the robot 6001.

[0224] In the sixth embodiment, the design of the robot 600 l’s head sensor assembly has been rearranged with two cameras 6302a and 6302b positioned on the forehead, camera 6302c on the left side, camera 6302d on the right side, and a single camera 6302e facing backward on the back of the head. This configuration represents a departure from the first embodiment, which features a single sensor assembly on the forehead and another under the chin. The changes introduce a wider horizontal field of view and enhanced side and rear visibility, aiming to improve the robot 6001’s situational awareness and operational efficiency. The two side cameras 6302c and 6302d, as shown in FIG. 55, provide an extended horizontal field of view, allowing the robot 6001 todetect objects and obstacles to the sides more effectively. This reduces the need for frequent head movements, making the robot 6001 more efficient in navigating through environments with multiple obstacles. Additionally, the rear-facing camera 6302e on the back of the head 6010 complements this setup by enabling the robot 6001 to see behind itself without the necessity of rotating the head or torso excessively. This is particularly advantageous in tight spaces or when avoiding obstacles or people.

[0225] One of the primary advantages of this design is the improved situational awareness it offers without the aid from sensor assemblies on the torso. The head sensor assembly 6302 can provide a close to 360 degree lateral FoV coverage even without head movements, ensuring that the robot 6001 is more attuned to its surroundings, enhancing its ability to navigate safely and effectively. This design is particularly beneficial in environments where the robot 6001 needs to operate in close proximity to people or objects, such as in warehouses or healthcare settings. For example, when the robot 6001 turns the head about 30° to scan the left, the front FoVa and FoVb, the side FoVcand FoVa, and the rear FoVe, all rotate counterclockwise about 30°. Specifically, FoVa between lines Lai and La2 shifts to the angle between lines Lai-ieit and La2-ieft, FoVb between lines Lbi and Lb2 shifts to the angle between lines Lbi-ieit and Lb2-ieit (FIG. 55A), FoVc between lines Lei and LC2 shifts to the angle between lines Lci-ieit and LC2-ieft, FoVa between lines Lai and La2 shifts to the angle between lines Lai-ieft and Ld2-ieft (FIG. 55B), and FoVe between lines Lei and Le2 shifts to the angle between lines Lei-left and Le2-ieft (FIG. 55A). Opposite shifts of the front FoVa and FoVb, the side FoVc and FoVa, and the rear FoVe, apply when the robot 6001 turns the head to scan the right, as shown in FIG. 55.

[0226] In addition, removing torso sensors and relying more on head sensors 6302 offers potential benefits in terms of cost reduction and enhanced mobility. Head sensors can move dynamically, allowing the robot 6001 to scan wider areas and adjust its field of view more effectively than fixed torso sensors. For example, the vertical FOVF or vertical component of the FOVF of the forehead camera 6302a and 6302b covers about 40 degrees between lines LFI and LF2 at a forward angle about 60 degrees from the coronal plane PF of the robot 6001. The vertical FOVRR or vertical component of the FOVRR of the rear camera 6302e also covers about 40 degrees between lines LRR1 and LRR2 at a backward angle about 60 degrees from the coronal plane PF of the robot 6001. As shown in FIG. 54, the vertical FOVF or vertical component of the FOVF of the front cameras 6302a and 6302b may shift upward to the angle between lines LFI-UPand LF2-UPas the head moves upward about the head yes axis 6010.2, or downward to the angle between lines Ln-down and Lr2-down as the head moves downward about the head yes axis 6010.2. Similarly, the FOVRR of the rear-facing camera 6302e defined by angle between lines LRRI and RR2 may shift downward to the angle between lines LRRI-UPand LRR2-UPas the head moves upward about the head yes axis 6010.2, or upward to the angle between lines RRi-down and LRR2- down as the head moves downward about the head yes axis 6010.2. Positioned higher, head sensors can overlook obstacles that might block lower torso sensors, providing a broader perspective. Reducing the number of torso sensors can simplify the robot 6001 ’s design, lower production costs, and decrease maintenance complexity.I. Industrial Application

[0227] While the disclosure shows illustrative embodiments of the sensors of a robot (in particular, a humanoid robot), it should be understood that embodiments are designed to be examples of the principles of the disclosed assemblies, methods and systems, and are not intended to limit the broad aspects of the disclosed concepts to the embodiments illustrated. As will be realized, the disclosed sensors, and their functionality and methods of operation, are capable of other and different configurations and several details are capable of being modified all without departing from the scope of the disclosed methods and systems. For example, one or more of the disclosed embodiments, in part or whole, may be combined consistent with the disclosed assemblies, methods and systems. As such, one or more steps from the diagrams or components in the Figures may be selectively omitted and / or combined consistent with the disclosed assemblies, methods and systems. Additionally, one or more steps from the arrangement of components may be omitted or performed in a different order. Accordingly, the drawings, diagrams, and detailed description are to be regarded as illustrative in nature, not restrictive or limiting, of the sensors of said humanoid robot.

[0228] While the above described robot is designed as sensors for use with a general-purpose humanoid robot, it should be understood that the assemblies, components, learning capabilities, and / or kinematic capabilities may be used with other robots. Examples of other robots include: articulated robot (e.g., an arm having two, six, or ten degrees of freedom, etc.), a cartesian robot (e.g., rectilinear or gantry robots, robots having three prismatic joints, etc.), Selective Compliance Assembly Robot Arm (SCARA) robots (e.g., with a donut shaped work envelope, with two parallel joints that provide compliance in one selected plane, with rotary shaftspositioned vertically, with an end effector attached to an arm, etc ), delta robots (e.g., parallel link robots with parallel joint linkages connected with a common base, having direct control of each joint over the end effector, which may be used for pick-and-place or product transfer applications, etc.), polar robots (e.g., with a twisting joint connecting the arm with the base and a combination of two rotary joints and one linear joint connecting the links, having a centrally pivoting shaft and an extendable rotating arm, spherical robots, etc.), cylindrical robots (e.g., with at least one rotary joint at the base and at least one prismatic joint connecting the links, with a pivoting shaft and extendable arm that moves vertically and by sliding, with a cylindrical configuration that offers vertical and horizontal linear movement along with rotary movement about the vertical axis, etc.), self-driving car, a kitchen appliance, construction equipment, or a variety of other types of robot systems. The robot system may include one or more sensors (e.g., cameras, temperature, pressure, force, inductive or capacitive touch), motors (e.g., servo motors and stepper motors), actuators, biasing members, encoders, housing, or any other component known in the art that is used in connection with robot systems. Likewise, the robot system may omit one or more sensors (e.g., cameras, temperature, pressure, force, inductive or capacitive touch), motors (e.g., servo motors and stepper motors), actuators, biasing members, encoders, housing, or any other component known in the art that is used in connection with robot systems.

[0229] In other embodiments, other configurations and / or components may be utilized. As is known in the data processing and communications arts, a general-purpose computer typically comprises a central processor or other processing device, an internal communication bus, various types of memory or storage media (RAM, ROM, EEPROM, cache memory, disk drives etc.) for code and data storage, and one or more network interface cards or ports for communication purposes. The software functionalities involve programming, including executable code as well as associated stored data. The software code is executable by the general-purpose computer. In operation, the code is stored within the general-purpose computer platform. At other times, however, the software may be stored at other locations and / or transported for loading into the appropriate general-purpose computer system.

[0230] A server, for example, includes a data communication interface for packet data communication. The server also includes a central processing unit (CPU), in the form of one or more processors, for executing program instructions. The server platform typically includes an internal communication bus, program storage and data storage for various data files to beprocessed and / or communicated by the server, although the server often receives programming and data via network communications. The hardware elements, operating systems and programming languages of such servers are conventional in nature, and it is presumed that those skilled in the art are adequately familiar therewith. The server functions may be implemented in a distributed fashion on a number of similar platforms, to distribute the processing load.

[0231] Hence, aspects of the disclosed methods and systems outlined above may be embodied in programming. Program aspects of the technology may be thought of as “products” or “articles of manufacture” typically in the form of executable code and / or associated data that is carried on or embodied in a type of machine-readable medium. “Storage” type media includes any or all of the tangible memory of the computers, processors or the like, or associated modules thereof, such as various semiconductor memories, tape drives, disk drives and the like, which may provide non-transitory storage at any time for the software programming. All or portions of the software may at times be communicated through the Internet or various other telecommunication networks. Thus, another type of media that may bear the software elements includes optical, electrical and electromagnetic waves, such as used across physical interfaces between local devices, through wired and optical landline networks and over various air-links. The physical elements that carry such waves, such as wired or wireless links, optical links or the like, also may be considered as media bearing the software. As used herein, unless restricted to non-transitory, tangible “storage” media, terms such as computer or machine “readable medium” refer to any medium that participates in providing instructions to a processor for execution.

[0232] A machine-readable medium may take many forms, including but not limited to, a tangible storage medium, a carrier wave medium or physical transmission medium. Non-volatile storage media include, for example, optical or magnetic disks, such as any of the storage devices in any computer(s) or the like, such as may be used to implement the disclosed methods and systems. Volatile storage media include dynamic memory, such as the main memory of such a computer platform. Tangible transmission media include coaxial cables, copper wire and fiber optics, including the wires that comprise a bus within a computer system. Carrier-wave transmission media can take the form of electric or electromagnetic signals, or acoustic or light waves such as those generated during radio frequency (RF) and infrared (IR) data communications. Common forms of computer-readable media therefore include for example: a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM,DVD or DVD-ROM, any other optical medium, punch cards, paper tape, any other physical storage medium with patterns of holes, a RAM, a PROM and EPROM, a FLASH-EPROM, any other memory chip or cartridge, a carrier wave transporting data or instructions, cables or links transporting such a carrier wave, or any other medium from which a computer can read programming code and / or data. Many of these forms of computer readable media may be involved in carrying one or more sequences of one or more instructions to a processor for execution.

[0233] It is to be understood that the invention is not limited to the exact details of construction, operation, exact materials, or embodiments shown and described, as obvious modifications and equivalents will be apparent to one skilled in the art. While the specific embodiments have been illustrated and described, numerous modifications come to mind without significantly departing from the spirit of the invention, and the scope of protection is only limited by the scope of the accompanying Claims. It should also be understood that substantially utilized herein means a deviation less than 15% and preferably less than 5%. It should also be understood that near and proximate utilized herein means within 10 cm. It should also be understood that adjacent utilized herein means within 1 cm. It should also be understood that other configuration or arrangements of the above-described components is contemplated by this Application.Moreover, the description provided in the background section should not be assumed to be prior art merely because it is mentioned in or associated with the background section. The background section may include information that describes one or more aspects of the subject of the technology. Finally, the mere fact that something is described as conventional does not mean that the Applicant admits it is prior art.

[0234] In this Application, to the extent any U.S. patents, U.S. patent applications, or other materials (e.g., articles) have been incorporated by reference, the text of such materials is only incorporated by reference to the extent that they do not conflict with materials, statements and drawings set forth herein. In the event of such conflict, the text of the present document controls, and terms in this document should not be given a narrower reading in virtue of the way in which those terms are used in other materials incorporated by reference. It should also be understood that structures and / or features not directly associated with a robot cannot be adopted or implemented into the disclosed humanoid robot without careful analysis and verification of the complex realities of designing, testing, manufacturing, and certifying a robot for completion ofusable work nearby and / or around humans. Theoretical designs that attempt to implement such modifications from non-robotic structures and / or features are insufficient (and in some instances, woefully insufficient) because they amount to mere design exercises that are not tethered to the complex realities of successfully designing, manufacturing and testing a robot.

Claims

CLAIMS1. A humanoid robot comprising: an upper region including: (i) a torso, (ii) a pair of arm assemblies coupled to the torso, and (iii) a head and neck assembly including: a neck portion coupled to the torso; and a head portion coupled to the neck portion and having: a head housing assembly including a first shell and a second shell coupled to the first shell to define a head volume between the first shell and the second shell, and wherein the first shell includes an opening formed therein; a cover extending across at least a majority of the opening formed in the first shell; a first camera having an extent located within the head volume, wherein the first camera includes both a first body and a first camera lens positioned between the cover and the first camera body, and wherein the first camera has a: (i) a first horizontal field of view that is greater than 45 degrees, and (ii) a first vertical field of view that is greater than 15 degrees; a second camera having an extent located within the head volume, wherein the second camera includes both a second body positioned a less than 15 centimeters from the first camera body and a second camera lens positioned between the cover and the second camera body, and wherein the second camera has: (i) a second horizontal field of view that is greater than 45 degrees, and (ii) a second vertical field of view that is greater than 15 degrees; and a lower region coupled to the upper region, the lower region including a pair of legs.

2. The humanoid robot of claim 1, wherein a first center of the first horizontal field of view by at least 45 degrees in a first direction about a first neck axis, and (ii) a first center of the second horizontal field of view by at least 45 degrees in a second direction about the first neck axis, wherein said second direction is oriented opposite to said first direction.

3. The humanoid robot of claim 2, wherein the neck includes a second degree of freedom that is configured to move: (i) a first center line of the first vertical field of view by at least 15 degrees in a third direction about a second neck axis, wherein the third direction is oriented substantially perpendicular to the first direction, and (ii) a first center line of the second vertical field of view by at least 15 degrees in a fourth direction about the second neck axis, wherein said fourth direction is oriented opposite to the third direction.

4. The humanoid robot of claim 1, wherein the coupling between an arm actuator, and wherein when the robot is at least in a neutral position, the torso further includes a third camera: (i) with an extent positioned within the torso and below the arm actuator, and (ii) having a center line of a vertical field of view that is nonparallel with a substantially flat support surface that the humanoid robot is standing upon.

5. The humanoid robot of claim 4, wherein the third camera is both positioned in a frontal extent of the torso and is vertically aligned with an extent of the first camera.

6. The humanoid robot of claim 4, wherein when the robot moves its head portion: (i) the horizontal field of view, the vertical field of view, or both of said components of view of the first and second cameras are altered, and (ii) the vertical field of view of the third camera is not altered.

7. The humanoid robot of claim 1, further comprising a rear camera having a center line of a vertical field of view that is nonparallel with a substantially flat support surface that the humanoid robot is standing upon in the neutral position.

8. The humanoid robot of any of claims 1-7, wherein the first camera is horizontally aligned with the second camera, and said first and second cameras function together to provide stereoscopic vision when the humanoid robot is standing upright.

9. The humanoid robot of any of claims 1-7, wherein the first camera is positioned vertically above the second camera, the cover associated with the second camera is a second cover, and said first and second cameras function together to provide stereoscopic vision when the humanoid robot is standing upright.

10. A humanoid robot comprising:an upper region including: (i) a torso, (ii) a pair of arm assemblies operably coupled to the torso, and (iii) a head and neck assembly operably coupled to the torso, the head and neck assembly having a head portion operably coupled to a neck portion; wherein the head portion includes: a head housing assembly including a first shell and a second shell coupled to the first shell to define a head volume between the first shell and the second shell, and a first camera located within the head volume and located above a chin region, and wherein said first camera has: (i) a first horizontal field of view that is greater than 45 degrees, and (ii) a first vertical field of view that is greater than 15 degrees; and wherein the neck portion includes: a first degree of freedom that is configured to move an extent of an extent of the first horizontal field of view by at least 30 degrees, and a second degree of freedom that is configured to move an extent of an extent of the first vertical field of view by at least 15 degrees; and a lower region operably coupled to the upper region, the lower region including a pair of legs.

11. The humanoid robot of claim 10, wherein the head portion includes an upper sensor recess aligned with the first camera.

12. The humanoid robot of claim 10, wherein the head portion further includes a second camera positioned near a chin region of the head portion.

13. The humanoid robot of claim 10, further comprising a lower sensor recess aligned with the second camera.

14. The humanoid robot of claim 10, wherein when the robot is in a neutral position, the torso further includes a frontal camera: (i) having a center line of a vertical field of view that is nonparallel with a substantially flat support surface that the humanoid robot is standing upon, and (ii) including an extent of the vertical field of view that is obscured by an extent of the pair of legs.

15. The humanoid robot of claim 14, wherein when said robot moves its head portion the vertical field of view of the third camera is not altered.

16. The humanoid robot of claim 10, further comprising a rear camera having a center line of a vertical field of view that is nonparallel with a substantially flat support surface that the humanoid robot is standing upon in a neutral position.

17. The humanoid robot of any of claims 10-16, wherein a substantial extent of the first shell lacks human-like facial structures formed therein.

18. A humanoid robot comprising: an upper region including: (i) a torso, (ii) a pair of arm assemblies operably connected to the torso, and (iii) a head and neck assembly operably connected to the torso, the head and neck assembly a head portion coupled to a neck portion, wherein the head portion includes: a head housing assembly including a first shell and a second shell coupled to the first shell to define a head volume between the first shell and the second shell, a frontal sensor opening formed in the head housing assembly, a camera: (i) aligned with the frontal sensor opening, (ii) including a camera body positioned within the head housing assembly, a (iii) a first horizontal field of view that is greater than 45 degrees, and (ii) a first vertical field of view that is greater than 15 degrees; and a lower region operably connected to the upper region, the lower region including a pair of legs.

19. The humanoid robot of claim 18, further comprising a sensor recess having: a shelf coupled to the rear shell and extending forward from the rear shell toward the frontal shell; an overhang coupled to the rear shell and spaced vertically above the shelf; a sensor cover extending between and interconnecting the shelf and the overhang; a first side wall located on a first lateral side of the sensor cover and extending forward away from the sensor cover, and; a second side wall located on a second lateral side of the sensor cover and extending forward away from the sensor cover.

20. The humanoid robot of claim 19, wherein the shelf extends forward and downward away from the planar sensor cover at an angle to increase a separation distance between the shelf and the overhang as the shelf and the overhang extend away from the rear shell.

21. The humanoid robot of claim 20, wherein the sensor cover extends along a first plane that is oriented substantially parallel with a second plane of a lens of the camera located behind the sensor cover.

22. The humanoid robot of claim 18, wherein the frontal shell includes: (i) a shell body, (ii) a first side wing coupled to an upper end of the shell body and positioned on a first side of the frontal sensor opening, and (ii) a second side wing coupled to the upper end of the shell body and positioned on a second side of the frontal sensor opening.

23. The humanoid robot of any of claims 18-22, wherein the rear shell includes: (i) a rear sensor recess defined by a rear shelf extending rearwardly away from the frontal shell, and (ii) a rear overhang extending rearwardly away from the frontal shell and spaced vertically from the rear shelf.

24. The humanoid robot of any of claims 18-22, wherein the neck portion includes: a first degree of freedom that is configured to move an extent of an extent of the first horizontal field of view by at least 30 degrees, and a second degree of freedom that is configured to move an extent of an extent of the first vertical field of view by at least 15 degrees.

25. The humanoid robot of any of claims 18-22, wherein when the robot is in a neutral position, the torso further includes a torso frontal camera having a first vertical field of view that is partially obscured by an extent of the pair of legs.

26. The humanoid robot of claim 25, wherein when said robot moves its head portion the first vertical field of view of the frontal torso camera is not altered.

27. The humanoid robot of any of claims 18-22, further comprising a rear camera having a center line of a vertical field of view that is oriented at an angle relative to a substantially flat support surface that the humanoid robot is standing upon in a neutral position.

28. A humanoid robot comprising:an upper region including: (i) a torso, (ii) a pair of arm assemblies coupled to the torso, and (iii) a head and neck assembly coupled to the torso and having a neck portion and a head portion coupled to the neck portion, and wherein the head portion includes: a first camera having a first center line of a first vertical field of view, and wherein said first vertical component that is greater than 45 degrees, a second camera having a second center line of a second vertical field of view, and wherein said second vertical component that is greater than 45 degrees, and wherein the first center line of a first vertical component is angled relative to the second center line of the vertical component, and a lower region coupled to the upper region and spaced apart from the upper region, the lower region including a pair of legs.

29. The humanoid robot of claim 28, wherein the first camera is spaced apart from the second camera in a vertical direction.

30. The humanoid robot of claim 29, further comprising three cameras positioned within the torso.

31. The humanoid robot of claim 30, wherein the three cameras include a center lines of vertical field of views, and wherein said center lines are angled relative to the first and second center lines of the first and second cameras when the robot is in the neutral position.

32. The humanoid robot of any of claims 28-31, wherein the angle is within a range 120 degrees to 140 degrees.

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