Humanoid robot

Abstract

A control system for a humanoid robot includes at least one controller having a movement command circuit, an input interface, a force translation circuit, and a motor response circuit. The movement command circuit receives movement commands specifying desired movement of the humanoid robot. The input interface receives state information indicative of a condition of the humanoid robot, including joint position information. The force translation circuit determines a force-based control target in response to the movement commands and the state information. The motor response circuit receives motor feedback and generates at least one motor command signal in response to the force-based control target and the motor feedback to cause at least one motor to actuate at least one joint to produce the desired movement.

Description

Attorney Docket No. ONEX-0008-WO2HUMANOID ROBOT CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims the benefit of U.S. Provisional Patent App. No. 63 / 761,655, filed on 21 FEB 2025, and entitled “HUMANOID ROBOT” (ONEX-0001-P01).

[0002] The present application claims the benefit of U.S. Provisional Patent App. No. 63 / 773,924, filed on 18 MAR 2025, and entitled “DOMESTIC ROBOT” (ONEX-0004-P01).

[0003] The present application claims the benefit of U.S. Provisional Patent App. No. 63 / 906,392, filed on 27 OCT 2025, and entitled “HUMANOID ROBOT MECHANICAL SYSTEM” (ONEX-0008-P01).

[0004] Each of the foregoing applications is incorporated herein by reference in the entirety for all purposes.SUMMARY

[0005] Embodiments of the present disclosure achieve improvements for humanoid robots configured to operate in human environments, including home environments, by improving reliability, reducing operational noise, enhancing passive safety, increasing user comfort and acceptance, and advancing whole-body mobility, manipulation, and human interaction.In certain embodiments, reliability is improved through structural and mechanical refinements to the robot platform, including reinforcement of limb structures and refinement of joint and locomotion components, thereby supporting sustained operation in real-world home use. In certain embodiments, operating noise is reduced during walking and task execution by utilizing tendon-drive actuation and associated mechanical configurations that reduce transmitted noise and vibration, thereby improving suitability for quiet, shared human spaces.

[0006] In certain embodiments, passive safety and human compatibility are improved through compliant external coverings, including soft and / or flexible impact shells and fabric covers that distribute and attenuate contact forces and reduce pinch-point risk throughout a range of motion. In certain embodiments, a seamless knit suit provides durability and comfort while maintaining or enhancing range of motion through localized knit structures that provide flexibility in high-motion regions and reinforcement in higher-wear regions.

[0007] In certain embodiments, human-robot interaction is improved through integrated audio input and output features configured to support natural voice interaction and improved perception in domestic settings, including distributed microphone placement and multi-speaker audio output, thereby enabling clearer communication and more intuitive engagement with nearby users.Attorney Docket No. ONEX-0008-WO2

[0008] In certain embodiments, mobility improvements are achieved through coordinated wholebody control supporting human-like movements, including gait, squatting, and sitting while maintaining balance, and through ankle and lower-limb refinements that improve locomotion performance. In certain embodiments, manipulation capability is improved by control arrangements that support robust object interaction across varied object types and environments, thereby increasing usefulness for household tasks.

[0009] Various aspects of the present disclosure include robots for use in human environments, including for example home environments, care facilities, or the like. In certain embodiments, robots herein may be utilized in other environments, such as and without limitation: industrial environments, construction, oilfield, shipping, warehousing, or the like. The benefits of embodiments of the present disclosure may be realized in any environment where a robot having a humanoid form factor is applicable.

[0010] Certain aspects of the present disclosure provide for a robot that has similar movements, including movement limitations, to a human. These aspects support a number of benefits, including without limitation: allowing for direct access and use of facilities that are designed to be operated by a human; providing predictable and expected movement improving acceptance and the comfort level of humans in the vicinity of a humanoid robot; enhancing the penetration of humanoid robots into more applications to multiply the benefits to underserved industries such as home care, maintenance, and cleaning; to allow management protocols such as those for safe and efficient operation to continue to focus on humans as the baseline; and / or to reduce incidents between contrasting operational paradigms in contexts where humans and robots work and / or move together in the same spaces.

[0011] The foregoing benefits, without limitation, are directly created, supported, and / or enhanced by aspects of the present disclosure, including aspects such as: macro movement of the robot segmented into similar joint locations as in a human; joint movements for corresponding joints having a similarity to human movement ranges and degrees of freedom; dynamic response factors to collisions, impacts, and bumps having a similarity to human factors (e.g., body texture and resilience, recovery movements, body mass and mass distribution, etc.); overall body size, mass, and limb distribution having a similarity to humans; lifting and / or actuating dynamic force takeup and release (e.g., ensuring that movements are similar to human movements, so that contact forces on loads are similar to human imposed contact forces, etc.); and / or lifting limitations (e.g., total weight, height of the load, failure to lift response, etc.) that are similar to human performance.

[0012] The recited force-based / torque-based control architecture, including determining a force-based control target from a movement command and state information and providing motorAttorney Docket No. ONEX-0008-WO2command signals responsive to that force-based control target, supports movements made with human safe energy levels and provides movement based on torque and force control rather than just position control, thereby improving smoothness and predictability of robot response in human environments. The recited use of joint position information and motor feedback to update motor command signals supports stable, responsive closed-loop control, which further reduces unexpected motion behavior and enhances user comfort and acceptance.

[0013] The recited configuration in which the movement command may be received as a position command and then translated into a force-based control target to move toward a commanded position supports predictable and expected movement while still providing the compliance and controllability of force / torque control, which improves safety during interaction, reduces incidents in shared human spaces, and supports operation of facilities designed to be operated by a human.

[0014] The recited dependent joint-motion implementations for the shoulder, elbow, wrist, hip, knee (including a two-stage knee), ankle, neck, spine, hand actuation, and foot mid-joint motion collectively support a humanoid form factor with human-like joint capabilities and kinetics, thereby enabling operation in human environments, use of equipment built for humans, and predictable motion that improves acceptance and comfort of nearby humans. The enumerated joint movements and ranges reflect a human-similar movement paradigm that supports management and safety protocols using humans as a baseline and reduces incidents arising from contrasting operational paradigms.

[0015] The recited velocity limiting and acceleration limiting constraints applied when determining the force-based control target support limiting limb speed and limb acceleration to predetermined maxima, which reduces total kinetic energy, lowers the risk of impact severity, and supports movements made with human safe energy levels. The recited rotational momentum and linear momentum limiting constraints similarly support limiting momentum to predetermined thresholds, further reducing collision risk and unexpected high-energy motions, improving passive and active safety characteristics and increasing user comfort during close-proximity operation.

[0016] Movements made with human safe energy levels, including total linear and / or rotational inertia, and movement speed of the robot, limbs, and / or extremities thereof, are supported by the recited force translation circuit determining the force-based control target subject to a velocity limit, an acceleration limit, and at least one of a rotational momentum limit or a linear momentum limit, together with the motor response circuit generating motor command signals to enforce those limits during execution of the desired movement.

[0017] Movement based on torque and force control rather than just position control, allowing for smooth and predictable response from the robot, is supported by the recited force translation circuitAttorney Docket No. ONEX-0008-WO2determining a force-based control target in response to the movement command and state information, and the motor response circuit generating motor command signals in response to the force-based control target and motor feedback to close the loop on force / torque behavior.

[0018] Form factor similar to a human, allowing operation in a human environment, operation of equipment built for humans, and predictable response to humans in the human environment, is supported by the recited control system being for a humanoid robot having a plurality of motors operable to drive movement of a plurality of joints, enabling coordinated whole-body joint actuation under a common force -based control framework suitable for human-scale tasks and spaces.

[0019] Provision of human similar touch response, whether automated or provided as haptic feedback to a remote operator, enhancing the match to human capability and expectations, is supported by the recited motor feedback input to the motor response circuit in combination with force-based control targets, which facilitates controlled compliance and responsive interaction forces when the robot contacts objects or people, thereby supporting touch-like interaction behavior consistent with human expectations.

[0020] Allowing direct access to, and use of, facilities designed to be operated by a human, is supported by the recited control system generating motor command signals that drive the plurality of joints of the humanoid robot in response to movement commands, enabling the robot to execute human-scale motions and postures needed to use human facilities, furniture, tools, and interfaces.

[0021] Providing predictable and expected movement to improve acceptance and comfort of nearby humans is supported by the recited movement command circuit receiving movement commands, the input interface receiving joint position state information, and the motor response circuit using motor feedback to update outputs, thereby producing stable closed-loop behavior that reduces unexpected motion and improves user comfort during close-proximity operation.Enhancing deployment of humanoid robots into additional applications (including home care, maintenance, and cleaning) is supported by the recited architecture being general to a plurality of joints and motors and being operable from movement commands that can be expressed as position commands, while still being implemented through force-based targets and feedback-controlled motor command signals, thereby enabling robust task execution across varied household scenarios.

[0022] Allowing management and safety protocols to continue to use humans as a baseline for expectations and operating paradigms is supported by the recited constraint-based determination of the force-based control target, including velocity, acceleration, and momentum limits, which impose human-compatible motion envelopes and provide bounded energy and momentum characteristics consistent with human-centric safety expectations.Attorney Docket No. ONEX-0008-WO2

[0023] Reducing incidents arising from contrasting operational paradigms when humans and robots move and / or work in the same spaces is supported by the recited combination of force-based control targets with motor-feedback closed-loop control and explicit velocity / acceleration / momentum constraints, which together reduce impulsive motion, limit impact energy, and improve compliance and predictability during shared-space interaction.Improving human comfort through knowledge of operating state, and avoidance of disturbing look, feel, or response, and avoidance of the uncanny valley is supported by the recited predictable, smooth motion behavior enabled by force-based targets and feedback-controlled motor command signals, including motion bounded by velocity, acceleration, and momentum limits that reduce abrupt or startling movements that can be disturbing to nearby humans.

[0024] Allowing for safe shutdown when power is lost and / or operating conditions are outside of the robot’s capability envelope is supported by the recited force translation circuit generating bounded force-based control targets and the motor response circuit using motor feedback to regulate outputs, which together support operating within controlled envelopes and facilitate safe behavior as operating conditions approach limits, although specific loss-of-power behaviors are addressed in other portions of the disclosure.

[0025] Movements made with human safe energy levels, including total linear and / or rotational inertia, and movement speed of the robot, limbs, and / or extremities thereof, are supported by the recited movement validation circuit gating authorization of force-based control target generation, thereby preventing execution of motive commands that would drive motion outside a safe capability envelope.

[0026] Movement based on torque and force control rather than just position control, allowing for smooth and predictable response from the robot, is supported by the recited architecture in which, upon a valid motive command, the force translation circuit is authorized to determine a force-based control target, thereby enabling torque / force-directed actuation rather than uncontrolled or purely position-driven responses to potentially invalid commands.

[0027] Form factor similar to a human, allowing operation in a human environment, operation of equipment built for humans, and predictable response to humans in the human environment, is supported by the recited humanoid robot controller framework that interprets motive commands and validates them before authorizing motion, thereby promoting consistent, human-compatible behavior patterns in spaces and workflows designed around human expectations.

[0028] Provision of human similar touch response, whether automated or provided as haptic feedback to a remote operator, enhancing the match to human capability and expectations, is supported by the recited validation-and-authorization architecture by ensuring that motion commandsAttorney Docket No. ONEX-0008-WO2leading to contact interactions are within authorized and achievable bounds before enabling forcebased actuation, thereby reducing unexpected contact behaviors that would undermine touch-like interaction expectations.

[0029] Allowing direct access to, and use of, facilities designed to be operated by a human, is supported by the recited movement command interpretation and validation that filters out ambiguous, unauthorized, or unachievable motive commands and enables execution of valid commands through force-based control, thereby improving reliability of task execution when operating human-oriented interfaces and fixtures.

[0030] Providing predictable and expected movement to improve acceptance and comfort of nearby humans is supported by the recited movement validation circuit determining whether a motive command is valid and, when invalid, preventing force-target generation and instead sending an administrative assistance request, thereby avoiding unpredictable robot motions resulting from unclear or unauthorized commands.

[0031] Enhancing deployment of humanoid robots into additional applications (including home care, maintenance, and cleaning) is supported by the recited administrative assistance request behavior for invalid commands, which enables continued task progression through human-in-the-loop clarification rather than unsafe execution or complete failure, thereby improving practical usability in real-world settings with varied and imperfect command inputs.

[0032] Allowing management and safety protocols to continue to use humans as a baseline for expectations and operating paradigms is supported by the recited validation of motive commands for authorization, unachievability, safety conditions, and fault conditions, thereby enforcing policy-based and capability-based constraints consistent with human-centric safety management practices.

[0033] Reducing incidents arising from contrasting operational paradigms when humans and robots move and / or work in the same spaces is supported by the recited prevention of actuation upon unsafe, ambiguous, or fault-associated motive commands and by escalation to administrative assistance, thereby reducing erratic or non-human-like motion responses that could surprise nearby humans.

[0034] Improving human comfort through knowledge of operating state, and avoidance of disturbing look, feel, or response, and avoidance of the uncanny valley is supported by the recited external administrative assistance request in response to invalid commands, which can be presented as an understandable request for clarification rather than an unexpected motion response, thereby improving perceived transparency and comfort.

[0035] Allowing for safe shutdown when power is lost and / or operating conditions are outside of the robot’s capability envelope is supported by the recited movement validation circuit determiningAttorney Docket No. ONEX-0008-WO2invalidity in response to at least one of a safety condition or a fault condition and blocking authorization of force-based motion, thereby supporting controlled behavior as operating conditions approach or exceed the capability envelope.

[0036] Predict sensitive situations like tasks that will prevent safe shutdown, seeking assistance and / or declining the task that may result in a potential unsafe condition is supported by the recited determination that a motive command is not valid in response to a safety condition or fault condition and the consequent sending of an administrative assistance request, thereby enabling escalation and / or refusal of tasks that would create potentially unsafe conditions.

[0037] Movements made with human safe energy levels, including total linear and / or rotational inertia, and movement speed of the robot, limbs, and / or extremities thereof, are supported by the recited ceasing an ongoing motive operation and returning limbs to a safe posture position when power and control are available, and by collapsing into a safe rest position when power or control is not available, thereby reducing the likelihood of uncontrolled high-energy motion during abnormal conditions.

[0038] Movement based on torque and force control rather than just position control, allowing for smooth and predictable response from the robot, is supported by the recited controlled return of limbs to a safe posture position when power and control are available, which enables regulated actuation to reduce abrupt motion during cessation of an operation.

[0039] Form factor similar to a human, allowing operation in a human environment, operation of equipment built for humans, and predictable response to humans in the human environment, is supported by the recited collapsing into a safe rest position, including embodiments in which the rest position comprises a squat-like posture, which is consistent with human-like recovery behavior and reduces disruptive falls in human environments.

[0040] Provision of human similar touch response, whether automated or provided as haptic feedback to a remote operator, enhancing the match to human capability and expectations, is supported indirectly by the recited returning limbs through a controlled transition to a safe posture position, which reduces unexpected contact forces during cessation and helps maintain compliant behavior if incidental contact occurs.

[0041] Allowing direct access to, and use of, facilities designed to be operated by a human, is supported by the recited returning limbs to a baseline selected safe position, which can be selected to clear human-oriented fixtures and tools and reduce entanglement risk as operations stop or transition.

[0042] Providing predictable and expected movement to improve acceptance and comfort of nearby humans is supported by the recited ceasing an ongoing motive operation and returning limbs to a safe posture position through an obstacle free path and / or a human free path, thereby producingAttorney Docket No. ONEX-0008-WO2understandable, non-startling behavior during stopping and recovery.Enhancing deployment of humanoid robots into additional applications (including home care, maintenance, and cleaning) is supported by the recited safe cessation and recovery behaviors, which improve operational robustness in unstructured environments and reduce downtime and hazard risk when tasks are interrupted.

[0043] Allowing management and safety protocols to continue to use humans as a baseline for expectations and operating paradigms is supported by the recited explicit safe posture position and safe rest position behaviors, which provide defined safety states that can be incorporated into humancentric procedures for stopping, pausing, and fault recovery.

[0044] Reducing incidents arising from contrasting operational paradigms when humans and robots move and / or work in the same spaces is supported by the recited obstacle free path and human free path return behaviors, which reduce collision likelihood during stop events and minimize unexpected limb trajectories near humans.

[0045] Improving human comfort through knowledge of operating state, and avoidance of disturbing look, feel, or response, and avoidance of the uncanny valley is supported by the recited controlled return to a safe posture position and controlled collapse to a safe rest position, which avoid sudden falls or erratic motion that can be disturbing to nearby humans.

[0046] Allowing for safe shutdown when power is lost and / or operating conditions are outside of the robot’s capability envelope is directly supported by the recited collapsing into a safe rest position in response to determining that either power or control is not available, and by returning limbs to a safe posture position when power and control are available, thereby providing defined shutdown and degraded-mode behaviors.

[0047] Predict sensitive situations like tasks that will prevent safe shutdown, seeking assistance and / or declining the task that may result in a potential unsafe condition is supported indirectly by the recited ceasing an ongoing motive operation and transitioning to safe posture or rest behaviors, which enables the robot to stop or disengage from tasks that would otherwise create an unsafe condition during shutdown or loss-of-control scenarios.

[0048] Movements made with human safe energy levels, including total linear and / or rotational inertia, and movement speed of the robot, limbs, and / or extremities thereof, are supported by the recited tactile sensor architecture in which a contact layer and a sensing array measure deformities caused by applied forces and generate force-indicative outputs, enabling feedback that can be used to limit excessive interaction forces and reduce high-energy contact events during manipulation and locomotion.Attorney Docket No. ONEX-0008-WO2

[0049] Movement based on torque and force control rather than just position control, allowing for smooth and predictable response from the robot, is supported by the recited sensing array measuring deformities in sensing pillars based on changes in capacitance and / or resistance and generating an image representing deformities, which provides force-related feedback usable to regulate actuator outputs in force-responsive control loops rather than relying solely on position targets.

[0050] Form factor similar to a human, allowing operation in a human environment, operation of equipment built for humans, and predictable response to humans in the human environment, is supported by the recited external surface being shaped according to intended robotic applications such as a fingertip, palm, or foot sole, and by configurable pillar arrangements, pillar shapes, and sensing-element distributions that allow integration into human-scale contact geometries used for everyday household interactions.

[0051] Provision of human similar touch response, whether automated or provided as haptic feedback to a remote operator, enhancing the match to human capability and expectations, is directly supported by the recited internal surface including sensing pillars that deform in response to normal and shear forces and by the sensing array generating measurable outputs (including images) representing those deformities, enabling estimation of local and global contact forces and supporting touch-like perception and responsive interaction behavior.

[0052] Allowing direct access to, and use of, facilities designed to be operated by a human, is supported by the recited sensor being usable on robotic interfaces including fingers, hands, and feet and by the recited configurable sensing resolution (including one-to-one pillar-to-sensing-element pairing and mixed-resolution regions), enabling fine contact detection for grasping, tool use, and stable foot placement on human-scale surfaces.

[0053] Providing predictable and expected movement to improve acceptance and comfort of nearby humans is supported by the recited force measurement capability, including detection of non-uniform vertical forces and shear forces through pillar deformation patterns, which supports consistent grip regulation and contact moderation, reducing sudden slips, squeezes, or unintended impacts that can appear unpredictable or unsafe to nearby humans.

[0054] Enhancing deployment of humanoid robots into additional applications (including home care, maintenance, and cleaning) is supported by the recited adaptability of the sensor, including selectable pillar shapes, materials, distributions, and variable sensing density, together with image-based processing to extract force information, enabling robust manipulation and surface contact behaviors across a wide variety of household objects and environments.

[0055] Allowing management and safety protocols to continue to use humans as a baseline for expectations and operating paradigms is supported by the recited capability to sense and quantifyAttorney Docket No. ONEX-0008-WO2contact forces at human-relevant interfaces (hands and feet) and to distinguish localized forces across a sensing region, enabling enforceable force thresholds and interaction policies consistent with human-centric safety expectations for touch and contact.

[0056] Reducing incidents arising from contrasting operational paradigms when humans and robots move and / or work in the same spaces is supported by the recited detection of contact forces from objects in contact with the external surface and the generation of structured outputs representing force profiles, which supports rapid detection of unexpected contact and enables control responses that reduce pinch, crush, or slip events during close-proximity interaction.

[0057] Improving human comfort through knowledge of operating state, and avoidance of disturbing look, feel, or response, and avoidance of the uncanny valley is supported by the recited touch-like sensing capability, including measurement of both normal and shear interactions via deformities in sensing pillars, enabling moderated, compliant responses during contact that feel less rigid or startling and therefore more comfortable and acceptable in human environments.

[0058] Allowing for safe shutdown when power is lost and / or operating conditions are outside of the robot’s capability envelope is supported indirectly by the recited sensor outputs representing force profiles and force magnitudes, which can be used to detect abnormal contact conditions and support transitions to safer behaviors or reduced-force operation modes as conditions approach unsafe ranges, although specific shutdown procedures are addressed in other portions of the disclosure.

[0059] Predict sensitive situations like tasks that will prevent safe shutdown, seeking assistance and / or declining the task that may result in a potential unsafe condition is supported indirectly by the recited ability to detect force profiles indicative of jamming, snagging, or excessive constraint through deformity images and derived force information, enabling recognition of hazardous interaction conditions and supporting escalation or refusal behaviors, although explicit assistancerequest logic is addressed in other portions of the disclosure.

[0060] Movements made with human safe energy levels, including total linear and / or rotational inertia, and movement speed of the robot, limbs, and / or extremities thereof, are supported indirectly by the recited ear panel configured to display a robot status indicator, because communicating listening, charging, and remote-operation states enables nearby humans to anticipate robot behavior and maintain separation or coordination that reduces the likelihood of sudden close-proximity interactions.

[0061] Movement based on torque and force control rather than just position control, allowing for smooth and predictable response from the robot, is supported indirectly by the recited status indicator presentation, because communicating operational modes (including remote operation) supports user understanding of expected responsiveness and interaction timing.Attorney Docket No. ONEX-0008-WO2

[0062] Form factor similar to a human, allowing operation in a human environment, operation of equipment built for humans, and predictable response to humans in the human environment, is supported by the recited humanoid robot structure including head, torso, arm assemblies, and leg assemblies, and is further supported by the recited ear panel being integrated into the head to provide a familiar, human- adjacent location for conveying attention and operational state information in human environments.

[0063] Provision of human similar touch response, whether automated or provided as haptic feedback to a remote operator, enhancing the match to human capability and expectations, is supported indirectly by the recited ear panel status indicator including a remote operation status, because communicating remote-control mode can set human expectations for interaction and contact behavior.

[0064] Allowing direct access to, and use of, facilities designed to be operated by a human, is supported indirectly by the recited ear panel displaying operational state (including listening and confirmation), because the displayed state can facilitate coordinated use of human facilities by prompting users when to issue commands and when to wait while the robot interacts with human-oriented interfaces.

[0065] Providing predictable and expected movement to improve acceptance and comfort of nearby humans is directly supported by the recited ear panel configured to display robot status indicators, including listening, charging, remote operation, confirmation, invalid command, task status, and remaining time status, because these indicators provide transparency into robot intent and operating state and reduce surprise motions or perceived unpredictability.

[0066] Enhancing deployment of humanoid robots into additional applications (including home care, maintenance, and cleaning) is supported by the recited status indicator modalities, including graphical icons, light color, and light sequences, because clear, low-effort communication of task status and remaining time improves usability and coordination in domestic and care environments where non-expert users interact with the robot.

[0067] Allowing management and safety protocols to continue to use humans as a baseline for expectations and operating paradigms is supported by the recited ear panel status indicators (including charging, listening, and remote operation), because these externally visible states can be incorporated into human-centric procedures for approach, task handoff, supervision, and restricted-zone behavior around the robot.

[0068] Reducing incidents arising from contrasting operational paradigms when humans and robots move and / or work in the same spaces is supported by the recited invalid command status and task / remaining-time status indications, because communicating these states reduces humanAttorney Docket No. ONEX-0008-WO2misinterpretation of robot behavior and prompts timely corrective action rather than unsafe proximity interactions during uncertain or transitional robot behavior.

[0069] Improving human comfort through knowledge of operating state, and avoidance of disturbing look, feel, or response, and avoidance of the uncanny valley is directly supported by the recited ear panel status indicator approach, because presenting information through an ear panel using icons and light patterns provides emotive, interpretable communication without reliance on potentially unsettling facial expressions, thereby improving comfort and acceptance.

[0070] Allowing for safe shutdown when power is lost and / or operating conditions are outside of the robot’s capability envelope is supported indirectly by the recited charging status and related status indications, because communicating charging and operational state can guide humans to avoid interaction during low-power or transition conditions and can support procedures that place the robot into safe states.

[0071] Predict sensitive situations like tasks that will prevent safe shutdown, seeking assistance and / or declining the task that may result in a potential unsafe condition is supported indirectly by the recited task status and remaining time status indicators, because these indicators can be used to communicate progress, delays, or inability to proceed and thereby prompt assistance or task modification.

[0072] It can be seen that aspects of the present disclosure support multiple benefits, including without limitation one or more benefits described preceding. Certain aspects support one or more benefits in combination with other aspects, and in certain embodiments aspects support one or more benefits as a standalone aspect. Accordingly, in certain embodiments, example robots with one or more aspects of the present disclosure omitted are contemplated herein and support embodiments with benefits as described herein. For example, a robot having arms and a torso as described herein still performs similarly to a human in certain applications, without regard to the type of motive power and support (if any) - for example a robot without legs of any type, or legs that are not similar to the example embodiments herein.

[0073] Collectively, these improvements enable a humanoid robot that is better adapted for safe, quiet, reliable, and socially acceptable operation in close proximity to humans, while supporting expanded functional capability in real-world home environments. Embodiments of the present disclosure may include all, some, or none of the foregoing example improvements, and / or may include other benefits or improvements not recited foregoing.BRIEF DESCRIPTION OF THE FIGURES

[0074] FIG. 1 is an example soft cover rear perspective view of a humanoid robot.

[0075] FIG. 2 is an example soft cover side view of a humanoid robot.Attorney Docket No. ONEX-0008-WO2

[0076] FIG. 3 is an example soft cover front view of a humanoid robot.

[0077] FIG. 4 is an example soft cover front perspective view of a humanoid robot.

[0078] FIG. 5 is an example soft cover rear perspective view of a humanoid robot mid-section.

[0079] FIG. 6 is an example soft cover front view of a humanoid robot knee section.

[0080] FIG. 7 is an example front view of an impact shell for a humanoid robot.

[0081] FIG. 8 is an example suit covered rear perspective view of a humanoid robot.

[0082] FIG. 9 is an example suit covered front perspective view of a humanoid robot.

[0083] FIG. 10 is an example suit covered front view of a humanoid robot.

[0084] FIG. 11 is an example suit covered side view of a humanoid robot.

[0085] FIG. 12 is an example suit covered rear perspective view of a humanoid robot upper section.

[0086] FIG. 13 is an example suit covered front perspective view of a humanoid robot head section.

[0087] FIG. 14 is an example suit covered front perspective view of a humanoid robot foot section.

[0088] FIG. 15 is an example impact shell assembly for a humanoid robot.

[0089] FIG. 16 is an example impact shell assembly for a humanoid robot.

[0090] FIG. 17 is an example head view of a humanoid robot.

[0091] FIG. 18 is an example impact shell assembly front view for a humanoid robot.

[0092] FIG. 19 is an example impact shell assembly rear perspective view for a humanoid robot.

[0093] FIG. 20 is a view of a humanoid robot, showing an example head assembly including a head back plate, an ear panel, an eye, and a face plate.

[0094] FIG. 21 is a perspective view of a humanoid robot including a hip girdle.

[0095] FIG. 22 is a diagram illustrating knitted fabric structure details including a base knit, a horizontal mesh, horizontal ribbing, and a vertical termination.

[0096] FIG. 23 is a diagram illustrating a humanoid robot fabric design with a legend of texture patterns for a knitted fabric, including pattern markers and real world examples of the base knit fabric, horizontal mesh fabric, horizontal ribbing fabric, and vertical termination fabric.

[0097] FIG. 24 is a diagram illustrating a humanoid robot fabric design.

[0098] FIG. 25 is a diagram illustrating a humanoid robot fabric design.

[0099] FIG. 26 is a diagram illustrating a humanoid robot fabric design.

[0100] FIG. 27 is a diagram illustrating a humanoid robot fabric design layout.

[0101] FIG. 28 is a side view of a humanoid robot fabric design.

[0102] FIG. 29 is a diagram illustrating a humanoid robot fabric design.

[0103] FIG. 30 is a diagram illustrating a humanoid robot fabric design.

[0104] FIG. 31 is a side view of a humanoid robot fabric design.Attorney Docket No. ONEX-0008-WO2

[0105] FIG. 32 is an schematic view of a humanoid robot and is further provided as a mechanical assembly view showing example component locations for a head, a secondary neck motor, a neck motor assembly, a shoulder motor assembly, an elbow motor assembly, a wrist motor assembly, a scapula motor, a spine motor assembly, a hip motor assembly, a knee motor, and an ankle motor assembly.

[0106] FIG. 33 is a controller system block diagram including a controller having a movement command circuit, a force translation circuit, and a motor response circuit.

[0107] FIG. 34 is a diagram illustrating a hand structure with a detailed design.

[0108] FIG. 35 is a diagram illustrating a mesh structure including a hip girdle, a girdle flexible separation, and a girdle mesh.

[0109] FIG. 36 is a diagram illustrating a lattice structure including a hip girdle.

[0110] FIG. 37 is a diagram illustrating a detailed view of a lattice structure including a hip girdle.

[0111] FIG. 38 is a diagram illustrating a lattice structure including a hip girdle.

[0112] FIG. 39 is a diagram illustrating a hexagonal pattern torso shell design including a torso mesh.

[0113] FIG. 40 is a set of photographs of shell components including a foam cover and a mesh cover.

[0114] FIG. 41 is a set of photographs of a mesh front and a mesh rear.

[0115] FIG. 42 is a set of photographs of a foam rear and a mesh rear.

[0116] FIG. 43 is a microscopy image of material structure including a foam cover and a mesh cover.

[0117] FIG. 44 is a mechanical drawing of a neck cover.

[0118] FIG. 45 is a mechanical drawing of a neck cover.

[0119] FIG. 46 is a mechanical drawing of a neck cover including a magnet and a zipper.

[0120] FIG. 47 is a mechanical drawing illustrating mesh bending and compaction for a shoulder mesh.

[0121] FIG. 48 is a mechanical assembly including a motor assembly, a motor housing, a terminator, and tendon access features.

[0122] FIG. 49 is a detailed view of a motor including a stator housing and a rotor.

[0123] FIG. 50 is a detailed view of a motor including a stator housing and a rotor.

[0124] FIG. 51 is a front view of a dual motor assembly including a motor housing and a driven rotor.

[0125] FIG. 52 is a mechanical component view illustrating a terminator and a tendon access for a driven and / or intermediate rotor of a tendon drive.Attorney Docket No. ONEX-0008-WO2

[0126] FIG. 53 is a circular motor schematic illustrating coil detents, a rotor magnet, a control circuit, a stator substrate, a rotor substrate, and a motor gap.

[0127] FIG. 54 is a view of a motor assembly illustrating a printed circuit board, a coil terminator, and printed circuit board soldering access.

[0128] FIG. 55 is a view of a neck motor assembly including a motor housing, a driven rotor, and a neck secondary motor.

[0129] FIG. 56 is a side view of a tactile sensor including a tactile sensor body, a contact layer, a sensing array, an internal surface, and an external surface.

[0130] FIG. 57 is a view of a tactile sensor including an internal surface.

[0131] FIG. 58A is a side view of a tactile sensor including a contact layer, a sensing array, an internal surface, an external surface, and a sample image.

[0132] FIG. 58B is a side view of a tactile sensor in a bent configuration including a contact layer, a sensing array, an internal surface, an external surface, and a sample image.

[0133] FIG. 58C is a side view of a tactile sensor in a compressed configuration including a contact layer, a sensing array, an internal surface, an external surface, and a sample image.

[0134] FIG. 58D is a side view of a tactile sensor in a bent configuration including a contact layer, a sensing array, an internal surface, an external surface, and a sample image.

[0135] FIG. 59A is a schematic diagram illustrating a high resolution configuration of a sensing array relative to an internal surface.

[0136] FIG. 59B is a schematic diagram illustrating a low resolution configuration of a sensing array relative to an internal surface.

[0137] FIG. 59C is a schematic diagram illustrating a mixed configuration of a sensing array relative to an internal surface.

[0138] FIG. 59D is a schematic diagram illustrating a mixed configuration of a sensing array relative to an internal surface.

[0139] FIG. 59E is a schematic diagram illustrating a mixed configuration of a sensing array relative to an internal surface.

[0140] FIG. 59F is a schematic diagram illustrating a mixed configuration of a sensing array relative to an internal surface.

[0141] FIG. 60 is a block diagram of an actuator system including a robotic system, a robotic interface, an actuator, a controller, an object, and a tactile sensor.

[0142] FIG. 61 is a system diagram including a controller, actuators, connections, a component, and subcomponents.Attorney Docket No. ONEX-0008-WO2

[0143] FIG. 62 is a block diagram of a computing device including a processor, memory, a display, a communication interface, a transceiver, a control interface, a display interface, an external interface, an expansion memory, an expansion interface, a GPS receiver module, an audio codec, and external computing devices.

[0144] FIG. 63 is a flowchart illustrating an example method for operating a humanoid robot using force-based control, including receiving a movement command and state information, determining a force-based control target, and providing motor command signals to actuate robot joints.

[0145] FIG. 64 is a flowchart illustrating an example method for handling motive commands using a validation-and-authorization framework, including determining whether a motive command is valid and, when invalid, sending an administrative assistance request.

[0146] FIG. 65 is a flowchart illustrating an example method for managing robot operating states during cessation of a motive operation, including returning limbs to a safe posture position when power and control are available and collapsing into a safe rest position when power or control is not available.

[0147] FIG. 66 is a block diagram illustrating an example control system for a humanoid robot including a movement command circuit, an input interface, a force translation circuit, and a motor response circuit configured to generate motor command signals responsive to movement commands and state information.

[0148] FIG. 67 is a block diagram illustrating an example validation-and-authorization control architecture in which motive commands are interpreted and validated to either authorize force-based control target generation for actuation or generate an administrative assistance request.

[0149] FIG. 68 is a block diagram illustrating an example system for managing stability and safestate behavior of a humanoid robot relative to a typical foot position, including using position feedback and power-and-control information to generate motive operation adjustments.DETAILED DESCRIPTION

[0150] FIGS. 1-6 illustrate example external coverings for a humanoid robot 101. In the examples shown, the humanoid robot 101 includes soft covers that present an exterior shape defined by underlying impact shells, with a fabric layer disposed over at least a portion of the impact shells. In certain embodiments, the impact shells provide an underlying geometry and structural boundary for the soft covers, while the fabric layer provides a continuous outer surface and aesthetic finish over the impact shells.

[0151] Referring to FIG. 1, a rear perspective view of the humanoid robot 101 is shown. The humanoid robot 101 includes a head back plate 103 and an ear panel 105. A shoulder mesh 107 isAttorney Docket No. ONEX-0008-WO2disposed in a shoulder region of the humanoid robot 101. The humanoid robot 101 further includes an upper arm cover 109, an elbow cover 111, and a lower arm cover 113 on each arm. In the lower body, the humanoid robot 101 includes an upper leg cover 115, a knee plate 117, and a lower leg cover 119 on each leg. An ankle mesh 121 is disposed in an ankle region, and a foot cover 123 is disposed over a foot region. An upper torso cover 129 is disposed over an upper torso region. In the configuration shown, the soft covers (including the upper torso cover 129, upper arm cover 109, elbow cover 111, lower arm cover 113, upper leg cover 115, knee plate 117, lower leg cover 119, ankle mesh 121, foot cover 123, shoulder mesh 107, head back plate 103, and ear panel 105) present an exterior contour that is defined by impact shells positioned beneath a fabric layer.

[0152] Referring to FIG. 2, a side view of the humanoid robot 101 is shown. FIG. 2 further illustrates an eye 125 and a face plate 127 of a head region. The side view further shows the exterior continuity of the soft covers along the torso, arm, and leg regions. In the configuration shown, the soft covers present an exterior shape defined by underlying impact shells under a fabric layer, including in regions adjacent to articulated joints.

[0153] Referring to FIG. 3, a front view of the humanoid robot 101 is shown. The front view illustrates the exterior geometry of the soft covers across a chest region, arm regions, and leg regions. In the configuration shown, the soft covers provide a human-like silhouette that is defined by impact shells positioned beneath a fabric layer.

[0154] Referring to FIG. 4, a front perspective view of the humanoid robot 101 is shown. The perspective view further illustrates how the soft covers transition across the shoulder region and along the limbs. In the configuration shown, the soft covers maintain an exterior shape defined by underlying impact shells under a fabric layer while accommodating a range of motion of the limbs.

[0155] Referring to FIG. 5, a rear view of a mid-section of the humanoid robot 101 is shown. The view illustrates exterior surface continuity across the torso-to-leg transition region, including at least a portion of the coverings corresponding to the hip and upper leg regions. In the configuration shown, the soft covers in the mid-section present a shape defined by impact shells under a fabric layer, thereby providing a continuous exterior across a region that experiences relative motion between the torso and the leg assemblies.

[0156] Referring to FIG. 6, a front view of a knee section of the humanoid robot 101 is shown. The view illustrates an exterior covering arrangement in which a knee region includes a knee plate 117 and adjacent coverings that extend along the upper leg and lower leg regions. In the configuration shown, the soft covers in the knee section present a shape defined by impact shells under a fabric layer while accommodating knee articulation and providing exterior continuity adjacent to the knee joint.Attorney Docket No. ONEX-0008-WO2

[0157] In certain embodiments, the outer appearance of the humanoid robot is built up in several layers, including, working from the interior outward, providing a housing at least partially defining the internal components of the humanoid robot, such as motors, tendon drives, joints and / or framing components of the robot, wiring, controllers, or the like. The humanoid robot includes impact shells positioned over major areas of the robot, and / or over areas that are likely impact locations. The impact shells are provided to prevent collision of a human or object in the vicinity with potentially sensitive components of the robot, and / or components that may present a hazard due to hardness, electrical or thermal potential energy, and / or that may be pinch points or points that could interfere with the designed movement of the robot. The impact shells are designed with compliance such that they can deform slightly during an impact event, and return to the designated shape after impact recovery. Some or all of the impact shells, and other aspects of the robot, may further be covered in a fabric layer, providing for further intrusion protection, softening of potential impacts, and to fill out the humanoid robot to the desired shape. The humanoid robot may further be covered in a suit or final outer layer, finalizing the overall appearance of the robot. The suit or final layer, where present, may be provided in multiple parts to cover different aspects of the robot, for example with gloves over the hands and / or lower arms, and / or boots over the feet. The materials and / or construction of the impact shells and / or the fabric coverings may be configured to support various purposes as set forth throughout the present disclosure, including to support the final appearance of the robot, to allow for selected heat transfer characteristics, and / or to support selected impact dynamics.

[0158] Referring to FIG. 7, a front view of an impact shell 711 for a humanoid robot is shown. In certain embodiments, the impact shell 711 at least partially defines an outer shape of a corresponding robot body region, such as a torso region, and is configured to provide passive impact mitigation while protecting underlying components from intrusion and contact.In the example shown, the impact shell 711 includes a selected open hex pattern 701. The selected open hex pattern 701 may be implemented as a plurality of hexagonal openings and / or hexagonal wall segments arranged as a tiled array of any shape, or mixed shapes, across at least a portion of the impact shell 711. In certain embodiments, the selected open hex pattern 701 defines a lattice-like structure that is configured to deform under impact loading to provide selected impact deformation characteristics, and to recover toward an undeformed configuration after the impact event.

[0159] In certain embodiments, the selected open hex pattern 701 provides controlled compliance by distributing contact forces across adjacent tiles and by enabling localized deflection of one or more hexagonal cells. In certain embodiments, the thickness, height, and / or width of walls defining the selected open hex pattern 701, together with cell size and edge geometry, are selected to tuneAttorney Docket No. ONEX-0008-WO2deformation response, including peak contact force, deflection distance, and rebound characteristics, for a selected body region of the humanoid robot.

[0160] Although FIG. 7 illustrates an open hex pattern, in certain embodiments the impact shell 711 may instead or additionally include a tiled pattern of any selected shapes and / or a mixture of shapes, including without limitation triangular, square, rectangular, rhombic, pentagonal, circular, or mixed geometric tiles, and / or combinations of open-cell and closed-cell regions. In certain embodiments, different tiled patterns and / or different tile sizes are utilized in different areas of the impact shell 711 to provide region-specific deformation characteristics, including relatively higher stiffness at attachment regions and relatively higher compliance at contact-prone regions.

[0161] In certain embodiments, the selected open hex pattern 701 further provides selected heat transfer characteristics by allowing airflow through openings of the pattern and by increasing exposed surface area of the impact shell 711. In certain embodiments, the open structure supports convective heat rejection from internal components of the humanoid robot and reduces heat trapping beneath external coverings. In certain embodiments, a fabric layer and / or suit may be disposed over the impact shell 711 while maintaining airflow through the selected open hex pattern 701, for example through a ventilation fabric or a knit structure configured to permit air exchange.

[0162] The example impact shell 711 may be formed from a substrate 703 of any material, including for example a plastic or poly-lactic acid (PLA) material. An example impact shell 711 is formed, without limitation, by 3D printing and / or by molding.

[0163] FIGS. 8-14 illustrate example configurations in which a humanoid robot 101 includes an outer suit layer 801 that provides a final selected appearance of the humanoid robot 101. In certain embodiments, the outer suit layer 801 is positioned over underlying external coverings, including impact shells and a fabric layer, to provide a continuous exterior surface, improved aesthetics, and reduced snagging during operation in human environments. In certain embodiments, the outer suit layer 801 is configured to conform to the underlying external geometry while accommodating joint articulation and maintaining a desired human-like silhouette.

[0164] Referring to FIG. 8, a rear view of the humanoid robot 101 is shown with the outer suit layer 801 covering the torso, arms, and legs. In certain embodiments, the humanoid robot 101 further includes a glove 803 disposed over at least a portion of a hand and / or a lower arm region, and a foot cover 805 disposed over at least a portion of a foot region. In certain embodiments, the glove 803 and the foot cover 805 cooperate with the outer suit layer 801 to provide a consistent final selected appearance across extremities, including by concealing seams and / or transitions between different exterior components while allowing the hand and foot to operate through a range of motion.Attorney Docket No. ONEX-0008-WO2

[0165] Referring to FIG. 9, an external perspective view of the humanoid robot 101 is shown, wherein the outer suit layer 801 provides the final selected appearance while the humanoid robot 101 is presented in a standing posture. In the example view, portions of a head assembly are visible, including a head back plate 103, an ear panel 105, an eye 125, and a face plate 127. In certain embodiments, the outer suit layer 801 terminates at a neck region such that the head assembly remains exposed to provide selected sensory and interaction features, while the outer suit layer 801 covers the torso and limbs to provide a uniform exterior.

[0166] Referring to FIG. 10, a rear view of the humanoid robot 101 is shown, wherein the outer suit layer 801 provides a continuous exterior across the back, arms, and legs and cooperates with the glove 803 and the foot cover 805 to provide a finished appearance at the hands and feet. In certain embodiments, the outer suit layer 801 is configured to maintain the final selected appearance under motion, including during arm swing and leg motion associated with walking.

[0167] Referring to FIG. 11, a side view of the humanoid robot 101 is shown, wherein the outer suit layer 801 provides a smooth exterior profile along the torso and limbs. In the example view, portions of the head assembly are visible, including the head back plate 103, the ear panel 105, the eye 125, and the face plate 127. In certain embodiments, the outer suit layer 801 is configured to accommodate bending at joints of the robot while maintaining a selected fit, including by providing stretch and recovery characteristics that preserve the final selected appearance during dynamic movements.

[0168] Referring to FIG. 12, an upper-section view of the humanoid robot 101 is shown, wherein the outer suit layer 801 covers the torso and shoulder regions and transitions to the head assembly at the neck region. In certain embodiments, the outer suit layer 801 is configured to provide a consistent aesthetic finish around the shoulder and upper torso regions, including during shoulder articulation.

[0169] Referring to FIG. 13, a head view of the humanoid robot 101 is shown, illustrating the head assembly including the head back plate 103, the ear panel 105, the eye 125, and the face plate 127. In certain embodiments, the head assembly provides an external appearance and / or mounting structure for sensor and interaction features, and the outer suit layer 801 is configured to terminate at the neck region to integrate visually with the head assembly while providing the final selected appearance for the remainder of the humanoid robot 101. The example of Fig. 13 includes an ear panel 105 that may be utilized to inform a proximate human of the status of the humanoid robot, for example displaying a graphic and / or light scheme according to the operations of the robot - which may indicate whether the humanoid robot is listening for instructions, performing a task (and / or what type of task), is being remotely operated, is in a charging condition, a current state of charge, or the like. The utilization of the ear panel configuration may be superior to a facial expression of the robot forAttorney Docket No. ONEX-0008-WO2conveying this information in a human primary environment, as facial expressions from the robot may put the proximate human at unease and / or invoke the uncanny valley for that human. In certain embodiments, the robot may include features on the face that convey such information, where desired. The example robot includes eyes that may be bezeled into the head, for example to protect the eyes and / or to provide a human generally similar appearance while still avoiding unease for the human. In certain embodiments, one or more cameras of the robot may be positioned in the eyes, providing for a similar and expected capability for the robot relative to a human. In certain embodiments, the robot includes a minimalist design that blends into human environments such as a home, and includes emotive aspects for intuitive communication, such as emotive ear rings, simplified facial display, and / or attention tuning so that nearby humans can determine the robot is communicating without creating a disturbing experience.

[0170] Referring to FIG. 14, a foot view of the humanoid robot 101 is shown, wherein the foot cover 805 provides a finished exterior at the foot region and cooperates with the outer suit layer 801 to provide the final selected appearance. In certain embodiments, the foot cover 805 is configured to accommodate ankle articulation and foot contact with surfaces while maintaining a selected exterior geometry and reducing visible wear during operation in home environments.

[0171] FIGS. 15-20 illustrate example impact shell assemblies for a humanoid robot, including impact shell components configured to at least partially define an outer shape of the humanoid robot and to provide passive impact mitigation while protecting underlying components from intrusion and contact. In certain embodiments, the impact shell assemblies are positioned over major regions of the humanoid robot and are configured to cooperate with other exterior coverings, including a fabric layer and / or an outer suit layer, to provide a selected exterior geometry for operation in human environments.

[0172] Referring to FIG. 15, an example impact shell assembly is shown for an upper portion of the humanoid robot. In the example shown, the impact shell assembly includes a torso impact cover 1501 configured to at least partially define an outer shape of a torso assembly. The impact shell assembly further includes an upper arm impact cover 1503, an elbow impact cover 1505, and a lower arm impact cover 1507 configured to at least partially define outer shapes of corresponding arm regions. In certain embodiments, the upper arm impact cover 1503, the elbow impact cover 1505, and the lower arm impact cover 1507 are sized and arranged to maintain impact protection across a range of motion of an arm assembly while reducing exposure of underlying joint mechanisms. The impact shell assembly further includes a hip girdle impact cover 1509 configured to at least partially define an outer shape of a hip region and to provide impact protection adjacent to a torso-to-leg transition region.Attorney Docket No. ONEX-0008-WO2

[0173] Referring to FIG. 16, an example impact shell assembly is shown for lower-limb regions of the humanoid robot. In the example shown, the impact shell assembly includes an upper leg impact cover 1601, a knee plate 117, and a lower leg impact cover 1603. In certain embodiments, the upper leg impact cover 1601 and the lower leg impact cover 1603 define exterior surfaces of corresponding leg regions, while the knee plate 117 provides impact protection at a knee region and is configured to cooperate with adjacent shell components to accommodate knee articulation.

[0174] Referring to FIG. 17, an example head assembly is shown. In the example shown, the head assembly includes a head back plate 103, an ear panel 105, an eye 125, and a face plate 127. In certain embodiments, the head back plate 103 and the face plate 127 cooperate to at least partially define an outer shape of a head region, and the ear panel 105 and the eye 125 provide exterior mounting regions for interaction and / or sensory features.

[0175] Referring to FIG. 18, a rear view of an example humanoid robot structure is shown. In the example shown, a plurality of impact shell components are arranged across the torso, arm, hip, and leg regions to provide an exterior defined at least in part by the impact shell assemblies. The head assembly is further shown including the head back plate 103, the ear panel 105, the eye 125, and the face plate 127. In certain embodiments, the arrangement shown in FIG. 18 illustrates region-to-region continuity of impact protection along the body of the humanoid robot.

[0176] Referring to FIG. 19, a rear perspective view of an example humanoid robot design is shown. In the example shown, the exterior geometry is defined at least in part by impact shell components across the torso, arms, hip, and legs, with the head assembly shown including the head back plate 103, the ear panel 105, the eye 125, and the face plate 127. In certain embodiments, the view illustrates exterior contouring of the impact shell assemblies to provide a human-like silhouette while maintaining impact protection.

[0177] Referring to FIG. 20, a side view of an example humanoid robot is shown. In the example shown, the side view illustrates an exterior profile defined at least in part by impact shell components across the torso, arms, hip, and legs, and further illustrates the head assembly including the head back plate 103, the ear panel 105, the eye 125, and the face plate 127. In certain embodiments, the side view shows how the impact shell assemblies are shaped and positioned to accommodate joint articulation while maintaining a selected outer geometry suitable for operation in human environments.

[0178] Referring to FIG. 21, a humanoid robot includes a hip girdle 2101 disposed at a lower torso region adjacent a torso-to-leg transition region. In certain embodiments, the hip girdle 2101 at least partially surrounds a lower portion of a torso assembly and extends toward upper portions of one or more leg assemblies to provide exterior coverage across a region that experiences relative motionAttorney Docket No. ONEX-0008-WO2between the torso and the leg assemblies.Referring to FIG. 35, the hip girdle 2101 includes a girdle mesh 3503 and a girdle flexible separation 3501. In certain embodiments, the girdle mesh 3503 comprises a compliant, lattice-like structure configured to cover at least a portion of the lower torso and upper leg region. In certain embodiments, the girdle flexible separation 3501 comprises a separation feature, seam, joint line, slit, or locally thinned region that provides controlled compliance and relative movement capability within the hip girdle 2101 as the torso and leg assemblies move relative to one another.

[0179] In certain embodiments, the hip girdle 2101, including the girdle mesh 3503, prevents intrusion into, and interference with, inner components disposed in the lower torso and upper leg regions. By spanning across openings and transitions between adjacent rigid or semi-rigid exterior components, the hip girdle 2101 reduces exposure of underlying mechanisms and wiring and limits access to pinch-prone internal regions during normal operation and incidental contact.

[0180] In certain embodiments, the hip girdle 2101 accommodates movement of the legs and bending of the torso without pinch points or interference developing. For example, during hip flexion, hip abduction, and torso bending, the hip girdle 2101 is configured to stretch, compress, and / or locally deform, including through deformation of the girdle mesh 3503 and controlled motion at the girdle flexible separation 3501, thereby maintaining interference protection across a range of motion while allowing relative movement of adjacent body segments.

[0181] Referring to FIGS. 36-38, additional views of the hip girdle 2101 illustrate the girdle mesh 3503 as a three-dimensional mesh structure that extends around the hip region and includes a plurality of interconnected mesh segments. In certain embodiments, the mesh geometry provides directional compliance, including increased compliance in selected directions to accommodate leg swing and torso bending while maintaining sufficient stiffness to resist intrusion. In certain embodiments, the mesh geometry transitions across the hip girdle 2101 to provide varying compliance and structural support in different regions of the hip girdle 2101.In certain embodiments, the hip girdle mesh provides selected impact performance by distributing contact forces across the girdle mesh 3503 and by allowing controlled deformation under impact loading, thereby attenuating peak forces transmitted to underlying components and reducing contact severity for a nearby person. In certain embodiments, the hip girdle mesh provides selected heat transfer characteristics by defining openings and increased surface area that allow airflow through and around the hip region, thereby supporting convective heat rejection from internal components located in the lower torso region and reducing heat trapping beneath external coverings.

[0182] Accordingly, the hip girdle 2101, including the girdle mesh 3503 and the girdle flexible separation 3501, provides an exterior covering across a high-motion torso-to-leg transition regionAttorney Docket No. ONEX-0008-WO2that maintains intrusion and interference protection, reduces pinch-point risk, accommodates leg and torso movement, and provides selected impact mitigation and heat transfer performance.

[0183] Referring to FIG. 22, a diagram illustrating knitted fabric structure details is shown, including four example fabric types for use with a humanoid robot. In certain embodiments, the four example fabric types include a base knit 2201, a horizontal mesh 2203, a horizontal ribbing 2205, and a vertical termination 2207. In certain embodiments, the fabric types are implemented in a unitary knit structure and / or as integrated knit zones within a garment, cover, or suit positioned over one or more impact shells and / or other exterior components of the humanoid robot.

[0184] In certain embodiments, the base knit 2201 provides a common exterior look for significant areas of the humanoid robot and provides baseline performance for wear, impact mitigation, and heat transfer capability. For example, the base knit 2201 may be used over torso, limb, and other broad surface regions to provide a consistent aesthetic finish, abrasion resistance, and a baseline level of compliance and cushioning when disposed over underlying shells or padding. In certain embodiments, the base knit 2201 further provides baseline airflow and moisture transport to reduce heat trapping beneath exterior coverings.

[0185] In certain embodiments, the horizontal mesh 2203 provides improved heat transfer performance for selected areas of the humanoid robot. For example, the horizontal mesh 2203 may define a more open knit geometry relative to the base knit 2201 to increase airflow and convective heat rejection at selected regions, including regions adjacent to internal components that generate heat and / or regions selected for ventilation such as a back region, shoulder region, or other convective heat rejection position. In certain embodiments, the horizontal mesh 2203 is positioned to maintain exterior coverage while increasing permeability for air exchange.

[0186] In certain embodiments, the horizontal ribbing 2205 provides additional shaping for selected areas of the humanoid robot. For example, the horizontal ribbing 2205 may provide localized elasticity, contouring, and recovery to conform to underlying impact shells and to accommodate changes in cross-sectional geometry along the robot body, including around joints and transition regions. In certain embodiments, the horizontal ribbing 2205 provides a shaping knit that supports a tailored fit and controlled drape while maintaining flexibility for motion.

[0187] In certain embodiments, the vertical termination 2207 provides additional strength for selected areas of the humanoid robot. For example, the vertical termination 2207 may be used at terminating regions of garment portions and / or cover portions, including at a wrist region and / or an ankle region, to resist fraying, stretching, or creep under repeated donning and doffing and under cyclic motion. In certain embodiments, the vertical termination 2207 is additionally or alternatively used at high stress areas such as in a torso region where attachment and securing forces may beAttorney Docket No. ONEX-0008-WO2significant, including along seams, closure regions, and / or interfaces with fasteners or coupling features, thereby providing a reinforced termination structure configured to maintain alignment and retention of the fabric on the humanoid robot during operation.

[0188] Referring to FIG. 23, a diagram illustrating an example knit arrangement for a humanoid robot is shown. In certain embodiments, FIG. 23 depicts a knitted fabric cover and / or suit configured to be positioned over one or more impact shells of the humanoid robot to provide a continuous exterior surface while accommodating joint articulation. In certain embodiments, the knit arrangement comprises a plurality of knit zones distributed across a torso region, arm regions, and leg regions of the humanoid robot, with the knit zones selected to provide region-specific performance characteristics.

[0189] In the example shown, the knit arrangement includes a base knit 2201, a horizontal mesh 2203, a horizontal ribbing 2205, and a vertical termination 2207. In certain embodiments, the base knit 2201 is distributed over significant areas of the humanoid robot to provide a common exterior look and baseline performance characteristics, including wear resistance, baseline impact mitigation, and baseline heat transfer capability. In certain embodiments, the horizontal mesh 2203 is positioned at selected areas of the humanoid robot to provide improved heat transfer performance, including increased airflow and convective heat rejection in regions selected for ventilation. In certain embodiments, the horizontal ribbing 2205 is positioned at selected areas to provide additional shaping, including localized elasticity and contouring to conform to underlying exterior components and accommodate changes in body geometry. In certain embodiments, the vertical termination 2207 is positioned at selected areas to provide additional strength, including at terminating regions and / or at higher stress regions that experience attachment and securing forces.

[0190] FIG. 23 further includes a legend indicating example texture patterns and corresponding example fabric appearances. In the example shown, the legend includes pattern markers 2301 and real world examples 2305, and provides example swatches corresponding to the base knit fabric 2307, the horizontal mesh fabric 2309, the horizontal ribbing fabric 2311, and the vertical termination fabric 2313. In certain embodiments, the legend is consistent with the example of FIG.22 and provides a reference for identifying knit-zone selection and placement across the humanoid robot.

[0191] Referring to FIGS. 24-31, example knit arrangements for a humanoid robot are shown. In certain embodiments, FIGS. 24-31 depict example fabric designs and layouts for a knitted fabric cover and / or suit configured to be positioned over one or more impact shells of the humanoid robot to provide a continuous exterior surface while accommodating joint articulation. In certain embodiments, the knit arrangements include a plurality of knit zones distributed across a torsoAttorney Docket No. ONEX-0008-WO2region, arm regions, and leg regions of the humanoid robot, with knit-zone selection and placement configured to provide region-specific performance characteristics.

[0192] In certain embodiments, the fabric notations depicted in FIGS. 24-31 are consistent with those depicted in FIGS. 22-23, including notations corresponding to a base knit, a horizontal mesh, a horizontal ribbing, and a vertical termination. In certain embodiments, base knit regions provide a common exterior look for significant areas of the humanoid robot and provide baseline performance characteristics including wear resistance, baseline impact mitigation, and baseline heat transfer capability. In certain embodiments, horizontal mesh regions are positioned at selected areas to provide improved heat transfer performance, including increased airflow and convective heat rejection in regions selected for ventilation. In certain embodiments, horizontal ribbing regions are positioned at selected areas to provide additional shaping, including localized elasticity, contouring, and recovery to conform to underlying exterior components and to accommodate changes in body geometry. In certain embodiments, vertical termination regions are positioned at selected areas to provide additional strength, including at terminating regions such as at a wrist region and / or an ankle region and / or at higher stress regions that experience attachment and securing forces.

[0193] Referring to FIGS. 24 and 25, example fabric patterns are shown for a humanoid robot in which the knit zones are distributed across the torso and limbs in a manner configured to provide a selected balance of durability, flexibility, and ventilation. In certain embodiments, the distribution includes shaping and / or reinforcement at transition regions between the torso and limb regions and at joint-adjacent regions.

[0194] Referring to FIGS. 26 and 28, example suit patterns are shown including knit zones positioned to accommodate range of motion of the arms and legs while maintaining a selected exterior contour. In certain embodiments, the knit zones provide localized compliance and recovery to reduce wrinkling and bunching during movement.

[0195] Referring to FIGS. 27, 29, and 30, example fabric design layouts are shown illustrating knit-zone placement and continuity around the torso and limb regions. In certain embodiments, the layouts illustrate region-to-region transitions between knit zones to provide gradual changes in elasticity, permeability, and reinforcement across the suit.

[0196] Referring to FIG. 31, a side view of an example humanoid robot design is shown with knit zones arranged along the torso and limbs. In certain embodiments, the side view illustrates how knitzone placement is configured to accommodate bending at joints and changes in body cross-section while maintaining a consistent exterior appearance.

[0197] The example knit arrangements depicted in Figs. 23-31 are non-limiting and are provided to illustrate aspects of the present disclosure. The example arrangements provide for enhanced heatAttorney Docket No. ONEX-0008-WO2rejection in typical areas of interest, such as the upper torso, shoulders, back, and / or upper back, as well as provided enhanced flexibility in high motion regions. A given embodiment may vary these arrangements as desired, and / or according to the range of motion, duty cycle of movement, heat rejection plan, or the like of a particular humanoid robot according to the present disclosure.

[0198] Referencing Table 1, a non-limiting list of a number of joints present in example embodiments, and movement parameters, is depicted. Degrees of Freedom (DOF) are described in degrees of rotation for a related actuator for the respective joint. It will be noted that joints do not necessarily rest at a center point in the available range of rotation, i.e., joints may rotate more in one direction than another from a “rest” or “neutral” position. The Degrees of Freedom are described in Cartesian coordinates (e.g., using orthogonal X, Y, and Z planes) although any coordinate system may be selected, with appropriate transformations to the various parameters, and which do not affect the actual hardware configuration of the robot. The Range of Motion is described in degrees of movement, for example 60 degrees of total movement, and may include further descriptions for example rest points (e.g., resting at 20 degrees in the example would indicate that total rotation available is -20 degrees to +40 degrees). The presented joints include a range of motion and degrees of freedom that allow the robot to move in a similar manner to humans, including static movements and postures, as well as dynamic movements and intermediate positions, including movements used for traversing obstacles, interrupted actions, recovering balance, and / or changing intended actions in the middle of movements.Table 1. Example major joints, degrees of freedom for movement, and movement range JOINT Degrees of Range of motion NotesFreedomNeck Three (X, Y, and Z) 44 degrees X Side to side, likelyto by symmetrical 65 degrees Y Head tilt,asymmetricalaway fromshoulder, e.g., -25 to +4060 degrees ZLook up anddown, e.g., + / - 30 degreesShoulder Three (X, Y, and Z) 125 degrees X Rest point near (abduction) the body (e.g., -5to 120 degrees)Attorney Docket No. ONEX-0008-WO2JOINT Degrees of Range of motion NotesFreedom195 degrees Y Rest point (flexion / extension) selected to allow greater extension (e.g., -135 to +60125 degrees Z degrees) (internal / externalrotation) Rest point for natural external rotation (e.g., -30 to 95 degrees)Elbow Two (Y and Z) 120 degrees Y Rest point (flexion / extension) extended (e.g., - 120 to 0 degrees)135 degrees Z Natural rest point (supination / pronation) (e.g., -90 to 45degrees)Wrist Two (X and Y) 120 degrees X Natural rest point (abduction) (e.g., -55 to 65degrees)60 degrees Z Natural rest point (flexion / extension) (e.g., -30 to 30degrees)Spine Two (Y and Z) 45 degrees Y Natural rest point (flexion / extension) (e.g., -5 to 40degrees)120 degrees Z Centered (e.g., -60 (rotation) to 60 degrees)Hip Three (X, Y, andZ) 65 degrees X Natural rest point (raise / lower leg) (e.g., -42 to 22degrees)125 degrees Y Natural rest point (abduction) (e.g., -105 to 3090 degrees Z degrees) (internal / externalrotation) Centered (e.g., -45to 45 degrees)Knee Upper joint X 105 degrees X Limited forwardThe example knee (flexion / extension) (flexion / extension) movement (e.g., -5 is a two part joint to 100 degrees)Lower joint X 63 degrees X Limited forward (flexion / extension) (flexion / extension) movement (e.g., -3to 60 degrees)Ankle Two (X and Y) 60 degrees X Centered (e.g., -30(inversion / eversion) to 30 degrees)Attorney Docket No. ONEX-0008-WO2JOINT Degrees of Range of motion NotesFreedom85 degrees Y Natural resting (dorsi / planar flexion) position (e.g., -53to 32 degrees)

[0199] In the example, the fingers may be embodied in any selected format. An example finger arrangement includes a finger pull at the end of the finger, where the intermediate joints naturally articulate as a part of the movement. Additionally or alternatively, more finger joints, or all finger joints, may include individually activated movement for each joint. In certain embodiments, the fingers are biased to a rest position (e.g., extended or nearly extended) and actuated toward a closing position. In certain embodiments, the fingers are actuated in both directions. The arrangement and actuating logic of the fingers may be varied according to the finger.

[0200] In certain embodiments, one or more major joints, or all of the major joints, may be actuated in both directions, allowing for controlled movement in both directions. In certain embodiments, one or more joints may be biased to a position, and actuated away from that position. In certain embodiments, torque available for actuation of the joints may be anisotropic, for example with a different actuating torque and / or leverage profile in each direction, or isotropic, for example with the same actuating torque and leverage in each direction. In certain embodiments, one or more major joints may be velocity limited, either through inherent or enforced limitations on speed control (e.g., of a motor) and / or in the inherent hardware design (e.g., a given motor torque and leveraging profile allows for a determined speed and / or acceleration profile of the joint throughout the range of movement). In certain embodiments, main control of the joints is performed through torque control (or force control), allowing for a more predictable and human like response for movement and activity of the robot.

[0201] In certain embodiments, the foot includes a mid-joint, for example where the toes would bend over on a human foot. The example mid-joint, where present, may be articulating and may be biased to a neutral position (e.g., to allow natural walking movement and assist in energy recovery), the joint may be articulated, or both (e.g., allowing for conformation changes of the foot combined with walking energy recovery).

[0202] In certain embodiments, one or more, or all, major joints are powered utilizing tendon drives powered utilizing a rope tendon, coupled to articulate each joint in one or both directions according to the selected design. The tendon routing, inclusion of pulleys, direct inclusion of gears, and / or rope diameter may be utilized to adjust the final torque and gearing of each joint, allowing the joint to provide the selected force profile and movement range. The utilization of rope tendons allows forAttorney Docket No. ONEX-0008-WO2locating of motors to provide the selected weight distribution, is well suited for force / torque control, and provides similar dynamic response to a human as well as predictable motion in a human environment. Each joint may be driven in a single direction by a coupled motor, for example returning using a biasing force such as a spring. Each joint may be driven bidirectionally using two motors, using a reversible motor, and / or using a motor with a switching clutch or gear for reversal.

[0203] In certain embodiments, the knee joint utilizes two cooperating joints closely spaced together (e.g., 3-4 inches, or 75-100 mm apart) that better emulates the movement and range of a human knee compared to a single joint. In certain embodiments, the joint movements are fixed relative to each other, for example when the upper joint is at 60% extension, the lower joint is at a fixed extension (which may also be 60%, for example where the fixed relationship is also linear). In certain embodiments, the joint movements may be related in a correspondence, which may not be linear. In certain embodiments, the knee joints may have partial or complete independence of movement therebetween.

[0204] In certain embodiments, the positioning of motors, batteries, and other weight contributing components of the robot (e.g., pulleys, gears, brackets, tendon guides, etc.) are distributed to provide a similar center of mass for the robot to a human being, providing a similar physical experience for the robot as for a human being, including forces that would be experienced by the robot doing similar things a human would do (e.g., climbing stairs or ladders, minor impact response, etc.). In certain embodiments, the robot is configured to keep the weight of the robot directed between support points (e.g., the feet) when the robot is in a resting position or at positions near the rest position. In certain embodiments, one or more joints includes a brake that locks the joint at least selectively, for example when power is lost for the robot. In certain embodiments, the joints are powered and otherwise free moving (e.g., but may be limited in movement rate, for example where movement requires freewheeling a motor, which may slow or stop the movement), and the robot is configured to collapse into a squatting position in a shutdown or safe mode (e.g., rather than falling over).

[0205] Referring to FIG. 32, an external view of a humanoid robot 3200 is shown. In the example shown, the humanoid robot 3200 includes a head 3201, a torso assembly, a left arm assembly and a right arm assembly, a left leg assembly and a right leg assembly, and a foot assembly. In certain embodiments, the humanoid robot 3200 comprises a humanoid form factor configured for operation in human environments, including configurations in which external coverings such as fabric and / or suit layers are provided to present a human-like exterior appearance.

[0206] Example embodiments herein maintain low kinetic energy throughout the system, without limitation by minimizing both rotational inertia in the transmission and translational inertia at the limb level. In certain embodiments, the heaviest motion components (e.g., motors) are positionedAttorney Docket No. ONEX-0008-WO2close to the upstream joint, while transmission components are designed with minimal rotational inertia and only the necessary stiffness. These design strategies not only enhance intrinsic safety characteristics but also improve the system’s dynamic responsiveness, thereby supporting more precise and effective control performance. The utilization of tendon drives to provide power coupling and manage gear ratios provides a superior weight distribution compared to previously known transmissions such as planet gear systems. In certain embodiments, for example where other aspects of the present disclosure besides kinetic energy management are primary goals, and / or for movement control of one or more joints that may not have kinetic energy management as a primary goal, other power coupling and / or transmission systems may be utilized such as a planetary gear system.

[0207] FIG. 32 is further provided as a schematic mechanical assembly view illustrating example component locations for actuation hardware of the humanoid robot 3200. In the example shown, the head 3201 is associated with a secondary neck motor 3203 and a neck motor assembly 3205. In certain embodiments, the neck motor assembly 3205 and the secondary neck motor 3203 are configured to cooperatively produce motion of a neck joint coupling the head 3201 to the torso assembly, including producing multiple axes of neck motion in selected implementations.

[0208] In the example shown, each arm assembly includes a shoulder motor assembly 3207, an elbow motor assembly 3209, and a wrist motor assembly 3211. In certain embodiments, the shoulder motor assembly 3207 is configured to actuate one or more shoulder joint movements of the arm assembly relative to the torso assembly, the elbow motor assembly 3209 is configured to actuate one or more elbow joint movements of an upper arm sub-assembly relative to a shoulder sub-assembly, and the wrist motor assembly 3211 is configured to actuate one or more wrist joint movements of a hand relative to a forearm. In certain embodiments, the motor assemblies 3207, 3209, and 3211 are implemented as motor pairs, which may control movements individually and / or utilized to support differential drive actuation for multiple degrees of freedom.

[0209] In the example shown, the torso assembly includes a scapula motor 3213 and a spine motor assembly 3215. In certain embodiments, the scapula motor 3213 is configured to actuate a shoulder-related movement and / or internal rotation movement associated with the shoulder region of an arm assembly. In certain embodiments, the spine motor assembly 3215 is configured to actuate one or more spine joint movements coupling a pelvic sub-assembly to a remainder of the torso assembly, including flexion and / or rotation movements in selected implementations.

[0210] In the example shown, the pelvic region includes a hip motor assembly 3217. In certain embodiments, the hip motor assembly 3217 is configured to actuate one or more hip joint movements coupling a leg assembly to the torso assembly, including flexion and / or abduction movements in selected implementations. In the example shown, each leg assembly includes a kneeAttorney Docket No. ONEX-0008-WO2motor 3219 and an ankle motor assembly 3221. In certain embodiments, the knee motor 3219 is configured to actuate a knee joint movement of a lower leg sub-assembly relative to an upper leg sub-assembly. In certain embodiments, the ankle motor assembly 3221 is configured to actuate one or more ankle joint movements coupling a foot assembly to a lower leg sub-assembly, including flexion and / or inversion movements in selected implementations.

[0211] Accordingly, FIG. 32 illustrates an example distribution of motors and motor assemblies across the humanoid robot 3200, including example locations for actuators associated with neck, shoulder, elbow, wrist, torso, hip, knee, and ankle movements, thereby supporting whole-body mobility and manipulation in a humanoid form factor.

[0212] The arrangement of Fig. 32 is a schematic and non-limiting example. One or more motors of the humanoid robot may be utilized to operate a tendon drive for certain movements. The utilization of a tendon drive allows for displacement of the motors from the controlled joint, allowing for the flexibility to move motors around the robot as needed for weight distribution, thermal management, routing of wiring, or the like. Accordingly, the motor placements of Fig. 32, including which major sections of the robot where motors are positioned, are just a non-limiting example - for example the hip motor assembly may be positioned on the upper leg assembly and / or in the lower torso assembly, or elsewhere on the robot. The utilization of tendon drives also allows for convenient configuration of drive ratios (gear ratios) of the robot, from direct drive (e.g., the turning of the motor turns the final driven rotor that moves the selected joint either directly, or in a roughly 1: 1 ratio), to a selected ratio (e.g., a rotor diameter ratio between a rotor moved by the motor and a final driven motor), and / or including one or more intermediate rotors to further adjust the total gear ratio. In certain embodiments, a tendon may be routed completely through an intermediate rotor, and / or the tendon may be terminated at the intermediate rotor and forces passed through another tendon between the intermediate rotor and the final driven rotor (and / or a further intermediate rotor). Examples of the present disclosure are not limiting, but do utilize multiple tendons to couple intermediate rotors, where present.

[0213] Referring to FIG. 33, a controller system block diagram 3300 is shown. In the example shown, the controller system 3300 includes a controller 3301 configured to receive joint position(s) 3309 and movement command(s) 3311 and to generate motor command(s) 3315 based at least in part on motor feedback 3313. In certain embodiments, the controller 3301 is implemented in hardware, software, firmware, or any combination thereof, and may be distributed across one or more computing devices and / or embedded control modules of a humanoid robot.

[0214] In the example shown, the controller 3301 includes a movement command circuit 3303, a force translation circuit 3305, and a motor response circuit 3307. In certain embodiments, theAttorney Docket No. ONEX-0008-WO2movement command circuit 3303 is configured to process movement command(s) 3311 to determine target motion behavior for one or more joints and / or body segments of the humanoid robot, including determining joint trajectories and / or joint-level objectives for a commanded action. In certain embodiments, the movement command(s) 3311 include desired positions, velocities, accelerations, postures, end-effector targets, task objectives, and / or higher-level motion descriptors.

[0215] In certain embodiments, the force translation circuit 3305 is configured to translate at least a portion of the processed movement command(s) 3311 and the joint position(s) 3309 into force and / or torque targets for one or more actuators. In an example embodiment, motion control may be torque or force controlled rather than only position controlled, including embodiments in which commanded joint behavior is implemented by generating actuator torque targets, tendon tension targets, and / or end-effector force targets. In certain embodiments, the force translation circuit 3305 further incorporates one or more control models, compliance models, and / or constraint models to generate actuator-level targets that account for robot dynamics, contact conditions, and / or safety constraints.

[0216] In certain embodiments, the motor response circuit 3307 is configured to generate the motor command(s) 3315 based at least in part on outputs of the movement command circuit 3303 and the force translation circuit 3305 and based at least in part on the motor feedback 3313. In certain embodiments, the motor feedback 3313 includes one or more of motor position, motor velocity, motor current, motor temperature, estimated torque, estimated tendon tension, and / or fault indicators. In certain embodiments, the motor response circuit 3307 utilizes the motor feedback 3313 to close a control loop for achieving the commanded torque, force, and / or motion behavior, including updating the motor command(s) 3315 to compensate for disturbances and variations in load.

[0217] Accordingly, the controller system 3300 of FIG. 33 illustrates an example control architecture in which movement command(s) 3311 and joint position(s) 3309 are processed through one or more controller circuits, including the movement command circuit 3303, the force translation circuit 3305, and the motor response circuit 3307, to produce motor command(s) 3315 for controlling actuation of a humanoid robot.

[0218] Referring to FIG. 34, a hand schematic 3400 is shown. In certain embodiments, the hand schematic 3400 represents a hand of a humanoid robot configured to perform grasping and manipulation actions in human environments. In certain embodiments, the hand is configured to be covered by a glove that provides a compliant outer surface over one or more finger regions and / or a palm region, thereby improving user comfort and acceptance during incidental contact and reducing the likelihood of pinching or snagging during manipulation.In certain embodiments, the glove is configured to conform to joint articulation of the hand, including flexion of one or more fingers, while maintaining a continuous exterior appearance. InAttorney Docket No. ONEX-0008-WO2certain embodiments, the glove provides an exterior barrier layer over underlying structural components of the hand, thereby reducing exposure of seams, gaps, and hard edges during interaction with household objects.

[0219] In certain embodiments, the hand wearing the glove is combined with one or more tactile sensors. For example, one or more tactile sensors may be disposed beneath the glove and positioned to sense contact at one or more exterior contact regions of the hand, including at a palm region and / or one or more finger regions. In certain embodiments, the tactile sensors include a tactile sensor body, a contact layer, and a sensing array disposed between an internal surface and an external surface, and are configured to generate tactile signals in response to bending and / or compression associated with contact forces.

[0220] In certain embodiments, the hand wearing the glove is integrated into an actuator system in which the tactile sensor provides feedback for controlling manipulation, including controlling grip force and contact behavior. In certain embodiments, the tactile sensor outputs are provided to a controller and utilized to adjust one or more actuators associated with the hand to support stable grasping and safe interaction with objects and nearby humans.

[0221] Referring to FIG. 39, a diagram illustrating a hexagonal pattern torso shell design including a torso mesh 3901 is shown. In certain embodiments, the torso mesh 3901 comprises an impact shell and / or a shell component configured to at least partially define an outer shape of a torso assembly of a humanoid robot. In certain embodiments, the torso mesh 3901 is configured to provide passive impact mitigation while protecting underlying components from intrusion and contact.

[0222] In the example shown, the torso mesh 3901 includes a tiled geometric pattern comprising a plurality of hexagonal openings and / or hexagonal wall segments arranged across a surface of the torso mesh 3901. In certain embodiments, the hexagonal pattern defines a lattice-like structure configured to deform under impact loading to provide selected impact deformation characteristics and to recover toward an undeformed configuration after an impact event. In certain embodiments, the hexagonal pattern provides controlled compliance by distributing contact forces across adjacent hexagonal cells and enabling localized deflection of one or more cells in response to contact.

[0223] In certain embodiments, one or more geometric parameters of the torso mesh 3901 are selected to tune impact response characteristics for the torso region, including without limitation cell size, wall thickness, wall height, wall width, edge geometry, and / or pattern density. In certain embodiments, the torso mesh 3901 includes regions having different hexagonal pattern parameters to provide region-specific deformation characteristics, including relatively higher stiffness at attachment regions and relatively higher compliance at contact-prone regions.Attorney Docket No. ONEX-0008-WO2

[0224] In certain embodiments, the hexagonal openings of the torso mesh 3901 provide selected heat transfer characteristics by allowing airflow through the openings and by increasing exposed surface area, thereby supporting convective heat rejection from internal components located in the torso region and reducing heat trapping beneath exterior coverings. In certain embodiments, a fabric cover and / or suit may be disposed over the torso mesh 3901 while maintaining airflow through the hexagonal pattern, including through a ventilation fabric or knit structure configured to permit air exchange.

[0225] Referring to FIG. 40, a set of depictions of shell components is shown, including a foam cover 4001 and a mesh cover 4003. In certain embodiments, FIG. 40 is provided to illustrate example outer covering approaches for a humanoid robot, and to compare a mesh shell of the present disclosure to a previously known foam shell.

[0226] In the example shown, the foam cover 4001 comprises a foam shell that may be implemented as an open-cell foam and / or a closed-cell foam. In certain embodiments, the foam cover 4001 provides impact cushioning through compressive deformation of the foam material. However, in certain embodiments, foam-based coverings may exhibit variability in deformation and recovery behavior due to local material nonuniformity, aging, and / or differences in cell structure, and may provide limited configurability of region-specific deformation response relative to a structured shell geometry.

[0227] In the example shown, the mesh cover 4003 comprises a lattice-like shell structure configured to provide passive impact mitigation while protecting underlying components from intrusion and contact. In certain embodiments, the mesh cover 4003 comprises a patterned mesh including a plurality of openings defined by wall segments, such that contact loading produces controlled deformation of the wall segments and recovery toward an undeformed configuration after an impact event. In certain embodiments, the selected pattern and consequent performance can be readily designed into the lattice, and is repeatable at scale to provide consistent performance between humanoid robots.

[0228] In certain embodiments, the mesh cover 4003 provides a more consistent and configurable deformation and recovery response to impacts as compared to the foam cover 4001, for example by selecting one or more geometric parameters of the mesh cover 4003 including cell size, wall thickness, wall height, wall width, edge geometry, and / or pattern density to tune deformation response for a selected body region. In certain embodiments, the mesh cover 4003 provides controlled compliance by distributing contact forces across adjacent cells and enabling localized deflection under impact loading, thereby attenuating peak contact forces while maintaining structural protection.Attorney Docket No. ONEX-0008-WO2

[0229] In certain embodiments, the mesh cover 4003 further provides improved heat transfer relative to the foam cover 4001 by allowing airflow through openings of the mesh structure and by increasing exposed surface area, thereby supporting convective heat rejection from internal components and reducing heat trapping beneath external coverings. Accordingly, FIG. 40 illustrates example covering components in which a mesh shell provides engineered impact compliance and recovery and improved thermal performance as compared to a foam shell.

[0230] Referring to FIG. 41, a set of depictions is shown including a mesh front 4101 and a mesh rear 4103 of a mesh cover. In certain embodiments, the mesh cover comprises a lattice-like shell structure configured to provide passive impact mitigation while protecting underlying components of a humanoid robot from intrusion and contact, and to at least partially define an outer shape of a corresponding robot body region.

[0231] In certain embodiments, the mesh front 4101 provides an outward-facing exterior surface of the mesh cover, including a patterned mesh geometry selected to provide a desired exterior appearance and selected deformation characteristics under impact loading. In certain embodiments, the mesh rear 4103 provides an inward-facing surface configured to interface with the underlying robot body and to support mounting of the mesh cover to the robot.

[0232] In the example shown, the mesh rear 4103 includes an engagement slot 4105. In certain embodiments, the engagement slot 4105 is configured to be engaged with a protrusion on the robot body to secure the mesh cover in a mounted configuration. In certain embodiments, the engagement slot 4105 provides ease of securing and removal of the mesh cover, including allowing the mesh cover to be installed and removed without tools and / or with reduced fastener handling during maintenance. In certain embodiments, the engagement slot 4105 further provides a keyed interface that enforces a selected orientation of the mesh cover relative to the robot body, thereby ensuring that the mesh cover is installed with a desired alignment so that the intended exterior look and the intended performance characteristics, including region-specific compliance and airflow, are achieved.

[0233] Referring to FIG. 42, a set of depictions is shown including a foam rear 4201 and a mesh rear 4203 of corresponding shell components. In certain embodiments, FIG. 42 is provided to illustrate interior-side features of a foam shell and a mesh shell, where the interior side faces the robot body when installed.

[0234] In the example shown, the foam rear 4201 comprises an inward-facing surface of a foam cover. In certain embodiments, foam-based coverings may provide limited ability to repeatedly form and maintain detailed interior-side interface features due to local material nonuniformity.Attorney Docket No. ONEX-0008-WO2compressibility, and / or variability in deformation and recovery, which can complicate consistent accommodation of robot-side protrusions, mounting points, and other interior-side features.

[0235] In the example shown, the mesh rear 4203 comprises an inward-facing surface of a mesh cover. In certain embodiments, the mesh cover comprises a lattice-like shell structure configured to provide passive impact mitigation while protecting underlying components of a humanoid robot from intrusion and contact. In certain embodiments, the mesh rear 4203 includes one or more interior-side interface features configured to engage corresponding robot-side features. For example, in certain embodiments, the mesh rear 4203 includes an engagement slot 4205 configured to be engaged with a protrusion on the robot body to secure the mesh cover in a mounted configuration.

[0236] In certain embodiments, the mesh shell provides a more convenient and consistent design to accommodate features on the interior side of the shell facing the robot by enabling repeatable formation of interface geometry, including slots, keyed features, alignment edges, and / or mounting interfaces, thereby improving ease of securing and removal and improving consistency of fit and alignment across robots and across repeated service cycles. In certain embodiments, the interior-side interface features enforce a selected orientation of the mesh cover relative to the robot body, thereby ensuring that a desired exterior look and desired performance characteristics, including regionspecific compliance and airflow, are achieved when the mesh cover is installed.

[0237] Referring to FIG. 43, a magnified image of material structure is shown, including a foam cover 4001 and a mesh cover 4003. In certain embodiments, FIG. 43 provides a magnified view of the internal matrix of the foam cover 4001 and the structural matrix of the mesh cover 4003 to illustrate differences in permeability and porosity between the two covering approaches.

[0238] In the example shown, the foam cover 4001 comprises a foam matrix that may include open cells and / or closed cells and that provides impact cushioning through compressive deformation of the foam material. In certain embodiments, permeability through the foam cover 4001 is limited by the foam matrix and by variability in cell interconnectivity, cell size, and local material density.

[0239] In the example shown, the mesh cover 4003 comprises a lattice-like matrix including a plurality of openings defined by wall segments. In certain embodiments, the lattice-like structure provides clearly enhanced permeability relative to the foam cover 4001 by providing defined open flow paths through the mesh cover 4003. In certain embodiments, the porosity of the mesh cover 4003 is configurable by selection of one or more geometric parameters of the lattice, including without limitation cell size, opening shape, wall thickness, wall height, and / or pattern density, thereby enabling a desired balance of airflow, heat transfer, and impact deformation characteristics for a selected body region of the humanoid robot.Attorney Docket No. ONEX-0008-WO2

[0240] Accordingly, FIG. 43 illustrates that the mesh cover 4003 provides enhanced permeability and configurable porosity relative to the foam cover 4001, thereby supporting improved convective heat transfer and repeatable performance in an exterior covering for a humanoid robot.

[0241] Referring to FIGS. 44-46, a neck area fabric configuration for a humanoid robot is shown. In certain embodiments, the neck area fabric configuration is implemented as a neck cover 4400 that is configured to surround at least a portion of a neck region adjacent a head-to-torso interface and to provide a finished exterior appearance while accommodating relative motion of a head assembly and a torso assembly.

[0242] In certain embodiments, the neck area fabric includes a vertical termination knit at one or more stress points of the neck region. The vertical termination knit provides additional strength and dimensional stability at the stress points, for example to resist fraying, stretching, and creep under repeated head motion and repeated donning and doffing. In certain embodiments, the vertical termination knit is positioned adjacent to closure features and / or along edges that experience cyclic loading.

[0243] Referring to FIG. 46, the neck cover 4400 includes a zipper 4603 configured to provide convenient access to internal components of the humanoid robot in the neck region. In certain embodiments, the zipper 4603 provides an access path for maintenance, inspection, and / or adjustment of components, while allowing the neck cover 4400 to be returned to a closed configuration during operation.

[0244] Referring also to FIG. 46, the neck cover 4400 includes a magnet clasp 4601 configured to secure the neck area fabric in a closed and aligned configuration. In certain embodiments, the magnet clasp 4601 is positioned to bridge and retain opposing portions of the neck cover 4400, thereby reducing reliance on the zipper 4603 for retention during use. In certain embodiments, the magnet clasp 4601 reduces cyclic stresses that would otherwise be transmitted to the zipper 4603 during repeated head motion and body motion, thereby reducing the likelihood that the zipper 4603 will open over time and improving durability of the neck area fabric configuration.

[0245] Referring to FIG. 47, a mechanical drawing illustrating mesh bending and compaction for a shoulder mesh is shown. In the example shown, FIG. 47 depicts a shoulder close up 4700 including a shoulder mesh 4701 disposed in a shoulder region adjacent an articulated shoulder joint of a humanoid robot. In certain embodiments, the shoulder mesh 4701 comprises a compliant mesh structure that is configured to provide exterior coverage across a high-motion shoulder region while accommodating relative motion between a torso assembly and an arm assembly.

[0246] In certain embodiments, during a movement of the shoulder, the shoulder mesh 4701 is configured to deform to accommodate joint articulation. For example, the shoulder mesh 4701 mayAttorney Docket No. ONEX-0008-WO2bend to follow the relative rotation between adjacent body segments, including by stretching in a first region of the mesh and compacting in a second region of the mesh, thereby maintaining exterior continuity while allowing the arm assembly to move through a range of motion.

[0247] In certain embodiments, the shoulder mesh 4701 retains protection for the shoulder region during movement by maintaining coverage over underlying joint mechanisms and by spanning across gaps that could otherwise be exposed during articulation. In certain embodiments, the shoulder mesh 4701 prevents inadvertent access to pinch points by limiting access to joint-adjacent internal regions as the shoulder moves.

[0248] In certain embodiments, the shoulder mesh 4701 further reduces interference arising from external coverings and adjacent robot components during movement. For example, the shoulder mesh 4701 is configured to resist snagging or intrusion of a fabric layer and / or other robot components into a shoulder-joint clearance region, thereby reducing the likelihood of unintended contact that could impede motion and / or introduce unmodeled external forces during actuation. Accordingly, FIG. 47 illustrates an example shoulder mesh region providing compliant exterior coverage that accommodates shoulder articulation while maintaining impact and interference protection.

[0249] Referring to FIG. 48, a mechanical assembly 4800 is shown including a hip motor assembly 4800, a motor housing 4801, a terminator 4803, a first tendon access 4805, a driven rotor 4807, and a second tendon access 4809. In certain embodiments, the hip motor assembly 4800 is configured to provide motive power for a tendon drive configured to operate a joint of a humanoid robot, including for example a hip joint. The example of FIG. 48 is depicted as a hip motor assembly, but may be a motor assembly associated with any joint of the robot, including any joint where 2-axis movement control is desired from a motor assembly.

[0250] In certain embodiments, the motor operates a tendon drive using an intermediate rotor between a motor axis of the hip motor assembly 4800 and the driven rotor 4807. In such embodiments, a tendon is routed about, and / or is terminated to, the intermediate rotor to transmit force from the motor axis to the driven rotor 4807. The intermediate rotor provides routing options and intermediate gear selections as desired, including enabling tendon routing around packaging constraints within the motor housing 4801 and enabling selection of a mechanical advantage between the motor axis and the driven rotor 4807.

[0251] In certain embodiments, the terminator 4803 is configured to secure an end of a tendon, including for example by clamping, pinning, bonding, or otherwise coupling the tendon to a terminating feature. In the example shown, the tendon access 4805 and the tendon access 4809Attorney Docket No. ONEX-0008-WO2provide access features for routing, installation, inspection, and / or replacement of the tendon relative to one or more rotors, including the intermediate rotor and the driven rotor 4807.

[0252] In certain embodiments, the hip motor assembly 4800 is operable as a differential drive for convenient and compact control. In such embodiments, the hip motor assembly 4800 includes a motor pair comprising a first motor and a second motor, wherein the second motor is positioned on a back side of the motor housing 4801 and is not shown in FIG. 48. In certain embodiments, the motor pair is configured such that common rotation of the two motors operates a first movement axis of the associated joint and differential rotation of the two motors operates a second movement axis of the associated joint, thereby providing multi-axis control using a compact paired-motor arrangement.

[0253] In the example shown, one or more rotors of the tendon drive, including the driven rotor 4807 and the intermediate rotor, are circular, thereby providing a consistent gear ratio between tendon travel and rotor rotation. In certain embodiments, the gear ratio may be varied throughout the motion by using a non-circular rotor profile, including without limitation an elliptical perimeter and / or a cammed perimeter of one or more rotors in the tendon drive, thereby providing a motiondependent mechanical advantage and allowing tuning of torque and speed characteristics over a range of motion.

[0254] Referring to FIGS. 49-50, cutaway views of an example motor 4900 are shown. In certain embodiments, the motor 4900 is configured for use on a humanoid robot to operate a joint movement and / or to operate a tendon drive, including embodiments in which the motor 4900 is packaged within a compact motor assembly for installation within a torso assembly and / or a limb assembly.

[0255] Referring to FIG. 49, the motor 4900 is shown in a perspective cutaway view. In the example shown, the motor 4900 includes a stator housing 4901 and a rotor 4903. In certain embodiments, the stator housing 4901 provides structural support and containment for stator components, and the rotor 4903 is configured to rotate relative to the stator housing 4901 to generate motive output.

[0256] Referring to FIG. 50, the motor 4900 is shown in a front cutaway view. In the example shown, the rotor 4903 is disposed within a surrounding stator region defined at least in part by the stator housing 4901. In certain embodiments, the views of FIGS. 49-50 illustrate a compact radial packaging arrangement of the motor 4900, including relative placement of the rotor 4903 and the stator housing 4901 for providing torque output within a selected motor envelope.

[0257] Referring to FIG. 51, a mechanical assembly front view of a dual motor assembly 5100 is shown. In certain embodiments, the dual motor assembly 5100 includes a motor pair comprising a first motor and a second motor disposed within a common housing, and is configured to provideAttorney Docket No. ONEX-0008-WO2compact, multi-axis actuation for a joint of a humanoid robot and / or for a tendon drive configured to operate a joint of the humanoid robot.

[0258] In the example shown, the dual motor assembly 5100 includes a differential rotor 5103 and a driven or intermediate rotor 5105. In certain embodiments, the differential rotor 5103 receives rotational inputs from the motor pair and combines the inputs to provide differential drive behavior. In certain embodiments, common rotation of the motor pair is coupled through the differential rotor 5103 to drive a first axis of motion, and differential rotation between the two motors of the motor pair is coupled through the differential rotor 5103 to drive a second axis of motion, thereby allowing the dual motor assembly 5100 to drive two different axes of motion.In certain embodiments, the driven or intermediate rotor 5105 is operationally coupled to the differential rotor 5103 and is configured to transmit motive power to a tendon drive and / or to a joint output. In certain embodiments, the driven or intermediate rotor 5105 provides a selected gear ratio and / or routing geometry for a tendon, thereby coupling rotation produced by the differential rotor 5103 to tendon travel and corresponding joint motion. Accordingly, FIG. 51 illustrates an example compact paired-motor assembly configured to provide multi-axis control via a differential rotor.

[0259] Referring to FIG. 52, a mechanical component view is shown illustrating a tendon-drive rotor component configured for use in a motor assembly of a humanoid robot. In the example shown, the component includes a terminator 4803 and a tendon access 4805.

[0260] In certain embodiments, the terminator 4803 is configured to secure an end portion of a tendon, including by coupling a tendon end to a terminating feature to retain the tendon in tension during operation of the tendon drive. In certain embodiments, the terminator 4803 provides a compact retention structure that maintains tendon attachment and tension under cyclic loading associated with joint motion.

[0261] In certain embodiments, the tendon access 4805 comprises an access opening, passage, or relief feature configured to facilitate routing, installation, inspection, and / or replacement of the tendon relative to one or more rotors of the tendon drive. In certain embodiments, the tendon access 4805 provides a serviceable interface allowing a tendon to be introduced to, or removed from, an internal routing path and / or a termination region without requiring disassembly of the full motor assembly, thereby improving maintainability of the tendon-drive system.

[0262] Referring to FIG. 53, a circular motor schematic 5300 is shown illustrating an example arrangement of coil detents 5301, rotor magnets 5303, control circuits 5305, a stator substrate 5307, a rotor substrate 5309, and a motor gap 5311. In certain embodiments, and without limitation, an arrangement such as depicted in FIG. 53 may be utilized to create motors with torque and weightAttorney Docket No. ONEX-0008-WO2specifications as set forth throughout the present disclosure, including motors configured for high torque output in a small physical form factor at low weight.

[0263] In the example shown, the stator substrate 5307 includes a plurality of linear detents defining the coil detents 5301. In certain embodiments, a plurality of coils are housed in corresponding ones of the coil detents 5301, with each coil having a rectangular cross-section. In certain embodiments, the rectangular coil cross-section provides a high fill factor of conductive material within the stator substrate 5307. In certain embodiments, the coil detents 5301 provide linear retention of the coils without requiring flared retention features in the detents, where such flared features can otherwise reduce the fill factor and can screen or attenuate magnetic field coupling between the coils and the rotor magnets 5303. Accordingly, in certain embodiments, the use of linear retention detents for the coils enhances the torque to weight characteristics of the motor.

[0264] In the example shown, the rotor substrate 5309 supports the rotor magnets 5303. In certain embodiments, the rotor magnets 5303 are secured to the rotor substrate 5309 utilizing an adhesive. In certain embodiments, the rotor magnets 5303 are implemented as a plurality of discrete magnets having a high surface area to weight value due to their small size, thereby supporting effective adhesive coupling and thermal exchange while supporting high magnetic loading for a given mass. In certain embodiments, the rotor magnets 5303 are arranged at a high density relative to motor frame size, and the coils housed in the coil detents 5301 are arranged at a high density relative to motor frame size, thereby supporting formation of a high torque system. In certain embodiments, the rotor magnets 5303 are arranged as a Halbach array to increase flux density in the motor gap 5311 and reduce flux leakage, thereby further increasing torque output.

[0265] In the example shown, the rotor magnets 5303 are separated from the stator-side coils by the motor gap 5311. In certain embodiments, the motor gap 5311 is maintained as a small gap to increase magnetic coupling and torque generation. In certain embodiments, the small motor gap 5311 is enabled and maintained by accurate positioning of the coils within the coil detents 5301 and accurate positioning of the rotor magnets 5303 on the rotor substrate 5309.In the example shown, the coils are electrically coupled into a plurality of control circuits 5305. In an example implementation, the motor utilizes six separate control circuits 5305, although this is not limiting. In certain embodiments, the plurality of control circuits 5305 are configured to energize selected subsets of the coils to generate a magnetic field that interacts with the rotor magnets 5303 to produce rotation of the rotor substrate 5309 relative to the stator substrate 5307. In certain embodiments, the control circuits 5305 are modulated to manage cogging, torque ripple, and other undesirable operation, including by adjusting coil energization profiles to reduce ripple effects and improve smoothness. In certain embodiments, the high density of the rotor magnets 5303 and theAttorney Docket No. ONEX-0008-WO2coils housed in the coil detents 5301, together with control-circuit modulation, provides resilience to cogging and enables high resolution operation across a range of operating speeds and torque outputs.

[0266] Referring to FIG. 54, a view of a motor assembly 5300 is shown illustrating a printed circuit board (PCB) 5313, a coil terminator 5315, and PCB soldering access 5317. In certain embodiments, the PCB 5313 is positioned over a plurality of coils of the motor and is configured to electrically couple the coils into a plurality of control circuits. In certain embodiments, the PCB 5313 is implemented as a disc shaped printed circuit board configured to align with corresponding coil terminators 5315 distributed around a stator region.

[0267] In the example shown, the motor assembly 5300 includes holes forming the PCB soldering access 5317. In certain embodiments, the holes provide soldering access to couple coils to the PCB circuits, including allowing coil elements and / or coil terminators 5315 to be accessed through the PCB soldering access 5317 for selective soldering to establish the desired electrical coupling into the plurality of control circuits.

[0268] In certain embodiments, engagement of the PCB 5313 to the motor assembly 5300 includes flexing a final coil terminator 5315 for engagement and flexing an edge portion of the PCB 5313 near the final coil terminator 5315 to complete engagement. For example, in certain embodiments, during installation of the PCB 5313 over the coils, a last engaged terminator of the coil terminators 5315 is flexed and a corresponding edge of a PCB substrate is flexed to complete engagement of the last engaged terminator with the PCB substrate, thereby enabling assembly of the PCB 5313 over the coils while maintaining alignment of the coil terminators 5315 with corresponding PCB connection features.

[0269] Referring to FIG. 55, a mechanical view of a neck motor assembly 5500 is shown. In certain embodiments, the neck motor assembly 5500 is configured to provide motive power for movement of a neck joint coupling a head assembly to a torso assembly of a humanoid robot.

[0270] In the example shown, the neck motor assembly 5500 includes a motor housing 5501 and a driven rotor 5503. In certain embodiments, the neck motor assembly 5500 comprises a dual motor system configured to produce neck movement in two axes. For example, in certain embodiments, a motor pair housed by the motor housing 5501 is configured to operate a tendon drive coupled to the driven rotor 5503, wherein common rotation of the motor pair operates a first neck movement axis and differential rotation of the motor pair operates a second neck movement axis, thereby providing compact multi-axis neck actuation using a differential drive arrangement. In the example of Fig. 55, the motor pair controls head nodding motion as well as head tilting motion, while the neck secondary motor 5505 control head rotation from side to side.Attorney Docket No. ONEX-0008-WO2

[0271] In the example shown, the neck motor assembly 5500 further includes a neck secondary motor 5505. In certain embodiments, the neck secondary motor 5505 is configured as a direct drive motor for neck rotation, including embodiments in which the neck secondary motor 5505 directly drives a rotation axis of the neck joint (e.g., a yaw axis) over a limited range of motion, thereby reducing routing complexity and providing direct rotational control for the neck. In certain embodiments, the movement of a joint utilizing a single motor can still be a geared motion, although in the example of Fig. 55 it is a direct drive motion.

[0272] FIG. 56 illustrates a cross-sectional view of a tactile sensor 100 in accordance with aspects described herein. In some examples, the sensor 100 includes a contact layer 102 and a sensing array (or layer) 104. The contact layer 102 is a deformable layer configured to interface the sensing array 104 with the environment. In one example, the contact layer 102 includes an internal surface 106 and an external surface 108. The internal surface 106 is the side of the contact layer 102 that contacts (or engages with) the sensing array 104. In some examples, the internal surface 106 is made of a mechanically-resilient, electrically-conductive material. For example, the internal surface 106 may be made from an elastomer mixed with a conductive powder. The internal surface 106 is molded in a structured manner, such that the area in contact with the sensing array 104 varies locally according to the forces applied. In some examples, the internal surface 106 is structured to have a plurality of pillars (or nubs) that contact the sensing array 104. The plurality of pillars may be shaped as cones, hemispheres, cylinders, prisms, or any other suitable geometric shape. In some examples, the each pillar of the plurality of pillars has the same shape (e.g., cone, cylinder, etc.). In other examples, two or more pillars of the plurality of pillars have different shapes. In some examples, the plurality of pillars are arranged in an array having a uniform distribution (or spacing). For example, the plurality of pillars may be arranged in a two dimensional array having rows and columns. FIG. 57 illustrates an example internal surface 106 having a uniform distribution of pillars. In the illustrated example, the internal surface 106 has a plurality of conical pillars that are arranged in a uniform 6x8 array / grid covering a 10x14mm rectangular area. It should be appreciated that the plurality of pillars may be arranged in a non-uniform manner depending on the application.

[0273] The external surface 108 is the side of the contact layer 102 that is exposed for contact with the environment. In some examples, the external surface 108 is made from the same material as the internal surface 106 (e.g., an elastomer mixed with a conductive powder). In such examples, the contact layer 102 is a single-material component. In other examples, the external surface 108 is made from a different material than the internal surface 106. For example, the external surface 108 may be made of an elastomer that provides electrical isolation between the environment and the internal surface 106. In some examples, the shape (or form) of the external surface 108 corresponds to theAttorney Docket No. ONEX-0008-WO2intended robotic application for the sensor 100. For example, if the sensor 100 is configured as a finger (or to be included in a finger), the external surface 108 may be shaped like a human fingertip. Likewise, if the sensor 100 is configured as a foot (or to be included in a foot), the external surface 108 may be shaped like a foot sole (e.g., curved or flat).

[0274] The sensing array 104 includes a matrix (or array) of individually-addressable sensing elements. The sensing elements may be organized into rows and columns to simplify addressing. In some examples, the sensing elements are disposed on a rigid or flexible substrate and have varying electrical properties that depend on the properties of the materials in contact with their surface (or the distance of the material’s surface to them). For example, the capacitance, resistance, and / or other electrical properties of each sensing element vary according to the physical characteristics of the materials in contact with them. In some examples, the sensing array 104 includes a dielectric layer for measuring capacitance. In one example, the sensing array 104 has a resolution in the range of 500 dots per inch (DPI), which equates to approximately 250,000 capacitors per square inch. In other examples, the sensing array 104 is configured with a different resolution (e.g., higher or lower). In some examples, the measurements collected by the sensing array 104 are represented as a two-dimensional matrix of physical values that are proportional to the amount of capacitance on each sensing element. The position of each physical value in the matrix reflects the physical position of the capacitance source on the sensing array 104. In some examples, the sensing array 104 includes processing circuitry to perform physical value readings from the individual sensing elements. The processing circuitry may convert the physical value readings into a digital form for further processing (e.g., an image). In some examples, the sensing array 104 outputs electrical signals that are processed by external processing circuitry to perform the physical value readings.

[0275] As described above, the sensing elements of the sensing array 104 have electrical properties (e.g., capacitance) that vary based on the materials in contact with them. Deformations of the contact layer 102 due to external forces affect the portion of the internal surface 106 in contact with the sensing array 104 (e.g., the pillars), causing the electrical properties of the sensing elements to vary based on the external forces. In some examples, the sensing array 104 captures unique images for each force profile applied to the sensor 100.

[0276] FIG. 58 A illustrates an example of the sensor 100 in a first (or neutral) state. In the illustrated example, the internal surface 106 includes a 1x7 array of uniformly-sized conical pillars. In the first state, a uniform force is applied to the external surface 108 of the contact layer 102. Sample image 302 represents the image captured by the sensing array 104 in the example first state. As shown, each conical pillar is projected on the image plane as a circle having a substantially similar diameter. In some examples, the diameter of each circle is proportional to the force applied toAttorney Docket No. ONEX-0008-WO2external surface 108. Alternately, if using triangular or trapezoidal prism pillars, the pillars would be projected on the image plane as vertical lines / rectangles.

[0277] FIG. 58B illustrates an example of the sensor 100 in a second state. In the second state, a non-uniform vertical force is applied to the external surface 108 of the contact layer 102. The external surface 108 deforms due to the non-uniform force, causing non-uniform deformities in the plurality of pillars of the internal surface 106. In some examples, the deformation of each pillar corresponds to the local forces applied to the pillar. Sample image 304 represents the image captured by the sensing array 104 in the example second state. The size of each circle reflects the local magnitude of the force applied. For example, the largest circles correspond to the pillars that experience the highest force magnitudes, whereas the smallest circles correspond to the pillars that experience the smallest force magnitudes.

[0278] FIG. 58C illustrates an example of the sensor 100 in a third state. In the third state, a uniform shear force is applied to the external surface 108 of the contact layer 102 along with a uniform vertical force. The external surface 108 deforms due to the uniform shear force, causing uniform deformities in the plurality of pillars of the internal surface 106. Sample image 306 represents the image captured by the sensing array 104 in the example third state. As shown, each pillar is projected on the image plane as a teardrop which indicates the horizontal deformation.

[0279] FIG. 58D illustrates an example of the sensor 100 in a fourth state. In the fourth state, a uniform shear force is applied to the external surface 108 of the contact layer 102 along with a non-uniform vertical force. The external surface 108 deforms due to the uniform shear force and the non-uniform vertical force, causing non-uniform deformities in the plurality of pillars of the internal surface 106. Sample image 308 represents the image captured by the sensing array 104 in the example fourth state. As shown, each conical pillar is projected on the image plane as a teardrop having varying sizes. In some examples, the size of each teardrop reflects the local magnitude of the force applied due to the combination of the uniform shear force and the non-uniform vertical force. For example, the largest teardrops correspond to the pillars that experience the highest force magnitudes, whereas the smallest teardrops correspond to the pillars that experience the smallest force magnitudes.

[0280] In some examples, the resolution of the sensor 100 is defined by the number of sensing elements covering the area of the conductive material in contact with the sensing array 104. FIGS.59A-59F illustrate various examples of configurations for the sensor 100.

[0281] FIG. 59A illustrates an example high resolution configuration 400 of the sensor 100. In the configuration 400, the sensing array 104 is configured as an 8x10 array of sensing elements.Likewise, the internal surface 106 of the contact layer 102 is configured with an 8x10 array ofAttorney Docket No. ONEX-0008-WO2conical pillars. The configuration 400 achieves high-resolution by providing a one-to-one paring of sensing elements to pillars. As such, forces applied to a first area of the contact layer 102 (e.g., column 1, row A) may be distinguished from forces applied to a second area of the contact layer 102 (e.g., column 1, row B). In some examples, the sensor 100 is configured with a lower resolution. For example, FIG. 59B illustrates an example low resolution configuration 410 of the sensor 100. In the configuration 410, the sensing array 104 is configured as an 8x10 array of sensing elements and internal surface 106 of the contact layer 102 is configured with an 4x5 array of conical pillars. As such, the resolution of the sensor 100 is reduced. However, the sensor 100 can distinguish between forces applied to a first area of the contact layer 102 (e.g., column 1, row A) and forces applied to a second area of the contact layer 102 (e.g., column 3, row A).

[0282] Depending on the robotic application, it may be advantageous to configure the sensor as a mixed resolution sensor. FIG. 59C illustrates an example of a mixed resolution configuration 420 of the sensor 100. In the configuration 420, the internal surface 106 of the contact layer 102 is configured with a mixed set of conical pillars. As shown, the internal surface 106 includes an outer low resolution ring of conical pillars and an inner high resolution array of conical pillars. Such mixed resolution configurations may be advantageous for specific robotic applications. For example, the configuration 420 may be useful in applications where the external surface 108 of the sensor 100 is curved (e.g., a thumb). In such situations, the forces applied to the outer portions of the external surface 108 may be less relevant than the forces applied to the inner portion of the external surface 108.

[0283] FIG. 59D illustrates another example configuration 430. In the configuration 430, the internal surface 106 is configured with both conical pillars and triangular pillars. Different types of pillars may provide unique deformations that are better suited for different robotic interfaces (or portions of interfaces). For example, triangular pillars may be better suited for the flat portions of a robotic foot, whereas conical pillars may be better suited for arched portions of a robotic foot, or vice versa. FIG. 59E illustrates an example configuration 440 that includes an internal surface 106 having different pillar shapes along with mixed resolution regions. FIG. 59F illustrates another example configuration 450 that includes different pillar shapes along with mixed resolution regions. As shown, the internal surface 106 is configured with a extra-high resolution region that includes two pillars per sensing element (e.g., columns 3-8, rows C-F). Along with mixed pillar shapes and sizes, it should be appreciated that the internal surface 106 can be configured with pillars made of different materials.

[0284] As described above, the main output of the sensor 100 is the digital readout from the sensing array 104, which corresponds to an image of the internal surface 106 of the contact layer 102 asAttorney Docket No. ONEX-0008-WO2detected by the sensing array 104. In some examples, the image is passed through one or more image processing (or computer vision) steps to extract contact force information. The contact force information may be absolute or relative values. In some examples, the image processing steps are performed by one or more processing controllers. For example, the image processing steps may be performed by one or more controllers of a robotic system. In other examples, the image processing steps may be performed by one or more cloud computing systems. In some examples, the image is processed via an image feature extraction system. In some examples, the image feature extraction system uses a morphological image processing technique to extract components from the image. For each element of the structure expected on the image, the module outputs a set of features relevant for identifying the element (e.g., size, position, centroid, eccentricity, etc.). The set of features are then used to compute the local forces applied to the plurality of pillars based on calibration data (or images) with known magnitudes and angles.

[0285] In some examples, the image feature extraction system uses one or more machine learning (ML) or artificial intelligence (Al) models to extract image features. In some examples, a model (e.g., a neural network) is trained using calibration data to output local and / or global force measurements. The trained model is then used to compute local forces applied to the plurality of pillars and / or global forces applied to the sensor 100 based on the images generated by the sensing array 104. In some examples, the model is trained to provide an end-to-end robotic control approach. For example, the trained model can implicitly determine the force vectors applied to the sensor 100 and use them to compute actuator outputs for controlling the robotic system. In some examples, the trained model is configured to output the actuator control outputs without outputting numerical force measurements from the sensor 100. In some examples, an encoder-decoder network is utilized to compress data and communicate only relevant information between the sensor 100 and the processing controller (or computer). By training an autoencoder with an image (e.g., output by the sensing array 104), the encoder-decoder network can perform a compression into a latent space. The compressed data (or image) may exclude features that are expected by humans to process the image. However, the output of the encoder stage is communicated and understood by a different system (e.g., the processing controller). In some examples, the image feature extraction system is a hybrid system that utilizes a morphological image processing technique with a trained ML model (e.g., a neural network). In such examples, the morphological image processing technique is used to preprocess the image for the trained model. For example, the morphological image processing technique may be used to extract features from the image that are then analyzed by the trained model to compute the local and / or global forces.Attorney Docket No. ONEX-0008-WO2

[0286] FIG. 60 illustrates an example of a robotic system 500 that includes the sensor 100. As shown, the system 500 includes a robotic interface 502 that is coupled to the sensor 100. In some examples, the robotic interface 502 is a finger, hand, foot, or another surface of the robot. As such, the sensor 100 may be attached to (or included in) a fingertip, palm, toe, heel, or sole of the robot. The robotic interface 502 is configured to be actuated via one or more actuators 504. The actuators 504 are configured to receive controls from a controller 506. In some examples, the robotic interface 502 is operated (e.g., via the actuators 504) to contact an object 508. The actuated motion of the robotic interface 502 causes the sensor 100 to contact or engage with the object 508. As described above, the contact with the object 508 causes one or more forces to be applied to the contact layer 102 of the sensor 100. The applied force(s) are captured via image by the sensing array 104 of the sensor 100 and transmitted to the controller 506 for further processing. In some examples, the controller 506 is configured to operate as the image feature extraction system described above. As such, the controller 506 may compute the local and / or global forces applied to the sensor 100 and adjust the control of the actuators 504 as desired.

[0287] FIG. 61 illustrates another example of a robotic system 600 that includes the sensor 100. As shown, the system 600 includes two robotic interfaces 602a, 602b that are coupled to sensors 100a, 100b. The first robotic interface 602a is configured to be operated by actuators 604a and the second robotic interface 602b is configured to be operated by actuators 604b. In some examples, both sets of actuators 604a, 604b receive controls from a controller 606. However, in other examples, the actuators 604a, 604b may receive controls from different controllers. In some examples, the robotic interfaces 602a, 602b are operated (e.g., via the actuators 604a, 604b) to contact an object 608. The actuated motions of the robotic interfaces 602a, 602b cause the sensors 100a, 100b to contact or engage with the object 608. The forces applied to each sensor 100a, 100b are captured by the corresponding sensing arrays and transmitted to the controller 606 for further processing. The controller 606 may compute the local and / or global forces applied to each sensor 100a, 100b and adjust the control of the actuators 604a, 604b as desired. In some examples, the sensors 100a, 100b are used to provide feedback for the control of the opposing robotic interface 602. For example, the first robotic interface 602a may correspond to the left hand of the robot and the second robotic interface 602b may correspond to the right hand of the robot. When being operated to pick up the object 608, the forces applied to the first sensor 100a (i.e., attached to the left hand) may be used to operate the actuators 604b that control the second robotic interface 602b (i.e., the right hand). If the forces applied to sensor 100a are insufficient to complete a task (i.e., picking up or holding the object 608), the controller 606 may control the actuators 604b such that the second robotic interface 602b (and the sensor 100b) press against the object 608 with additional force to increase the forceAttorney Docket No. ONEX-0008-WO2experienced by the first robotic interface 602a (and the sensor 100a). Such feedback control loops using multiple sensors 100a, 100b may be advantageous for mitigating multi-dimensional forces (i.e., vertical and shear) in robotic applications.

[0288] FIG. 62 shows an example of a generic computing device 700, which may be used with some of the techniques described in this disclosure. Computing device 700 includes a processor 702, memory 704, an input / output device such as a display 706, a communication interface 708, and a transceiver 710, among other components. The device 700 may also be provided with a storage device, such as a micro-drive or other device, to provide additional storage. Each of the components 700, 702, 704, 706, 708, and 710, are interconnected using various buses, and several of the components may be mounted on a common motherboard or in other manners as appropriate.

[0289] The processor 702 can execute instructions within the computing device 700, including instructions stored in the memory 704. The processor 702 may be implemented as a chipset of chips that include separate and multiple analog and digital processors. The processor 702 may provide, for example, for coordination of the other components of the device 700, such as control of user interfaces, applications run by device 700, and wireless communication by device 700.

[0290] Processor 702 may communicate with a user through control interface 712 and display interface 714 coupled to a display 706. The display 706 may be, for example, a TFT LCD (Thin-Film-Transistor Liquid Crystal Display) or an OLED (Organic Light Emitting Diode) display, or other appropriate display technology. The display interface 714 may comprise appropriate circuitry for driving the display 706 to present graphical and other information to a user. The control interface 712 may receive commands from a user and convert them for submission to the processor 702. In addition, an external interface 716 may be provided in communication with processor 702, so as to enable near area communication of device 700 with other devices. External interface 716 may provide, for example, for wired communication in some implementations, or for wireless communication in other implementations, and multiple interfaces may also be used.

[0291] The memory 704 stores information within the computing device 700. The memory 704 can be implemented as one or more of a computer-readable medium or media, a volatile memory unit or units, or a non-volatile memory unit or units. Expansion memory 718 may also be provided and connected to device 700 through expansion interface 720, which may include, for example, a SIMM (Single In Line Memory Module) card interface. Such expansion memory 718 may provide extra storage space for device 700, or may also store applications or other information for device 700. Specifically, expansion memory 718 may include instructions to carry out or supplement the processes described above, and may include secure information also. Thus, for example, expansion memory 718 may be provided as a security module for device 700, and may be programmed withAttorney Docket No. ONEX-0008-WO2instructions that permit secure use of device 700. In addition, secure applications may be provided via the SIMM cards, along with additional information, such as placing identifying information on the SIMM card in a non-hackable manner.

[0292] The memory may include, for example, flash memory and / or NVRAM memory, as discussed below. In one implementation, a computer program product is tangibly embodied in an information carrier. The computer program product contains instructions that, when executed, perform one or more methods, such as those described above. The information carrier is a computer-or machine-readable medium, such as the memory 704, expansion memory 718, memory on processor 702, or a propagated signal that may be received, for example, over transceiver 710 or external interface 716.

[0293] Device 700 may communicate wirelessly through communication interface 708, which may include digital signal processing circuitry where necessary. Communication interface 708 may in some cases be a cellular modem. Communication interface 708 may provide for communications under various modes or protocols, such as GSM voice calls, SMS, EMS, or MMS messaging, CDMA, TDMA, PDC, WCDMA, CDMA2000, or GPRS, among others. Such communication may occur, for example, through radio-frequency transceiver 710. In addition, short-range communication may occur, such as using a Bluetooth, WiFi, or other such transceiver (not shown). In addition, GPS (Global Positioning System) receiver module 722 may provide additional navigation- and location-related wireless data to device 700, which may be used as appropriate by applications running on device 700.

[0294] Device 700 may also communicate audibly using audio codec 724, which may receive spoken information from a user and convert it to usable digital information. Audio codec 724 may likewise generate audible sound for a user, such as through a speaker, e.g., in a handset of device 700. Such sound may include sound from voice telephone calls, may include recorded sound (e.g., voice messages, music files, etc.) and may also include sound generated by applications operating on device 700. In some examples, the device 700 includes a microphone to collect audio (e.g., speech) from a user. Likewise, the device 700 may include an input to receive a connection from an external microphone.

[0295] The computing device 700 may be implemented in a number of different forms, as shown in FIG. 62. For example, it may be implemented as a computer (e.g., laptop) 726. It may also be implemented as part of a smartphone 728, smart watch, tablet, personal digital assistant, or other similar mobile device.

[0296] Referring to FIG. 63, a flowchart illustrates an example method for operating a humanoid robot using force-based control. The method may be executed by one or more controllers disposedAttorney Docket No. ONEX-0008-WO2on the humanoid robot, and may be implemented in hardware, software, firmware, or any combination thereof. The method is described with reference to example operations 6302, 6304, 6306, and 6308, and may be utilized to control a plurality of joints of the humanoid robot, including joints of a left arm assembly, a right arm assembly, a left leg assembly, a right leg assembly, a torso assembly, and a head assembly.

[0297] At operation 6302, a movement command specifying a desired movement of the humanoid robot is received. In certain embodiments, the movement command specifies a desired whole-body movement, a limb movement, a joint-space movement, an end-effector movement, a posture, and / or a task objective. In certain embodiments, the movement command is received as a position command specifying at least one commanded position, including a commanded joint position and / or a commanded end-effector position. For example, the position command may specify one or more desired joint angles, a desired pose of a hand relative to the torso, a desired foot placement relative to a support surface, or a desired head orientation relative to a torso coordinate frame.

[0298] At operation 6304, state information indicative of a condition of the humanoid robot is received. The state information includes at least joint position information for at least one joint of the humanoid robot, and in certain embodiments includes joint position information for a plurality of joints. In certain embodiments, the state information further includes one or more of joint velocity, joint acceleration, estimated joint torque, motor position, motor velocity, motor current, estimated tendon tension, motor temperature, inertial measurement unit outputs, contact sensor outputs, and / or fault indicators. The state information may be time-aligned and / or filtered, and may be expressed in any selected coordinate system, including joint coordinates, Cartesian coordinates, or transformed coordinates of a robot model.

[0299] At operation 6306, a force-based control target is determined in response to the movement command and the state information. In certain embodiments, the force-based control target comprises at least one of a joint torque target, an actuator force target, an end-effector force target, or a tendon tension target. In implementations where the movement command is received as a position command, determining the force-based control target includes determining the force-based control target as a force operation configured to move the humanoid robot toward a position responsive to the position command. In certain embodiments, this includes determining at least one joint torque target for moving at least one joint toward a commanded joint position specified by the position command, such as by generating torque targets based on a position error, a velocity error, and / or a dynamic model of the humanoid robot. In certain embodiments, the force-based control target is further determined using one or more constraint models and / or compliance models to supportAttorney Docket No. ONEX-0008-WO2human-compatible interaction behavior, including by producing force-based targets that allow controlled compliance during contact.

[0300] In certain embodiments, the force-based control target is determined subject to one or more limits to bound motion energy and motion aggressiveness. In certain embodiments, determining the force-based control target includes determining the force-based control target subject to a velocity limit for a limb of the humanoid robot such that the motor command signals are constrained to limit a velocity of the limb to not exceed a predetermined maximum limb velocity. In certain embodiments, determining the force-based control target includes determining the force-based control target subject to an acceleration limit for a limb of the humanoid robot such that the motor command signals are constrained to limit an acceleration of the limb to not exceed a predetermined maximum limb acceleration. In certain embodiments, determining the force-based control target includes determining the force-based control target subject to at least one of (i) a rotational momentum limit or (ii) a linear momentum limit such that the motor command signals are constrained to limit at least one of rotational momentum or linear momentum of at least a limb of the humanoid robot to not exceed a predetermined maximum momentum threshold. The velocity limit, the acceleration limit, and the momentum limit(s) may be defined for an end-effector, for a limb segment, for a joint group, and / or for a whole-body coordinate frame, and may be selected based on task context, proximity to humans, detected contact conditions, and / or operating mode.

[0301] At operation 6308, at least one motor command signal is provided in response to the force-based control target. In certain embodiments, providing the motor command signal comprises generating command values for one or more motors, including current commands, voltage commands, pulse-width modulation commands, and / or other motor drive signals, to cause the motors to produce outputs corresponding to the force-based control target. In certain embodiments, the motor command signal is updated during execution based on the received state information, including joint position information, and further based on motor feedback, to reduce error between an estimated force output and the force-based control target and to maintain stable closed-loop behavior. In certain embodiments, motor feedback includes at least one of motor current, motor position, motor velocity, estimated actuator torque, and / or estimated tendon tension.

[0302] In certain embodiments, providing the motor command signal causes a shoulder joint of at least one of a left arm assembly or a right arm assembly to move relative to a torso assembly. In certain embodiments, providing the motor command signal causes the shoulder joint to execute at least one of a flexion movement, an abduction movement, or an internal rotation movement. In certain embodiments, the shoulder joint movement is produced by one or more motors driving a tendon transmission, including implementations using a differential drive motor pair to control twoAttorney Docket No. ONEX-0008-WO2shoulder degrees of freedom, while optionally using a separate actuator to control an internal rotation degree of freedom.

[0303] In certain embodiments, providing the motor command signal causes an elbow joint of at least one of a left arm assembly or a right arm assembly to move. In certain embodiments, providing the motor command signal causes the elbow joint to execute at least one of a flexion movement or a supination movement. In certain embodiments, elbow motion is produced by a tendon drive responsive to force-based targets that regulate joint torque and / or tendon tension to achieve a commanded motion while maintaining compliance during contact.

[0304] In certain embodiments, providing the motor command signal causes a wrist joint of at least one of a left arm assembly or a right arm assembly to move. In certain embodiments, providing the motor command signal causes the wrist joint to execute at least one of an abduction movement or a flexion movement. In certain embodiments, the wrist joint is controlled by a tendon drive and the force-based control target includes a torque target and / or a tendon tension target that is updated using joint position information to regulate wrist motion.

[0305] In certain embodiments, providing the motor command signal causes a hip joint of at least one of a left leg assembly or a right leg assembly to move relative to a torso assembly. In certain embodiments, providing the motor command signal causes the hip joint to execute at least one of a flexion movement, an abduction movement, or an internal rotation movement. In certain embodiments, the hip joint is controlled using one or more tendon drives, including a paired-motor arrangement configured to provide multi-axis control, while an additional actuator may provide an internal rotation degree of freedom.

[0306] In certain embodiments, providing the motor command signal causes a knee joint of at least one of a left leg assembly or a right leg assembly to move. In certain embodiments, the knee joint comprises a two stage knee joint including a first stage and a second stage, and providing the motor command signal causes at least one of the first stage or the second stage to move in a flexion movement. In certain embodiments, the two stages are controlled in a coupled manner such that motion of one stage follows a predetermined relationship to motion of the other stage, while in other embodiments at least partial independence is provided, and the force-based control target includes separate torque targets for each stage.

[0307] In certain embodiments, providing the motor command signal causes an ankle joint of at least one of a left leg assembly or a right leg assembly to move. In certain embodiments, providing the motor command signal causes the ankle joint to execute at least one of an inversion movement or a flexion movement. In certain embodiments, the ankle joint is controlled using a tendon drive responsive to force-based targets to regulate contact forces during stance and transitions during gait.Attorney Docket No. ONEX-0008-WO2

[0308] In certain embodiments, providing the motor command signal causes a neck joint coupling a head assembly to a torso assembly to move. In certain embodiments, providing the motor command signal causes the neck joint to execute at least one of a flexion movement, a lateral flexion movement, or a rotation movement. In certain embodiments, multiple neck axes are controlled using a combination of a tendon drive and a direct-drive actuator, and the force-based control target includes torque targets for one or more neck degrees of freedom to provide smooth and humancompatible head motion.

[0309] In certain embodiments, providing the motor command signal causes a spine joint coupling a pelvic sub-assembly to a remainder of a torso assembly to move. In certain embodiments, providing the motor command signal causes the spine joint to execute at least one of a flexion movement or a rotation movement. In certain embodiments, the spine joint is controlled using a tendon drive responsive to force-based targets to manage whole-body posture while maintaining bounded motion.

[0310] In certain embodiments, providing the motor command signal causes at least one motor command signal to actuate a hand of at least one of a left arm assembly or a right arm assembly at least partially between an open position and a closed position. In certain embodiments, the hand is driven by one or more actuators and / or a cable drive system, and the force-based control target includes tendon tension targets and / or joint torque targets to regulate grip force during grasp and release.

[0311] In certain embodiments, providing the motor command signal causes a mid-joint of a foot of at least one of a left leg assembly or a right leg assembly to move between a first flat position and a second raised position. In certain embodiments, the mid-joint is biased toward the first flat position and is controlled by an actuator responsive to force-based targets to adjust foot stiffness, energy storage, and gait transitions.

[0312] Accordingly, FIG. 63 illustrates a force-based control approach in which receiving a movement command and state information, determining force-based control targets, and providing motor command signals enable coordinated actuation across major joints of a humanoid robot while optionally enforcing velocity, acceleration, and momentum limits to support predictable, smooth, and human-compatible motion behavior.

[0313] In certain embodiments, the at least one of the rotational momentum limit or the linear momentum limit is evaluated and enforced with respect to any selected physical extent of the humanoid robot and / or any selected modeled system state. For example, the rotational momentum limit and / or the linear momentum limit may be defined for a particular limb, limb segment, endeffector, or joint group, and additionally or alternatively may be defined for a whole-body coordinate frame of the humanoid robot such that the limited momentum corresponds to movement of theAttorney Docket No. ONEX-0008-WO2humanoid robot as a whole. In certain embodiments, the rotational momentum limit and / or the linear momentum limit further account for items that are held by the humanoid robot and / or items that are expected to be held as part of an operation, including by incorporating an estimated mass, mass distribution, and / or inertia of a carried object into a momentum model used when determining the force-based control target, thereby constraining momentum for the combined system of the humanoid robot and the item.

[0314] Referring to FIG. 64, a flowchart illustrates an example method for handling motive commands for a humanoid robot using a validation-and-authorization framework. The method may be executed by one or more controllers disposed on the humanoid robot, and may be implemented in hardware, software, firmware, or any combination thereof. The method is described with reference to example operations 6402 and 6404.

[0315] At operation 6402, a motive command for the humanoid robot is interpreted. In certain embodiments, interpreting the motive command includes receiving the motive command via any suitable interface, including a local user interface, a remote operator interface, a supervisory control system, and / or an autonomous planning system. In certain embodiments, interpreting the motive command includes parsing and normalizing the motive command into a command representation usable by a movement command circuit of the humanoid robot, including identifying a commanded movement type, a commanded target (e.g., a posture, a joint-space target, and / or an end-effector target), and one or more commanded values (e.g., position, velocity, acceleration, force, or timing values), and optionally associating the motive command with a context value such as an operating mode, a task phase, a proximity-to-human estimate, or a confidence score.

[0316] At operation 6404, it is determined whether the motive command comprises a valid motive command. In certain embodiments, determining validity is performed by a movement validation circuit using one or more validation checks configured to prevent execution of ambiguous, unsafe, unauthorized, or unachievable commands. In response to determining that the motive command comprises a valid motive command, authorization is provided to determine a force-based control target in response to the motive command. In certain embodiments, authorizing includes enabling a force translation circuit and / or enabling a motion-generation pipeline to generate one or more force-based control targets, including one or more joint torque targets, actuator force targets, end-effector force targets, and / or tendon tension targets, for execution of the commanded movement.

[0317] In response to determining that the motive command does not comprise a valid motive command, an administrative assistance request is sent to an external device. In certain embodiments, the administrative assistance request comprises a request for clarification, a request for confirmation, and / or a request for human intervention, and may include information describing why the motiveAttorney Docket No. ONEX-0008-WO2command was determined to be invalid. In certain embodiments, the external device comprises a remote operator station, a mobile computing device, a supervisory system, and / or a user interface device.

[0318] In certain embodiments, determining that the motive command does not comprise a valid motive command comprises determining that the motive command comprises an unauthorized value. For example, the unauthorized value may correspond to a command that violates an authorization policy, a restricted operational mode, a role-based permission, a geofenced region constraint, a time-of-day restriction, and / or a task-specific rule.

[0319] In certain embodiments, determining that the motive command does not comprise a valid motive command comprises determining that the motive command comprises an unachievable value. For example, the unachievable value may correspond to a commanded position, posture, end-effector target, or trajectory that is not attainable within joint limits, kinematic reachability constraints, actuator capability constraints, available power constraints, and / or environmental constraints, including without limitation constraints due to detected obstacles or contact conditions.

[0320] In certain embodiments, determining that the motive command does not comprise a valid motive command comprises determining that the motive command does not satisfy a safety condition. For example, the safety condition may correspond to a maximum allowable speed, acceleration, force, torque, energy, or momentum envelope, a proximity-to-human threshold, a contact-force threshold, a stability margin requirement, a collision-risk estimate, and / or a requirement that a commanded motion maintain a human-free path or obstacle-free path.

[0321] In certain embodiments, determining that the motive command does not comprise a valid motive command comprises determining that a fault condition is present. For example, the fault condition may correspond to a motor fault, a sensor fault, a communications fault, a thermal fault, a low-battery condition, a brake fault, a tendon fault, and / or any other detected malfunction or degraded operating condition for which execution of the commanded movement is not permitted.

[0322] In certain embodiments, determining that the motive command does not comprise a valid motive command comprises determining that the motive command comprises at least one of an ambiguous motive command, an unclear motive command, or an unrecognized motive command. For example, an ambiguous motive command may correspond to a command having multiple plausible interpretations, an unclear motive command may correspond to a command having insufficient parameters to determine a safe and intended motion, and an unrecognized motive command may correspond to a command that does not match supported command types, syntax, or semantic models. In such embodiments, the administrative assistance request may include a proposed set of interpretations, a request for missing parameters, and / or a request to restate the command.Attorney Docket No. ONEX-0008-WO2

[0323] Accordingly, FIG. 64 illustrates an example approach in which motive commands are interpreted and then validated prior to authorizing force-based control target generation, and in which invalid motive commands result in escalation by sending an administrative assistance request to an external device, thereby improving safety, predictability, and operational robustness in human environments.

[0324] In certain embodiments, the validity determination performed at operation 6404 is applied to present commands and / or present tasks, and additionally or alternatively is applied to expected commands and / or expected tasks, including commands and tasks anticipated as part of a multi-step operation plan. In certain embodiments, the validity determination is responsive to present conditions in the environment that relate to a task, and additionally or alternatively is responsive to expected or potential conditions in the environment that relate to the task, including temporary conditions (e.g., transient obstructions, a temporarily open door, or a recently moved object) and persistent conditions (e.g., a restricted room, a no-go zone, or a hazardous area). In certain embodiments, the validity determination includes evaluating whether a commanded motion and / or task is within a capability envelope of the humanoid robot, including with respect to kinematic reachability, actuator capability, stability margin, thermal limits, battery charge state, and / or available sensor coverage, and additionally or alternatively includes evaluating whether the humanoid robot is permitted to perform a commanded motion and / or task under a permissions framework, including role-based permissions, geofencing permissions, time-based permissions, and / or task-type permissions. In certain embodiments, the validity determination further includes detecting that a command is not unique or determinative, including that the command is ambiguous, under-specified, or subject to multiple plausible interpretations, and additionally or alternatively includes detecting that the command is not understood, including an unrecognized command type, syntax, or semantic content. In certain embodiments, validating a task further includes evaluating current operating conditions of the humanoid robot, including temperature and / or battery charge, and evaluating persons present in the environment, including children, unrecognized persons, and / or persons within a proximity threshold, and evaluating conditions in the environment that may affect safety or achievability, whether temporary or persistent, such that authorization for force-based motion is selectively withheld and an administrative assistance request is selectively sent when the task or command is determined to be invalid under the evaluated conditions.

[0325] In certain embodiments, the administrative assistance request sent in response to determining that a motive command is not valid comprises any one or more of a notification, an alert, a request for clarification, a request for confirmation, a request for human intervention, a request seeking permissions, and / or a request to adjust one or more allowed operating parameters,Attorney Docket No. ONEX-0008-WO2including without limitation adjustments to permitted speed, acceleration, force, torque, energy, momentum, proximity thresholds, geofenced boundaries, task-type permissions, time-based permissions, and / or other policy parameters. In certain embodiments, sending the administrative assistance request is performed with or without notification to other persons in the environment, including embodiments in which the request is transmitted silently to a remote operator station or supervisory system and embodiments in which the request is additionally presented through a local user interface of the humanoid robot and / or through a user device to inform a proximate user. In certain embodiments, the administrative assistance request includes data related to the validity determination, including without limitation a motive command identifier, a normalized command representation, detected ambiguity information, an unachievable-condition description, a safetycondition identifier, a fault-condition identifier, a permissions-policy identifier, sensor and state snapshots, and / or a recommended corrective action or recommended re-phrasing of the motive command. In certain embodiments, at least a portion of the data related to the validity determination is stored in a memory and / or a log for later review, audit, troubleshooting, and / or training, additionally or alternatively to being transmitted with the administrative assistance request.

[0326] Referring to FIG. 65, a flowchart illustrates an example method for managing robot operating states during cessation of a motive operation and transition to a safer configuration. The method may be executed by one or more controllers disposed on a humanoid robot, and may be implemented in hardware, software, firmware, or any combination thereof. The method is described with reference to example operations 6502, 6504, and 6506, and may be utilized to reduce unintended motion and contact risk during interruptions, faults, loss-of-power events, and other abnormal operating conditions.

[0327] At operation 6502, an ongoing motive operation of the humanoid robot is ceased. In certain embodiments, ceasing the ongoing motive operation includes stopping execution of a commanded task, stopping or pausing motion generation, disabling acceptance of new movement commands, and / or transitioning one or more actuators to a controlled cessation mode. In certain embodiments, ceasing the ongoing motive operation includes commanding a controlled deceleration of one or more joints, holding a present posture subject to allowable force limits, and / or reducing commanded torque and / or tendon tension to a level suitable for a transition to a safe posture position or a safe rest position. In certain embodiments, ceasing the ongoing motive operation is initiated in response to a detected fault condition, a safety condition, a user stop request, a supervisory stop request, detection of a collision risk condition, and / or detection of a loss or degradation of power or control resources.

[0328] At operation 6504, in response to determining that power and control of the humanoid robot are available, limbs of the robot are returned to a safe posture position. In certain embodiments,Attorney Docket No. ONEX-0008-WO2returning limbs to the safe posture position comprises returning limbs of the robot to a baseline selected safe position. In certain embodiments, the baseline selected safe position comprises a posture that reduces exposure of pinch points, reduces extension of limbs into human-occupied space, reduces the likelihood of entanglement with objects, and / or positions hands and feet in an orientation that is stable for a transition to a rest state or subsequent resumption of operation. In certain embodiments, returning limbs to the safe posture position comprises driving one or more joints through a controlled motion trajectory, including using force-based control and / or torquelimited joint control, such that a commanded return motion maintains compliance and avoids abrupt changes in posture. In certain embodiments, returning limbs to the safe posture position comprises returning at least one of arms, legs, a head, and / or a torso segment to a predefined posture, including retracting or stowing one or more limbs and / or moving one or more joints to a posture that is selected to mitigate interference with nearby humans and objects.

[0329] In certain embodiments, returning limbs to the safe posture position comprises moving the limbs through an obstacle free path. For example, the obstacle free path may be determined using sensed environmental information and / or a stored environment model such that one or more planned limb trajectories avoid collision with furniture, walls, tools, or other objects. In certain embodiments, returning limbs to the safe posture position comprises moving the limbs through a human free path. For example, the human free path may be determined using a detected location of one or more persons and / or a proximity-to-human estimate such that limb motion is constrained to avoid trajectories that would pass through regions occupied by, or near, a person. In certain embodiments, obstacle-free and / or human-free constraints are applied jointly to generate a return trajectory that reduces the likelihood of contact and reduces perceived unpredictability during the cessation and recovery behavior.

[0330] At operation 6506, in response to determining that either power or control of the humanoid robot is not available, the humanoid robot collapses into a safe rest position. In certain embodiments, the safe rest position comprises a squat-like posture and / or another low-energy posture selected to reduce fall height and reduce the likelihood of uncontrolled limb movement as power or control is lost. In certain embodiments, collapsing into the safe rest position comprises allowing one or more joints to yield under gravity subject to passive constraints, brakes, dampers, and / or compliant elements, and may include selectively locking one or more joints while allowing other joints to move to achieve a stable resting configuration. In certain embodiments, collapsing into the safe rest position comprises a passive transition enabled by the robot’s mass distribution, joint design, and / or tendon drive characteristics such that the robot tends toward a stable low posture rather than tipping or falling.Attorney Docket No. ONEX-0008-WO2

[0331] Accordingly, FIG. 65 illustrates an example cessation and recovery approach in which an ongoing motive operation is ceased, limbs are returned to a safe posture position when power and control are available, and the robot collapses into a safe rest position when either power or control is not available, thereby providing defined transition behaviors that reduce risk and improve predictability in human environments.

[0332] In certain embodiments, the controlled return to the safe posture position at operation 6504 is adaptable based on current operating conditions of the humanoid robot and / or conditions in the environment, such that the return behavior is modified to reduce risk associated with a present circumstance. For example, where the humanoid robot is holding an item during cessation of the motive operation, returning limbs to the safe posture position may include maintaining a controlled hold on the item while moving toward the safe posture position, setting the item down on an available surface, placing the item into a sink or other receptacle, and / or otherwise disposing of the item in a manner selected to reduce a hazard associated with the item. In a non-limiting example, where the item comprises a hot cup of coffee, the controlled return may include continuously holding the cup to prevent spills, placing the cup on a countertop, table, or tray if available, and / or dumping the coffee into a sink to reduce burn and slip hazards prior to completing the return to the safe posture position. In certain embodiments, the return behavior includes executing one or more circumstance-indicated movements that are not part of a normal return-to-safe-state routine, including intermediate motions selected based on sensed object properties, detected temperature, detected fragility, detected spillage risk, available placement locations, and / or proximity to persons, thereby reducing risk while transitioning toward a safe state.

[0333] Referring to FIG. 66, a control system 6600 is illustrated for a humanoid robot. In the example shown, the system 6600 includes a controller 6602 configured to generate motor command signal(s) 6620 for driving a plurality of motors of the humanoid robot responsive to movement command(s) 6616 and state information 6618, and further configured to utilize motor feedback 6622 to update control outputs during execution. In certain embodiments, the controller 6602 is implemented in hardware, software, firmware, or any combination thereof, and may be disposed on the humanoid robot and / or distributed across multiple control modules.

[0334] In certain embodiments, the controller 6602 includes a movement command circuit 6604 configured to receive the movement command(s) 6616 specifying a desired movement of the humanoid robot. The movement command(s) 6616 may specify any desired motion behavior, including a whole-body movement, a limb movement, a joint-space movement, an end-effector movement, a posture, and / or a task objective. In certain embodiments, the movement command(s) 6616 comprise a position command specifying at least one commanded position, including aAttorney Docket No. ONEX-0008-WO2commanded joint position and / or a commanded end-effector position. For example, the position command may specify one or more desired joint angles, a desired pose of a hand relative to a torso coordinate frame, a desired foot placement relative to a support surface, and / or a desired head orientation.

[0335] In certain embodiments, the controller 6602 includes an input interface 6606 configured to receive the state information 6618 indicative of a condition of the humanoid robot. In certain embodiments, the state information 6618 includes at least one joint position for at least one joint of the humanoid robot, and in further embodiments includes joint position information for a plurality of joints. In certain embodiments, the state information 6618 further includes one or more of joint velocity, joint acceleration, estimated joint torque, motor position, motor velocity, motor current, estimated tendon tension, motor temperature, inertial measurement unit outputs, contact sensor outputs, and / or fault indicators. The input interface 6606 may provide time alignment, filtering, scaling, and / or coordinate transformation of at least a portion of the state information 6618 for use by other portions of the controller 6602.

[0336] In certain embodiments, the controller 6602 includes a force translation circuit 6608 configured to determine a force-based control target 6614 in response to the movement command(s) 6616 and the state information 6618. In certain embodiments, the force-based control target 6614 comprises at least one of a joint torque target, an actuator force target, an end-effector force target, or a tendon tension target. In embodiments in which the movement command(s) 6616 are received as a position command, the force translation circuit 6608 determines the force-based control target 6614 as a force operation configured to move the humanoid robot toward a position responsive to the position command. In certain embodiments, determining the force-based control target 6614 includes determining at least one joint torque target for moving at least one joint toward a commanded joint position specified by the position command, such as by generating torque targets based on a position error, a velocity error, and / or a dynamic model of the humanoid robot.

[0337] In certain embodiments, the controller 6602 includes a motor response circuit 6610 configured to generate the motor command signal(s) 6620 in response to the force-based control target 6614. In certain embodiments, the motor response circuit 6610 is further configured to generate and / or update the motor command signal(s) 6620 in further response to the motor feedback 6622 from at least one motor responsive to the motor command signal(s) 6620. In certain embodiments, the motor feedback 6622 includes one or more of motor current, motor position, motor velocity, estimated actuator torque, estimated tendon tension, and / or fault indicators. In certain embodiments, the motor response circuit 6610 utilizes the motor feedback 6622 to close a control loop for achieving the force-based control target 6614, including by updating command values suchAttorney Docket No. ONEX-0008-WO2that an error between an estimated force output and the force-based control target 6614 is reduced while maintaining stable closed-loop behavior.

[0338] In certain embodiments, the controller 6602 is further configured to incorporate motion limits 6612 when determining and enforcing the force-based control target 6614 and / or when generating the motor command signal(s) 6620. In certain embodiments, the motion limits 6612 include a velocity limit for a limb of the humanoid robot such that the motor command signal(s) 6620 are constrained to limit a velocity of the limb to not exceed a predetermined maximum limb velocity. In certain embodiments, the motion limits 6612 include an acceleration limit for a limb of the humanoid robot such that the motor command signal(s) 6620 are constrained to limit an acceleration of the limb to not exceed a predetermined maximum limb acceleration. In certain embodiments, the motion limits 6612 include at least one of (i) a rotational momentum limit or (ii) a linear momentum limit such that the motor command signal(s) 6620 are constrained to limit at least one of rotational momentum or linear momentum of at least a limb of the humanoid robot to not exceed a predetermined maximum momentum threshold. In certain embodiments, the motion limits 6612 are applied within the force translation circuit 6608 during computation of the force-based control target 6614, additionally or alternatively are applied within the motor response circuit 6610 during generation of the motor command signal(s) 6620, and additionally or alternatively are applied jointly across the force translation circuit 6608 and the motor response circuit 6610 to provide layered constraint enforcement.

[0339] Accordingly, FIG. 66 illustrates an example control system 6600 in which movement command(s) 6616 and state information 6618 are processed by the controller 6602 including the movement command circuit 6604, the input interface 6606, the force translation circuit 6608, and the motor response circuit 6610 to generate motor command signal(s) 6620, while motor feedback 6622 is utilized to update outputs and motion limits 6612 are utilized to enforce bounded motion behavior in support of predictable and human-compatible operation.

[0340] Referring to FIG. 67, a control system 6700 is illustrated for a humanoid robot, in which motive command(s) 6704 are processed by a controller 6602 and result in motor command signal(s) 6620 for robot actuation and / or an administrative assistance request 6706 for escalation. In certain embodiments, the humanoid robot includes external communications enabling transmission of the administrative assistance request 6706 to an external device, including without limitation a remote operator station, a supervisory system, and / or a user device.

[0341] In the example shown, the controller 6602 includes a movement command circuit 6604 configured to interpret the motive command(s) 6704. In certain embodiments, interpreting includes parsing the motive command(s) 6704 and generating a normalized command representationAttorney Docket No. ONEX-0008-WO2specifying a commanded movement type, a commanded target, and one or more commanded values. In certain embodiments, the commanded target comprises at least one of a posture target, a jointspace target, an end-effector target, or a task objective.

[0342] The controller 6602 further includes a movement validation circuit 6702 configured to determine whether the motive command(s) 6704 comprise a valid motive command. In certain embodiments, the movement validation circuit 6702 performs one or more validation checks to determine whether execution of the motive command(s) 6704 is permitted and achievable. In certain embodiments, determining validity includes evaluating authorization and permissions rules, evaluating achievability based on robot capability constraints, and evaluating one or more safety and fault conditions.

[0343] In response to determining that a motive command of the motive command(s) 6704 is a valid motive command, the movement validation circuit 6702 authorizes a force translation circuit 6608 to determine a force -based control target 6614 in response to the motive command. In certain embodiments, authorizing includes enabling the force translation circuit 6608 and / or enabling a motion generation pipeline to compute one or more force-based control targets 6614, including without limitation one or more joint torque targets, actuator force targets, end-effector force targets, and / or tendon tension targets. In certain embodiments, the force translation circuit 6608 provides the force-based control target 6614 for use in generating the motor command signal(s) 6620.

[0344] In response to determining that a motive command of the motive command(s) 6704 is not a valid motive command, the controller 6602 sends the administrative assistance request 6706 to an external device. In certain embodiments, the administrative assistance request 6706 comprises a request for clarification, confirmation, permissions, parameter adjustment, and / or human intervention, and includes data describing a reason for invalidity to facilitate resolution and safe progression of the task.

[0345] In certain embodiments, determining that the motive command is not a valid motive command comprises determining that the motive command comprises an unauthorized value. For example, the unauthorized value may correspond to a command that violates a permissions framework, including role-based permissions, geofencing permissions, time-based permissions, restricted-mode constraints, and / or task-type restrictions.

[0346] In certain embodiments, determining that the motive command is not a valid motive command comprises determining that the motive command comprises an unachievable value. For example, the unachievable value may correspond to a commanded position, posture, end-effector target, or trajectory that is not attainable within joint limits, kinematic reachability constraints,Attorney Docket No. ONEX-0008-WO2actuator capability constraints, available power constraints, stability constraints, and / or environmental constraints based on sensed obstacles or contact conditions.

[0347] In certain embodiments, determining that the motive command is not a valid motive command comprises determining that the motive command does not satisfy a safety condition. For example, the safety condition may correspond to a maximum allowable speed, acceleration, force, torque, energy, or momentum envelope, a proximity-to-human threshold, a contact-force threshold, a collision-risk estimate, and / or a requirement that a commanded motion maintain a human-free path or obstacle-free path.

[0348] In certain embodiments, determining that the motive command is not a valid motive command comprises determining that a fault condition is present. For example, the fault condition may correspond to a motor fault, a sensor fault, a communications fault, a thermal fault, a low-battery condition, a brake fault, a tendon fault, and / or any other detected malfunction or degraded operating condition under which execution of the commanded motion is not permitted.

[0349] In certain embodiments, determining that the motive command is not a valid motive command comprises determining that the motive command comprises at least one of an ambiguous motive command, an unclear motive command, or an unrecognized motive command. For example, an ambiguous motive command may correspond to a command having multiple plausible interpretations, an unclear motive command may correspond to a command having insufficient parameters to determine a safe and intended motion, and an unrecognized motive command may correspond to a command that does not match supported command types, syntax, or semantic models. In such embodiments, the administrative assistance request 6706 includes a proposed set of interpretations, a request for missing parameters, and / or a request to restate the motive command.

[0350] Accordingly, FIG. 67 illustrates a validation-and-authorization architecture in which motive command(s) 6704 are interpreted and validated prior to authorizing force-based control target generation, and in which invalid motive commands result in escalation via the administrative assistance request 6706, thereby improving safety, predictability, and operational robustness for humanoid robot operation in human environments.

[0351] Referring to FIG. 68, a system 6800 is illustrated in which a controller 6602 of a humanoid robot cooperates with power-and-control information 6802, position feedback 6804, operational status information 6806, and motive operation adjustments 6808 to manage stability and safe-state behavior relative to one or more typical foot position(s) 6806. In certain embodiments, the controller 6602 is configured to manage movement operations of the humanoid robot and to transition the humanoid robot toward a safer configuration during abnormal conditions and during detected stability risks.Attorney Docket No. ONEX-0008-WO2

[0352] In certain embodiments, the controller 6602 is configured to cease an ongoing motive operation of the humanoid robot, for example by stopping execution of a commanded task, pausing motion generation, and / or transitioning actuators to a controlled cessation mode. In certain embodiments, in response to determining from the robot power and control information 6802 that power and control resources are available, the controller 6602 returns limbs of the humanoid robot to a safe posture position. The safe posture position may comprise a baseline selected safe position in which one or more limbs are retracted or stowed, pinch-point exposure is reduced, and the humanoid robot is placed into a posture suitable for pausing, resuming, or shutdown procedures. In certain embodiments, the return to the safe posture position is performed using controlled motion trajectories that account for the position feedback 6804 and the operational status information 6806, thereby reducing abrupt movements while transitioning away from an interrupted task.

[0353] In certain embodiments, the humanoid robot is configured to collapse into a safe rest position in response to a loss of at least one of power or control, including embodiments in which the robot power and control information 6802 indicates that either power or control is not available. In such embodiments, the safe rest position comprises a squat-like posture and / or another low-energy posture configured to reduce fall height and reduce the likelihood of uncontrolled limb movement as power or control is lost. In certain embodiments, collapsing into the safe rest position is enabled by passive characteristics of the humanoid robot, including mass distribution, joint design, damping, brakes, and / or tendon-drive characteristics, such that the humanoid robot tends toward a stable low posture rather than tipping or falling.

[0354] In certain embodiments, the humanoid robot includes a selected center of mass position defined with respect to pivot points of the humanoid robot in a typical foot position, including embodiments in which the typical foot position corresponds to a nominal stance in which one or both feet are placed on a support surface within a stability region. In certain embodiments, major limbs of the humanoid robot are motively operated using tendon drives, which may support low distal inertia, predictable backdrivability characteristics, and packaging flexibility for placing heavier components closer to upstream joints, thereby supporting stable behavior when returning to, or maintaining, a typical foot position.

[0355] In certain embodiments, the controller 6602 is configured to detect, using the position feedback 6804, at least one of (i) a present position of the humanoid robot that is not a typical foot position or (ii) a position request that would place the humanoid robot outside a typical foot position. In response to such detection, the controller 6602 generates motive operation adjustments 6808 to adjust motive operations to retain the humanoid robot in the typical foot position and / or to return the humanoid robot toward the typical foot position. For example, the motive operation adjustmentsAttorney Docket No. ONEX-0008-WO26808 may include modifying a planned trajectory, limiting a commanded step, adjusting a torso posture, adjusting an arm position, shifting load distribution, selecting a different foot placement, and / or reducing commanded speed, acceleration, and / or momentum to maintain a stability margin while moving toward the typical foot position.

[0356] In certain embodiments, the controller 6602 is configured to detect a position request for the humanoid robot that is not a typical foot position and to adjust motive operations to retain the humanoid robot at the typical foot position by preventing execution of the requested movement and by selecting an alternative movement that remains within a stability envelope associated with the typical foot position. In certain embodiments, the controller 6602 is configured to detect a position request for the humanoid robot that is not a typical foot position and to determine that a motive command responsive to the position request is not a valid motive command, including by generating an invalid-command status via the operational status information 6806 and / or by triggering a supervisory intervention sequence, thereby preventing execution of a requested movement that would undesirably depart from stable footing.

[0357] In certain embodiments, the controller 6602 is configured to determine the typical foot position(s) 6806 in response to at least one of a torso position of the humanoid robot, an arm position of the humanoid robot, a load carried by the humanoid robot, or an expected value of any one or more of the foregoing. For example, where the torso position is leaned forward, where one or both arms are extended, and / or where an object is carried, the controller 6602 may determine a different typical foot position corresponding to a different stance width, foot separation, foot angle, and / or center-of-pressure target that maintains a desired stability margin for the combined configuration. In certain embodiments, the typical foot position(s) 6806 are updated dynamically during operation based on the position feedback 6804 and the operational status information 6806, thereby enabling responsive selection of a stability-supporting stance as the humanoid robot posture and carried loads change.

[0358] In certain embodiments, passive return to the safe rest position is supported by the configuration of the humanoid robot such that, when a center of mass of the humanoid robot is within pivot points of supporting contact points of the humanoid robot, including feet of the humanoid robot and / or other support contacts, the humanoid robot tends to settle down toward a lower-energy configuration without tending to fall over. In certain embodiments, robots configured according to the present disclosure, including embodiments utilizing tendon drives that provide passive resistance to abrupt motion through transmission friction, backdrivability characteristics, and / or compliance, and including embodiments having limb ranges of motion similar to human ranges, exhibit a passive settling behavior in which limbs yield and retract in a controlled mannerAttorney Docket No. ONEX-0008-WO2under gravity rather than producing uncontrolled tipping. In certain embodiments, the typical foot position is utilized as a stability-supporting stance that maintains the center of mass within a support polygon during normal operation and that further provides an inherently stable configuration such that, upon loss of power and / or loss of motive control, the humanoid robot will safely settle into a lower posture and / or a squat-like rest position rather than falling over, thereby reducing impact risk and improving passive safety characteristics during abnormal conditions.

[0359] In certain embodiments, the typical foot position is utilized as a control parameter for the controller of the humanoid robot to determine whether operations, motions, and / or tasks will create a potentially unstable situation in which a loss of power or motive control may cause a fall or undesirable tipping. In certain embodiments, the operations expected of the humanoid robot cause a stance configuration that is outside a nominal standing stance by design, for example in embodiments where ladder climbing, stair climbing, stepping over obstacles, crouching under furniture, or other balance-challenging operations are regular tasks, and therefore a “typical foot position’’ for a given embodiment may be task-dependent and / or operating-mode dependent and is not limiting to a particular stance geometry. In certain embodiments, the humanoid robot transitions through a stance configuration that is not a typical foot position to perform a brief task and / or to traverse a region, optionally with a warning indicated to proximate humans and / or remote supervisors, including without limitation by using an ear panel status indicator, audible warnings, and / or messages sent to a user device or supervisory system. In such embodiments, the typical foot position is utilized by the controller to perform risk management and / or a cost / benefit analysis, for example by permitting a brief departure from the typical foot position where an estimated benefit of completing an operation exceeds a temporary risk of instability, while optionally applying additional safeguards such as reduced speed limits, increased stability margins, or increased supervision requirements. In certain embodiments, the controller does not utilize a typical foot position parameter and instead executes cessation and return-to-safe behaviors based on the present configuration of the humanoid robot when a return-to-safe condition occurs. In certain embodiments, the controller utilizes the typical foot position only after a return-to-safe condition is detected, for example by first executing a stabilization action when feasible to shift the humanoid robot toward a stability-supporting stance before executing return-to-safe operations.

[0360] Referring to FIG. 56, a tactile sensor 100 for use in robotic systems includes a contact layer 102 and a sensing array 104. The contact layer 102 includes an external surface 108 and an internal surface 106, wherein the external surface 108 is configured to contact an environment and the internal surface 106 is configured to face and engage the sensing array 104. In certain embodiments, the internal surface 106 includes a plurality of sensing pillars projecting toward the sensing array 104Attorney Docket No. ONEX-0008-WO2such that the sensing array 104 is in contact with the plurality of sensing pillars. In operation, at least one force applied to the external surface 108 causes deformation of the contact layer 102 and causes deformities in the plurality of sensing pillars. The sensing array 104 is configured to measure the deformities in the plurality of sensing pillars caused by the at least one force applied to the external surface 108. In certain embodiments, the at least one force applied to the external surface 108 is caused by an object in contact with the external surface 108, including contact by a household object, a tool, a person, a floor surface, or another contact target.

[0361] In certain embodiments, the contact layer 102 comprises a deformable layer configured to interface the sensing array 104 with the environment, and the deformation of the external surface 108 corresponds to one or more of normal force, shear force, or combined normal-and-shear force applied by the object. In certain embodiments, deformation of the external surface 108 causes corresponding deformation of the internal surface 106 and the plurality of sensing pillars, including changes in pillar contact area, pillar position, and / or pillar deformation shape as a function of the applied force profile.

[0362] Referring to FIG. 57, the internal surface 106 may include a plurality of sensing pillars arranged in a grid, including a two-dimensional grid having rows and columns, and the grid may cover a sensing pillar region of the contact layer 102. In certain embodiments, the sensing pillars are arranged with a uniform distribution, while in other embodiments the sensing pillars are arranged with a non-uniform distribution depending on an intended robotic interface geometry and expected force profiles. In certain embodiments, the plurality of sensing pillars are made from an electrically-conductive material. For example, the plurality of sensing pillars may be made from an elastomer mixed with a conductive powder such that the pillars provide electrically conductive regions that interact with the sensing array 104. In certain embodiments, each sensing pillar of the plurality of sensing pillars is made from a same material. In certain embodiments, at least one sensing pillar of the plurality of sensing pillars is made from a different material than at least one other sensing pillar, for example to provide region-specific stiffness, damping, conductivity, or wear characteristics within the sensing pillar region.

[0363] In certain embodiments, each sensing pillar of the plurality of sensing pillars has one of a cone, hemisphere, cylinder, or prism shape. In certain embodiments, each sensing pillar of the plurality of sensing pillars has one of a cone, cylinder, or prism shape, and at least one of the sensing pillars comprises a right angle cone, cylinder, or prism shape. In certain embodiments, each sensing pillar of the plurality of sensing pillars has a same shape to provide repeatable deformation behavior across the sensing pillar region. In other embodiments, at least one sensing pillar of the plurality of sensing pillars has a different shape than at least one other sensing pillar, including embodimentsAttorney Docket No. ONEX-0008-WO2mixing conical pillars with prism pillars to provide different deformation signatures suited to different portions of a robotic interface.

[0364] In certain embodiments, the sensing array 104 includes a plurality of individually-addressable sensing elements disposed on a substrate, and the sensing elements are addressable in rows and columns to simplify data acquisition. In certain embodiments, each sensing element of the sensing array 104 corresponds to a sensing pillar of the plurality of sensing pillars, including embodiments providing a one-to-one correspondence between sensing elements and sensing pillars. In other embodiments, at least one sensing element of the sensing array 104 corresponds to two or more sensing pillars of the plurality of sensing pillars, including embodiments in which a single sensing element detects combined effects of multiple pillars to provide reduced resolution. In further embodiments, at least one sensing pillar of the plurality of sensing pillars corresponds to two or more of the sensing elements, including embodiments in which a pillar spans multiple sensing elements to provide an enhanced-resolution or sub-element interpolation region.

[0365] In certain embodiments, the sensing array 104 is configured to measure deformities in the plurality of sensing pillars based on changes in at least one of capacitance or resistance. For example, in capacitance-based implementations, local changes in effective dielectric spacing and / or contact area between conductive portions of the internal surface 106 and sensing elements of the sensing array 104 produce measurable capacitance changes indicative of local force and / or shear. In resistance-based implementations, conductive paths and contact geometries associated with the internal surface 106 and pillars produce measurable resistance changes indicative of deformation and force distribution.

[0366] Referring to FIGS. 58A-58D, in certain embodiments the sensing array 104 is configured to generate an image representing the deformities in the plurality of sensing pillars. In FIG. 58A, the sensor 100 is shown in a neutral or baseline condition, and a sample image 302 depicts an image output corresponding to a substantially uniform applied force. In FIG. 58B, a non-uniform vertical force is applied and a sample image 304 depicts non-uniform pillar deformities, which may appear as circles of different sizes corresponding to local force magnitudes. In FIG. 58C, a uniform shear force is applied along with a vertical force and a sample image 306 depicts shear-induced deformities, which may appear as teardrop shapes representing a direction and magnitude of shear. In FIG. 58D, a uniform shear force is applied along with a non-uniform vertical force and a sample image 308 depicts combined deformities having varying sizes and shear orientations, thereby encoding a local force magnitude distribution and shear direction distribution across the sensing pillar region.

[0367] In certain embodiments, the image generated by the sensing array 104 is processed via image processing software to measure the at least one force applied to the external surface 108. InAttorney Docket No. ONEX-0008-WO2certain embodiments, the image processing software extracts features including size, position, centroid, eccentricity, and orientation of imaged pillar deformities, and converts the extracted features into local and / or global force estimates using calibration data. In certain embodiments, the image processing software includes morphological image processing to segment pillar features and determine feature metrics. In certain embodiments, the image processing software includes a machine learning model trained using calibration images to output local and / or global force measurements, including embodiments where the model outputs force vectors and embodiments where the model outputs actuator control outputs without explicitly outputting numerical force values. In certain embodiments, compression of image data is performed, including by using an encoder-decoder model, to communicate a latent representation of the image that is sufficient for force estimation and / or robotic control.

[0368] Referring to FIGS. 59A-59F, the tactile sensor 100 may be configured with a distribution density of sensing elements of the sensing array 104 throughout the sensing pillar region of the contact layer 102. In certain embodiments, the distribution density is uniform throughout the sensing pillar region, for example where the sensing elements are evenly distributed and pillars are evenly distributed to provide a consistent resolution across the sensing pillar region, as illustrated by a high resolution configuration 400 of FIG. 59A. In certain embodiments, the distribution density is variable throughout the sensing pillar region, including mixed-resolution configurations that provide higher resolution in selected sub-regions and lower resolution in other sub-regions. For example, FIG. 59B illustrates a low resolution configuration 410 in which the sensing array 104 has more sensing elements than the number of pillars on the internal surface 106, thereby providing a reduced-resolution pillar arrangement relative to the sensing elements. FIG. 59C illustrates a mixed resolution configuration 420 in which an outer region has a lower pillar density and an inner region has a higher pillar density. FIGS. 59D-59F illustrate additional configurations 430, 440, and 450 in which pillar shapes and pillar densities vary across the sensing pillar region, including configurations mixing conical pillars with prism pillars and configurations including sub-regions having different effective mappings between pillars and sensing elements.

[0369] In certain embodiments, the external surface 108 is configured to be shaped according to an intended robotic application, including being shaped as a fingertip, palm, toe, heel, and / or foot sole. In certain embodiments, the tactile sensor 100 is integrated into a robotic interface that is configured to contact the environment, including a hand, a finger, a foot, or another surface of a humanoid robot, and the tactile sensor 100 provides tactile outputs that represent local and / or global forces applied during contact.Attorney Docket No. ONEX-0008-WO2

[0370] Referring to FIG. 60, a robotic system 500 includes a robotic interface 502 coupled to the tactile sensor 100, one or more actuators 504 configured to move the robotic interface 502, and a controller 506 configured to control the actuators 504. In certain embodiments, the robotic interface 502 is operated by the actuators 504 to contact an object 508, thereby causing the tactile sensor 100 to experience at least one force applied to the external surface 108. In certain embodiments, the tactile sensor 100 provides an image output and / or other tactile output to the controller 506, and the controller 506 processes the tactile output to determine local and / or global force measurements and to adjust actuation to achieve a selected contact behavior, including regulating grip force, preventing slip, moderating pinch force, and controlling foot contact during stance and gait.

[0371] Referring to FIG. 61, a robotic system 600 includes robotic interfaces 602A and 602B coupled to tactile sensors 100A and 100B, respectively, and actuators 604A and 604B configured to operate the robotic interfaces 602A and 602B. A controller 606 receives tactile outputs from the tactile sensors 100A and 100B and controls one or both sets of actuators 604A and 604B responsive to measured forces. In certain embodiments, the tactile sensors 100A and 100B are used to provide feedback for coordinated manipulation of an object 608, including embodiments where force sensed at one robotic interface is used to adjust force applied by the other robotic interface to mitigate multidimensional forces and stabilize the grasp.

[0372] Referring to FIG. 62, in certain embodiments one or more portions of tactile processing and / or actuator control are executed by a computing device 700. The computing device 700 may include a processor 702, memory 704, a display 706, a communication interface 708, and a transceiver 710 to receive tactile data and provide control outputs. In certain embodiments, processing is performed locally on the humanoid robot, remotely on an external computing system, or distributed between local and remote resources. In certain embodiments, tactile images and / or extracted features are stored in memory, transmitted over a network, and / or utilized to train and update models used for force estimation and control.

[0373] Accordingly, the tactile sensor 100, including the contact layer 102 having the external surface 108 and the internal surface 106 including the plurality of sensing pillars, together with the sensing array 104 in contact with the plurality of sensing pillars and configured to measure deformities in the plurality of sensing pillars, provides a compact tactile sensing architecture capable of measuring contact forces applied to robotic interfaces and supporting tactile-responsive control in robotic systems.

[0374] Referring to FIGS. 13, 17, and 20, a humanoid robot includes a head assembly comprising an ear panel configured to display a robot status indicator. In certain embodiments, the ear panel is disposed on a lateral portion of the head and is visible to a proximate person during operation in aAttorney Docket No. ONEX-0008-WO2human environment, thereby providing an externally observable communication feature without reliance on facial expressions. In certain embodiments, the ear panel includes one or more light sources, one or more display elements, and / or one or more translucent or light-pipe structures configured to present the robot status indicator through a surface of the ear panel.

[0375] In certain embodiments, the robot status indicator comprises an indicator of at least one status selected from: a listening status; a charging status; or a remote operation status. For example, the listening status may indicate that the humanoid robot is actively monitoring for a spoken command and / or other input, the charging status may indicate that the humanoid robot is coupled to a charging station and / or is in a reduced-power mode, and the remote operation status may indicate that the humanoid robot is presently controlled by a remote operator and / or is executing a remotely supervised task.

[0376] In certain embodiments, the ear panel is configured to display the robot status indicator as a graphical icon. For example, the graphical icon may comprise a simple symbol rendered through illuminated segments and / or a pixelated display element, including an icon corresponding to listening (e.g., a waveform or microphone symbol), charging (e.g., a battery or plug symbol), or remote operation (e.g., a link or antenna symbol). In certain embodiments, the ear panel is additionally or alternatively configured to display the robot status indicator as a color of light. For example, a first color may correspond to a listening status, a second color may correspond to a charging status, and a third color may correspond to a remote operation status. In certain embodiments, the ear panel is additionally or alternatively configured to display the robot status indicator as a sequence of light. For example, a pulsed or sweeping sequence may indicate listening, a steady illumination may indicate charging, and a repeating patterned sequence may indicate remote operation. In certain embodiments, the robot status indicator comprises an indicator of at least one status selected from: a confirmation status; an invalid command status; a task status; or a remaining time status. For example, the confirmation status may indicate that a received command has been accepted or a requested action has been confirmed, the invalid command status may indicate that an input command was not valid or not understood, the task status may indicate that a task is in progress or that a particular task phase is occurring, and the remaining time status may indicate an estimated time remaining to complete the task.

[0377] Accordingly, the ear panel provides an integrated head-mounted communication interface that displays robot operating state information via one or more modalities including graphical icons, light color, and light sequences, enabling transparent and interpretable signaling of listening, charging, remote operation, confirmation, invalid command, task progress, and remaining time.Attorney Docket No. ONEX-0008-WO2

[0378] In certain embodiments, the example embodiments described herein may be embodied, in whole or in part, by any system, apparatus, robot, component, subassembly, controller, and / or other aspect of the present disclosure. Accordingly, the structural, mechanical, and control features described herein are non-limiting examples and may be implemented alone or in any combination.

[0379] In certain embodiments, a humanoid robot having human similar kinetics includes a torso assembly, a left arm assembly and a right arm assembly, and a left leg assembly and a right leg assembly. In certain embodiments, the torso assembly includes a scapula motor and a pelvic subassembly positioned in a lower portion of the torso assembly, the pelvic sub-assembly comprising a spine motor assembly, a motive power battery pack, and a hip motor assembly. In certain embodiments, each arm assembly comprises a shoulder sub-assembly comprising a shoulder motor assembly, an upper arm sub-assembly comprising an elbow motor assembly, and a lower arm subassembly comprising a hand, a wrist joint, and a wrist motor assembly. In certain embodiments, each leg assembly comprises an upper leg sub-assembly comprising a secondary hip motor and a lower leg sub-assembly comprising a knee motor.

[0380] In certain embodiments, each arm assembly is operationally coupled to the torso assembly through a shoulder joint. In certain embodiments, the shoulder joint is operable in a flexion movement over a range of motion exceeding 180 degrees, in an abduction movement over a range of motion exceeding 90 degrees, and in an internal rotation movement over a range of motion exceeding 90 degrees. In certain embodiments, the upper arm sub-assembly is operationally coupled to the shoulder sub-assembly through an elbow joint, and the elbow joint is operable in a flexion movement over a range of motion exceeding 120 degrees and in a supination movement over a range of motion exceeding 100 degrees. In certain embodiments, the hand is operationally coupled to a forearm of the lower arm sub-assembly through a wrist joint, and the wrist joint is operable in an abduction movement over a range of motion exceeding 100 degrees and in a flexion movement over a range of motion exceeding 50 degrees.In certain embodiments, each leg assembly is operationally coupled to the torso assembly through a hip joint. In certain embodiments, the hip joint is operable in a flexion movement over a range of motion exceeding 120 degrees, in an abduction movement over a range of motion exceeding 50 degrees, and in an internal rotation movement over a range of motion exceeding 60 degrees. In certain embodiments, the lower leg sub-assembly is operationally coupled to the upper leg subassembly through a knee joint. In certain embodiments, the knee joint comprises a two stage joint and is moveable in a flexion movement, with a first stage of the two stage joint having a range of motion exceeding 80 degrees and with a second stage of the two stage joint having a range of motion exceeding 45 degrees. In certain embodiments, movement of the first stage comprises an upperAttorney Docket No. ONEX-0008-WO2flexion trajectory, movement of the second stage comprises a lower flexion trajectory, and the lower flexion trajectory is a function of the upper flexion trajectory.In certain embodiments, the humanoid robot further includes a foot assembly operationally coupled to the lower leg assembly through an ankle joint. In certain embodiments, the ankle joint is operable in an inversion movement over a range of motion exceeding 45 degrees and in a flexion movement over a range of motion exceeding 60 degrees. In certain embodiments, the humanoid robot further includes a head assembly operationally coupled to the torso assembly through a neck joint. In certain embodiments, the neck joint is operable in a flexion movement over a range of motion exceeding 30 degrees and in a rotation movement over a range of motion exceeding 40 degrees.

[0381] In certain embodiments, the humanoid robot comprises a Z-extent bounded by the foot assembly defining a zero-Z position and by the head assembly defining a maximum Z position. In certain embodiments, a center of mass of the humanoid robot is positioned between 50% to 65%, inclusive, of the maximum Z position. In certain embodiments, the motive power battery pack comprises a mass of between 3 and 5 kg, inclusive. In certain embodiments, a mass of the humanoid robot is between twenty (20) and sixty (60) kilograms, inclusive. In certain embodiments, a mass of the humanoid robot is between twenty-five (25) and forty (40) kilograms, inclusive.

[0382] In certain embodiments, one or more joints are operable utilizing at least one tendon drive. In certain embodiments, the hip joint is operable utilizing at least one tendon drive. In certain embodiments, the shoulder joint is operable utilizing at least one tendon drive. In certain embodiments, the knee joint is operable utilizing at least one tendon drive. In certain embodiments, the pelvic sub-assembly is operationally coupled to a torso assembly remainder through a spine joint and the spine joint is operable utilizing at least one tendon drive. In certain embodiments, the neck joint is operable utilizing at least one tendon drive.In certain embodiments, each arm assembly is operationally coupled to the torso assembly through a shoulder joint, and the shoulder joint is operable in a combined abduction movement and rotation movement by a tendon drive operated by the shoulder motor assembly having a maximum torque capability between 15 and 25 N, inclusive, and in an internal rotation movement by a tendon drive operated by the scapula motor having a maximum torque capability between 5 and 10 N, inclusive. In certain embodiments, the shoulder motor assembly comprises two motors, each of the two motors having a maximum torque capability between 15 and 25 N, inclusive, and the tendon drive operating the shoulder joint in the combined abduction movement and rotation movement comprises a differential drive. In certain embodiments, common rotation of the two motors of the shoulder motor assembly operate the abduction movement and differential rotation of the two motors of the shoulder motor assembly operate the rotation movement. In certain embodiments, each of the two motors ofAttorney Docket No. ONEX-0008-WO2the shoulder motor assembly comprise a nominal torque of between 4 and 10 N, inclusive, and a rotational velocity of between 45 and 90 rad / s at nominal torque, inclusive. In certain embodiments, each of the two motors of the shoulder motor assembly comprise a mass of between 0.2 and 0.5 kg, inclusive, and a motor torque constant of between 0.5 and 1.1 Nm / A, inclusive.

[0383] In certain embodiments, the tendon drive operating the shoulder joint in the combined abduction movement and rotation movement comprises a three stage transmission, comprising a fixed gear ratio of between 2 and 5, inclusive, that applies to both movements, a second stage gear ratio of between 1.5 and 4, inclusive, that applies to the abduction movement, and a third stage gear ratio that is less than 1 and that applies to the rotation movement. In certain embodiments, the scapula motor comprises a nominal torque of between 8 and 18 N, inclusive, and a rotational velocity of between 75 and 150 rad / s at nominal torque, inclusive. In certain embodiments, the scapula motor comprises a mass of between 0.15 and 0.3 kg, inclusive, and a motor torque constant of between 0.25 and 0.75 Nm / A, inclusive. In certain embodiments, the tendon drive operating the shoulder joint in the flexion movement comprises a two stage transmission, comprising a fixed gear ratio of between 1.5 and 2.5, inclusive, and a second stage gear ratio of between 3 and 6, inclusive. In certain embodiments, a total gear ratio of the two stage transmission comprises a value between 5 and 10, inclusive.

[0384] In certain embodiments, the upper arm sub-assembly is operationally coupled to the lower arm sub-assembly through an elbow joint, and the elbow joint is operable in a flexion movement and a supination movement by a tendon drive operated by the elbow motor assembly. In certain embodiments, the elbow motor assembly comprises two motors, each of the two motors having a maximum torque capability of between 5 and 10 N, inclusive, and the tendon drive operating the elbow joint in the flexion movement and the supination movement comprises a differential drive. In certain embodiments, common rotation of the two motors of the elbow motor assembly operate the flexion movement and differential rotation of the two motors of the elbow motor assembly operate the supination movement. In certain embodiments, each of the two motors of the elbow motor assembly comprise a nominal torque of between 2 and 4 N, inclusive, and a rotational velocity of between 100 and 225 rad / s at nominal torque, inclusive. In certain embodiments, each of the two motors of the elbow motor assembly comprise a mass of between 0.09 and 0.12 kg, inclusive, and a motor torque constant of between 0.2 and 0.4 Nm / A, inclusive. In certain embodiments, the tendon drive operating the elbow joint comprises a three stage transmission, comprising a fixed gear ratio of between 2.5 and 6, inclusive, that applies to both movements, a second stage gear ratio of between 1.5 and 4, inclusive, that applies to the flexion movement, and a third stage gear ratio that is less than 1 and that applies to the supination movement.Attorney Docket No. ONEX-0008-WO2

[0385] In certain embodiments, each leg assembly is operationally coupled to the torso assembly through a hip joint, and the hip joint is operable in a flexion movement and an abduction movement by a tendon drive operated by the hip motor assembly, and in an internal rotation movement by a tendon drive operated by the secondary hip motor. In certain embodiments, the hip motor assembly comprises two motors, each of the two motors having a maximum torque capability of between 15 and 30 N, inclusive. In certain embodiments, the tendon drive operating the hip joint in the flexion movement and the abduction movement comprises a differential drive, wherein common rotation of the two motors of the hip motor assembly operate the flexion movement and differential rotation of the two motors of the hip motor assembly operate the abduction movement. In certain embodiments, the secondary hip motor comprises a maximum torque capability of between 20 and 30 N, inclusive. In certain embodiments, each of the two motors of the hip motor assembly comprise a nominal torque of between 4 and 9 N, inclusive, and a rotational velocity of between 50 and 100 rad / s at nominal torque, inclusive. In certain embodiments, each of the two motors of the hip motor assembly comprise a mass of between 0.15 and 0.4 kg, inclusive, and a motor torque constant of between 0.5 and 1.0 Nm / A, inclusive.

[0386] In certain embodiments, the tendon drive operating the hip joint in the flexion movement and the abduction movement comprises a three stage transmission, comprising a fixed gear ratio of between 2 and 4, inclusive, that applies to both movements, a second stage gear ratio of between 2 and 4, inclusive, that applies to the flexion movement, and a third stage gear ratio of between 0.75 and 1.25, inclusive, that applies to the abduction movement. In certain embodiments, the secondary hip motor comprises a nominal torque of between 6 and 10 N, inclusive, and a rotational velocity of between 40 and 80 rad / s, inclusive. In certain embodiments, the secondary hip motor comprises a mass of between 0.2 and 0.5 kg, inclusive, and a motor torque constant of between 0.7 and 1.3 Nm / A, inclusive. In certain embodiments, the tendon drive operating the hip joint in the abduction movement comprises a two stage transmission, comprising a fixed gear ratio of between 2 and 4, inclusive, and a second stage gear ratio of between 1.5 and 3, inclusive. In certain embodiments, a total gear ratio of the two stage transmission comprises a value between 4 and 9, inclusive.

[0387] In certain embodiments, the lower leg sub-assembly is operationally coupled to the upper leg sub-assembly through a knee joint, wherein the knee joint comprises a two stage joint, and the two stage joint is operable by a tendon drive operated by the knee motor. In certain embodiments, the tendon drive operating the knee joint comprises a three stage transmission having a total gear ratio of between 5 and 9, inclusive. In certain embodiments, a third stage of the three stage transmission comprises a gear ratio of less than 1. In certain embodiments, the knee motor comprises a maximum torque capability of between 8 and 20 N, inclusive. In certain embodiments, the knee motorAttorney Docket No. ONEX-0008-WO2comprises a nominal torque of between 3 and 7 N, inclusive, and a rotational velocity of between 75 and 125 rad / s, inclusive. In certain embodiments, the knee motor comprises a mass of between 0.15 and 0.4 kg, inclusive, and a motor torque constant of between 0.3 and 0.8 Nm / A, inclusive.

[0388] In certain embodiments, a foot assembly is operationally coupled to the lower leg assembly through an ankle joint, and the ankle joint is operable in an inversion movement and a flexion movement by an ankle motor assembly. In certain embodiments, the ankle motor assembly comprises two motors each having a maximum torque capability of between 17 and 30 N, inclusive, and the tendon drive operating the ankle in the inversion movement and the flexion movement comprises a differential drive. In certain embodiments, common rotation of the two motors of the ankle motor assembly operate the flexion movement and differential rotation of the two motors of the ankle motor assembly operate the inversion movement. In certain embodiments, each of the two motors of the ankle motor assembly comprise a nominal torque of between 5 and 10 N, inclusive, and a rotational velocity of between 45 and 80 rad / s at nominal torque, inclusive. In certain embodiments, each of the two motors of the ankle motor assembly comprise a mass of between 0.15 and 0.3 kg, inclusive, and a motor torque constant of between 0.5 and 1.1 Nm / A, inclusive. In certain embodiments, the tendon drive operating the ankle joint in the inversion movement and the flexion movement comprises a three stage transmission, comprising a fixed gear ratio of between 1.8 and 4, inclusive, that applies to both movements, a second stage gear ratio of between 1.5 and 4, inclusive, that applies to the flexion movement, and a third stage gear ratio below 1 that applies to the inversion movement.

[0389] In certain embodiments, the neck joint is operable in a flexion movement and a lateral flexion movement by a tendon drive operated by a neck motor assembly, and the neck joint is operable in a rotation movement by a drive operated by a secondary neck motor. In certain embodiments, the neck motor assembly comprises two motors, each of the two motors having a maximum torque capability of between 2 and 4 N, inclusive, and the tendon drive operating the neck joint in the flexion movement and the lateral flexion movement comprises a differential drive. In certain embodiments, common rotation of the two motors of the neck motor assembly operate the flexion movement and differential rotation of the two motors of the neck motor assembly operate the lateral flexion movement. In certain embodiments, the secondary neck motor comprises a maximum torque capability of between 2 and 4 N, inclusive. In certain embodiments, each of the two motors of the neck motor assembly comprise a no load rotational velocity of between 200 and 1000 rad / s at nominal torque, inclusive. In certain embodiments, each of the two motors of the neck motor assembly comprise a mass of between 30 and 100 g, inclusive, and a motor torque constant of between 0.08 and 0.2 Nm / A, inclusive. In certain embodiments, the tendon drive operating the neckAttorney Docket No. ONEX-0008-WO2joint in the flexion movement and the lateral flexion movement comprises a two stage transmission, comprising a first stage gear ratio of between 2.5 and 6, inclusive, that applies to the flexion movement, and a second stage gear ratio below 1 that applies to the lateral flexion movement. In certain embodiments, the secondary neck motor comprises a no load rotational velocity of between 200 and 1000 rad / s, inclusive. In certain embodiments, the secondary neck motor comprises a mass of between 30 and 100 g, inclusive, and a motor torque constant of between 0.08 and 0.2 Nm / A, inclusive. In certain embodiments, the tendon drive operating the neck joint in the rotation movement comprises a single stage transmission comprising a gear ratio of between 1.3 and 2.5, inclusive.

[0390] In certain embodiments, the pelvic sub-assembly is operationally coupled to a torso assembly remainder through a spine joint, and the spine joint is operable in a flexion movement and a rotation movement utilizing at least one tendon drive operated by the spine motor assembly. In certain embodiments, the spine motor assembly comprises two motors, each of the two motors having a maximum torque capability of between 20 and 30 N, inclusive, and the tendon drive operating the spine joint in the flexion movement and the rotation movement comprises a differential drive. In certain embodiments, common rotation of the two motors of the spine motor assembly operate the flexion movement and differential rotation of the two motors of the spine motor assembly operate the rotation movement. In certain embodiments, each of the two motors of the spine motor assembly comprise a nominal torque of between 6 and 10 N, inclusive, and a rotational velocity of between 40 and 80 rad / s at nominal torque, inclusive. In certain embodiments, each of the two motors of the spine motor assembly comprise a mass of between 0.2 and 0.5 kg, inclusive, and a motor torque constant of between 0.7 and 1.3 Nm / A, inclusive. In certain embodiments, the tendon drive operating the spine joint comprises a three stage transmission, comprising a fixed gear ratio of between 1.5 and 4, inclusive, that applies to both movements, a second stage gear ratio of between 1.5 and 4, inclusive, that applies to the flexion movement, and a third stage gear ratio that is less than 1 and that applies to the rotation movement.

[0391] In certain embodiments, the wrist motor assembly comprises two motors, each of the two motors having a maximum torque capability of between 0.5 and 3 N, inclusive, and the wrist joint is operable in an abduction movement and a flexion movement by a tendon drive operated by the wrist motor assembly. In certain embodiments, the tendon drive operating the wrist joint in the abduction movement and the flexion movement comprises a differential drive, wherein common rotation of the two motors of the wrist motor assembly operate the abduction movement and differential rotation of the two motors of the wrist motor assembly operate the flexion movement. In certain embodiments, each of the two motors of the wrist motor assembly comprise a no load rotational velocity of between 50 and 1000 rad / s, inclusive. In certain embodiments, each of the two motors of the wristAttorney Docket No. ONEX-0008-WO2motor assembly comprise a mass of between 40 and 180 g, inclusive, and a motor torque constant of between 0.02 and 0.08 Nm / A, inclusive. In certain embodiments, the tendon drive operating the wrist joint comprises a three stage transmission, comprising a fixed gear ratio of between 2.5 and 6, inclusive, that applies to both movements, a second stage gear ratio of between 1 and 3, inclusive, that applies to the abduction movement, and a third stage gear ratio that is less than 1 and that applies to the flexion movement.

[0392] In certain embodiments, the humanoid robot further comprises a hand motor configured to operate the hand between an open position and a closed position. In certain embodiments, the humanoid robot further comprises a hand motor assembly comprising a plurality of motors, wherein the hand motor assembly is configured to operate at least one individual finger of the hand between an extended and a retracted position. In certain embodiments, the hand motor assembly comprises a cable drive system. In certain embodiments, the hand motor assembly is configured to operate the at least one individual finger of the hand in a powered motion in a closing motion and in a passive return motion in an opening motion. In certain embodiments, the hand motor assembly is configured to operate the at least one individual finger of the hand in a powered motion in both a closing motion and an opening motion. In certain embodiments, the hand motor assembly is configured to operate a plurality of joints of at least one individual finger of the hand.

[0393] In certain embodiments, the example embodiments described herein may be embodied, in whole or in part, by any system, apparatus, robot, component, subassembly, controller, and / or other aspect of the present disclosure. Accordingly, the structural, mechanical, and control features described herein are non-limiting examples and may be implemented alone or in any combination.

[0394] In certain embodiments, a humanoid robot having human similar kinetics includes a torso assembly having a pelvic sub-assembly positioned in a lower portion of the torso assembly, the pelvic sub-assembly comprising a spine motor assembly, a motive power battery pack, and a hip motor assembly. In certain embodiments, the humanoid robot further includes a left arm assembly and a right ami assembly. In certain embodiments, the humanoid robot further includes a left leg assembly and a right leg assembly, wherein each leg assembly comprises an upper leg sub-assembly comprising a secondary hip motor and a lower leg sub-assembly comprising a knee motor.

[0395] In certain embodiments, the humanoid robot includes a foot comprising a foam sole. In certain embodiments, the foam sole comprises an ethylene-vinyl acetate (EVA) foam. In certain embodiments, the foam sole is configured to provide compliance and impact attenuation during contact with floors and other surfaces, thereby reducing shock transmission during walking and other movements.Attorney Docket No. ONEX-0008-WO2

[0396] In certain embodiments, the foot further comprises a mid-joint having a first flat position and a second raised position. In certain embodiments, the first flat position corresponds to a stance-supporting configuration of the foot and the second raised position corresponds to a raised configuration for a gait phase and / or a stepping transition.

[0397] In certain embodiments, the foot further comprises a biasing member urging the mid-joint to the first flat position. In certain embodiments, the biasing member comprises a spring element, elastomer element, or other biasing structure configured to provide a restoring force toward the first flat position.

[0398] In certain embodiments, the foot further comprises a mid-joint actuator operationally coupled to the mid-joint, wherein the mid-joint actuator is configured to selectively apply a biasing force to urge the mid-joint to the first flat position. In certain embodiments, the mid-joint actuator is configured to selectively apply an additional biasing force to urge the mid-joint to the first flat position. In certain embodiments, the mid-joint actuator is configured to selectively enhance the action of a biasing member applying the biasing force. In certain embodiments, the mid-joint actuator is configured to selectively at least partially offset the action of a biasing member applying the biasing force.

[0399] In certain embodiments, the mid-joint actuator is controlled to adjust foot stiffness and foot posture across different phases of movement, including to support gait transitions, foot placement on human-scale surfaces, and energy management during stepping and stance.

[0400] In certain embodiments, the example embodiments described herein may be embodied, in whole or in part, by any system, apparatus, robot, component, subassembly, controller, and / or other aspect of the present disclosure. Accordingly, the structural, mechanical, and control features described herein are non-limiting examples and may be implemented alone or in any combination.

[0401] In certain embodiments, a humanoid robot comprises a torso assembly comprising a motive power battery pack and an impact shell at least partially defining an outer shape of the torso assembly, together with a left arm assembly and a right arm assembly and a left leg assembly and a right leg assembly. In certain embodiments, the impact shell comprises a compliant plastic shell. In certain embodiments, the impact shell comprises tiled geometric shapes. In certain embodiments, the tiled geometric shapes comprise hexagonal shapes. In certain embodiments, the impact shell comprises a 3-D printed shell. In certain embodiments, the impact shell comprises a polylactic acid (PLA) shell.

[0402] In certain embodiments, the humanoid robot further comprises a fabric cover over the impact shell. In certain embodiments, the fabric cover comprises a ventilation fabric at a rear shoulder position. In certain embodiments, the fabric cover comprises a ventilation fabric at a backAttorney Docket No. ONEX-0008-WO2position. In certain embodiments, the fabric cover comprises a ventilation fabric at a convective heat rejection position.

[0403] In certain embodiments, each arm assembly comprises an impact shell at least partially defining an outer shape of the arm assembly. In certain embodiments, a flexible interference shell is interposed between the impact shell of the torso assembly and the impact shell of the arm assembly. In certain embodiments, the flexible interference shell is configured to maintain interference protection throughout a range of motion of the arm assembly. In certain embodiments, the flexible interference shell is configured to maintain impact protection throughout a range of motion of the arm assembly.

[0404] In certain embodiments, a fabric cover is provided over the impact shell of the arm assembly. In certain embodiments, the fabric cover of the arm assembly comprises a ventilation fabric at an elbow position. In certain embodiments, the ventilation fabric of the arm assembly is positioned at a forward elbow position.

[0405] In certain embodiments, each leg assembly comprises an impact shell at least partially defining an outer shape of the leg assembly. In certain embodiments, a flexible interference shell is interposed between the impact shell of the leg assembly and a foot assembly motively attached to the leg assembly at an ankle joint. In certain embodiments, the flexible interference shell is configured to maintain interference protection throughout a range of motion of the foot assembly. In certain embodiments, the flexible interference shell is configured to maintain impact protection throughout a range of motion of the foot assembly.In certain embodiments, the impact shell comprises an upper torso impact shell and a hip cover impact shell. In certain embodiments, the impact shell of the arm assembly comprises an upper arm impact shell, a lower arm impact shell, and an elbow cover impact shell. In certain embodiments, the impact shell of the leg assembly comprises an upper leg impact shell, a lower leg impact shell, and a knee cover impact shell.

[0406] In certain embodiments, the fabric cover comprises a shaping knit positioned over a midsection of the torso assembly. In certain embodiments, the fabric cover further comprises the shaping knit over a hip region of the torso assembly. In certain embodiments, the humanoid robot comprises a first fabric cover over the impact shell and a second fabric cover over a second impact shell of the arm assembly, wherein the fabric cover comprises a shaping knit over at least one of a shoulder region or an elbow region. In certain embodiments, the humanoid robot comprises a first fabric cover over the impact shell and a second fabric cover over a second impact shell of the leg assembly, wherein the fabric cover comprises a shaping knit over a knee region.Attorney Docket No. ONEX-0008-WO2

[0407] In certain embodiments, the fabric cover comprises a termination knit over a spinal region. In certain embodiments, the fabric cover comprises a termination knit over a neck region. In certain embodiments, the humanoid robot comprises a first fabric cover over the impact shell and a second fabric cover over a second impact shell of the arm assembly, wherein the fabric cover comprises a termination knit over a wrist region. In certain embodiments, the humanoid robot comprises a first fabric cover over the impact shell and a second fabric cover over a second impact shell of the leg assembly, wherein the fabric cover comprises a termination knit over an ankle region.

[0408] In certain embodiments, the impact shell comprises a magnetic connection assembly. In certain embodiments, the impact shell comprises a male / female snap connection. In certain embodiments, the male / female snap connection comprises a keyed connection.In certain embodiments, the impact shell further comprises a foam layer disposed on the compliant plastic shell.

[0409] In certain embodiments, the impact shell comprises a hip girdle flexible interference shell. In certain embodiments, the hip girdle flexible interference shell is configured to maintain interference protection throughout a range of motion of both leg assemblies. In certain embodiments, the hip girdle flexible interference shell is configured to maintain impact protection throughout a range of motion of both leg assemblies.

[0410] In certain embodiments, the example embodiments described herein may be embodied, in whole or in part, by any system, apparatus, robot, component, subassembly, controller, and / or other aspect of the present disclosure. Accordingly, the structural, mechanical, and control features described herein are non-limiting examples and may be implemented alone or in any combination.

[0411] In certain embodiments, a humanoid robot comprises a torso assembly having a scapula motor and a pelvic sub-assembly positioned in a lower portion of the torso assembly, the pelvic subassembly comprising a spine motor assembly, a motive power battery pack, and a hip motor assembly. In certain embodiments, the humanoid robot further comprises a left arm assembly and a right arm assembly, each arm assembly comprising a shoulder sub-assembly comprising a shoulder motor assembly, an upper arm sub-assembly comprising an elbow motor assembly, and a lower arm sub-assembly comprising a hand, a wrist joint, and a wrist motor assembly.

[0412] In certain embodiments, a tendon drive is configured to operate the motion of at least one of the left arm assembly or the right arm assembly. In certain embodiments, the tendon drive comprises a polymer fiber. In certain embodiments, the polymer fiber comprises a liquid crystal polymer fiber. In certain embodiments, the polymer fiber comprises a pre-stretched fiber.In certain embodiments, the tendon drive comprises a terminator comprising an end pin, wherein theAttorney Docket No. ONEX-0008-WO2polymer fiber is coupled to the end pin with epoxy. In certain embodiments, the end pin is sized to be flush with a specified number of fiber wraps.

[0413] In certain embodiments, the polymer fiber comprises an alignment marking. In certain embodiments, the alignment marking comprises a colored thread integral with the polymer fiber. In certain embodiments, the alignment marking comprises a radial alignment marking. In certain embodiments, the alignment marking comprises an axial alignment marking. In certain embodiments, the alignment marking is configured to support assembly verification, inspection, and / or service procedures by providing a visual reference for fiber orientation and / or termination placement relative to the end pin.

[0414] In certain embodiments, the humanoid robot further comprises a second tendon drive configured to operate a neck motion. In certain embodiments, the humanoid robot further comprises a second tendon drive configured to operate an elbow motion. In certain embodiments, the humanoid robot further comprises a second tendon drive configured to operate a spine motion, thereby enabling tendon-drive distribution beyond a single arm assembly.

[0415] In certain embodiments, the example embodiments described herein may be embodied, in whole or in part, by any system, apparatus, robot, component, subassembly, controller, and / or other aspect of the present disclosure. Accordingly, the structural, mechanical, and control features described herein are non-limiting examples and may be implemented alone or in any combination.

[0416] In certain embodiments, a humanoid robot comprises a torso assembly having a scapula motor and a pelvic sub-assembly positioned in a lower portion of the torso assembly, the pelvic subassembly comprising a spine motor assembly, a motive power battery pack, and a hip motor assembly. In certain embodiments, the humanoid robot further comprises a left leg assembly and a right leg assembly, each leg assembly comprising an upper leg sub-assembly comprising a secondary hip motor and a lower leg sub-assembly comprising a knee motor.

[0417] In certain embodiments, a tendon drive is configured to operate the motion of at least one of the left leg assembly or the right leg assembly. In certain embodiments, the tendon drive is configured to transmit motive power for leg motion while allowing a distribution of actuation components to support packaging and mass placement objectives for the humanoid robot.

[0418] In certain embodiments, the humanoid robot further comprises a second tendon drive configured to operate a neck motion. In certain embodiments, the humanoid robot further comprises a second tendon drive configured to operate an elbow motion. In certain embodiments, the humanoid robot further comprises a second tendon drive configured to operate a spine motion.

[0419] In certain embodiments, the humanoid robot further comprises a left arm assembly and a right arm assembly, each arm assembly comprising a shoulder sub-assembly comprising a shoulderAttorney Docket No. ONEX-0008-WO2motor assembly, an upper arm sub-assembly comprising an elbow motor assembly, and a lower arm sub-assembly comprising a hand, a wrist joint, and a wrist motor assembly. In certain embodiments, the humanoid robot further comprises a second tendon drive configured to operate the motion of at least one of the left arm assembly or the right arm assembly.

[0420] In certain embodiments, the example embodiments described herein may be embodied, in whole or in part, by any system, apparatus, robot, component, subassembly, controller, and / or other aspect of the present disclosure. Accordingly, the structural, mechanical, and control features described herein are non-limiting examples and may be implemented alone or in any combination.

[0421] In certain embodiments, a motor comprises a rotor assembly including a rotor substrate and a plurality of magnets coupled to the rotor substrate and a stator assembly including a stator substrate and a plurality of coils coupled to the stator substrate, the plurality of coils being configured to generate a magnetic field to interact with the plurality of magnets to produce rotation of the rotor assembly relative to the stator assembly. In certain embodiments, the plurality of coils are electrically coupled into a plurality of control circuits. In certain embodiments, each coil of the plurality of coils has a rectangular cross-section and is housed in a corresponding linear detent of the stator substrate.

[0422] In certain embodiments, the motor further comprises at least three control circuits. In certain embodiments, the motor further comprises at least six control circuits.

[0423] In certain embodiments, the motor further comprises a coil detent density of at least 0.65, wherein the coil detent density comprises a number of the linear detents divided by a motor frame size in mm. For example, where a motor frame size is 100 mm, the coil detent density of the example embodiment would include at least 65 detents. An example motor includes a 105 mm frame size with 84 detents. In certain embodiments, the motor further comprises a magnet density of at least 2.0, wherein the magnet density comprises a number of the magnets divided by a motor frame size in mm. For example, where motor frame size is 100 mm, the magnet density of the example embodiment would include at least 200 magnets. An example motor includes a 105 mm frame size with 240 magnets. In certain embodiments, the magnets are coupled to the rotor substrate utilizing an adhesive.

[0424] In certain embodiments, the motor comprises a nominal torque to weight ratio exceeding 15 Nm / kg. In certain embodiments, the motor comprises a maximum torque to weight ratio exceeding 25 Nm / kg. In certain embodiments, the motor comprises a maximum torque to weight ratio exceeding 60 Nm / kg.

[0425] In certain embodiments, the motor is positioned on a humanoid robot and is configured to operate a tendon drive of the humanoid robot. In certain embodiments, the tendon drive is configured to operate a shoulder joint of the humanoid robot. In certain embodiments, the motor comprises aAttorney Docket No. ONEX-0008-WO2dual motor pair configured to operate a differential drive to control two movement axes of the shoulder joint. In certain embodiments, the tendon drive is configured to operate an elbow joint of the humanoid robot. In certain embodiments, the motor comprises a dual motor pair configured to operate a differential drive to control two movement axes of the elbow joint. In certain embodiments, the tendon drive is configured to operate a wrist joint of the humanoid robot. In certain embodiments, the motor comprises a dual motor pair configured to operate a differential drive to control two movement axes of the wrist joint. In certain embodiments, the tendon drive is configured to operate a hip joint of the humanoid robot. In certain embodiments, the motor comprises a dual motor pair configured to operate a differential drive to control two movement axes of the hip joint. In certain embodiments, the tendon drive is configured to operate a knee joint of the humanoid robot. In certain embodiments, the motor comprises a dual motor pair configured to operate a differential drive to control a first stage movement and a second stage movement of the knee joint. In certain embodiments, the tendon drive is configured to operate an ankle joint of the humanoid robot. In certain embodiments, the motor comprises a dual motor pair configured to operate a differential drive to control two movement axes of the ankle joint.

[0426] In certain embodiments, the motor is positioned on a humanoid robot and is configured to operate a joint movement of the humanoid robot. In certain embodiments, the joint movement comprises a shoulder joint movement. In certain embodiments, the joint movement comprises an elbow joint movement. In certain embodiments, the joint movement comprises a wrist joint movement. In certain embodiments, the joint movement comprises a hip joint movement. In certain embodiments, the joint movement comprises a knee joint movement. In certain embodiments, the joint movement comprises an ankle joint movement. In certain embodiments, the joint movement comprises a neck joint movement. In certain embodiments, the joint movement comprises a spine joint movement.

[0427] In certain embodiments, the example embodiments described herein may be utilized, in whole or part, with any system, apparatus, robot, component, subassembly, controller, and / or other aspect of the present disclosure. Accordingly, the manufacturing features described herein are nonlimiting examples and may be implemented alone or in any combination.

[0428] In certain embodiments, an example procedure for manufacturing a motor for a humanoid robot includes performing operations comprising coupling a plurality of magnets to a rotor substrate. In certain embodiments, the operation of coupling the plurality of magnets to the rotor substrate includes positioning the plurality of magnets in a desired distribution about the rotor substrate and securing the plurality of magnets to the rotor substrate.Attorney Docket No. ONEX-0008-WO2

[0429] In certain embodiments, the example procedure further includes performing operations comprising positioning a plurality of coils in corresponding linear detents of a stator substrate, wherein each coil of the plurality of coils has a rectangular cross-section. In certain embodiments, the operation of positioning the plurality of coils includes inserting individual coils into the linear detents such that the rectangular cross-section coils are retained and aligned by the linear detents, thereby supporting accurate coil placement and a desired coil packing arrangement.

[0430] In certain embodiments, the example procedure further includes performing operations comprising constructing a plurality of control circuits for the plurality of coils by positioning a disc shaped printed circuit board over the plurality of coils to electrically couple the plurality of coils into the plurality of control circuits. In certain embodiments, the operation of positioning the disc shaped printed circuit board includes aligning the printed circuit board with coil terminators and / or coil elements such that electrical coupling can be established between the printed circuit board and the plurality of coils to define the plurality of control circuits.

[0431] In certain embodiments, performing operations comprising positioning the disc shaped printed circuit board over the plurality of coils includes extending coil elements through connection holes defined in a printed circuit board substrate and selectively soldering the extended coil elements to electrically couple the plurality of coils into the plurality of control circuits. In certain embodiments, the operation of selectively soldering includes applying solder to selected ones of the extended coil elements at corresponding connection locations on the printed circuit board substrate to complete the desired circuit topology of the plurality of control circuits.

[0432] In certain embodiments, performing operations comprising positioning the disc shaped printed circuit board over the plurality of coils includes flexing a last engaged terminator of the plurality of coils and flexing a corresponding edge of a printed circuit board substrate to complete engagement of the last engaged terminator with the printed circuit board substrate. In certain embodiments, the operation of flexing the last engaged terminator and flexing the corresponding edge of the printed circuit board substrate is performed during installation to complete alignment and seating of the printed circuit board over the plurality of coils while enabling engagement of the final terminator.

[0433] The methods and systems described herein may be deployed in part or in whole through a machine having a computer, computing device, processor, circuit, and / or server that executes computer readable instructions, program codes, instructions, and / or includes hardware configured to functionally execute one or more operations of the methods and systems disclosed herein. The terms computer, computing device, processor, circuit, and / or server, as utilized herein, should be understood broadly.Attorney Docket No. ONEX-0008-WO2

[0434] Any one or more of the terms computer, computing device, processor, circuit, and / or server include a computer of any type, capable to access instructions stored in communication thereto such as upon a non-transient computer readable medium, whereupon the computer performs operations of systems or methods described herein upon executing the instructions. In certain embodiments, such instructions themselves comprise a computer, computing device, processor, circuit, and / or server. Additionally or alternatively, a computer, computing device, processor, circuit, and / or server may be a separate hardware device, one or more computing resources distributed across hardware devices, and / or may include such aspects as logical circuits, embedded circuits, sensors, actuators, input and / or output devices, network and / or communication resources, memory resources of any type, processing resources of any type, and / or hardware devices configured to be responsive to determined conditions to functionally execute one or more operations of systems and methods herein.

[0435] Network and / or communication resources include, without limitation, local area network, wide area network, wireless, internet, or any other known communication resources and protocols. Example and non-limiting hardware, computers, computing devices, processors, circuits, and / or servers include, without limitation, a general purpose computer, a server, an embedded computer, a mobile device, a virtual machine, and / or an emulated version of one or more of these. Example and non-limiting hardware, computers, computing devices, processors, circuits, and / or servers may be physical, logical, or virtual. A computer, computing device, processor, circuit, and / or server may be: a distributed resource included as an aspect of several devices; and / or included as an interoperable set of resources to perform described functions of the computer, computing device, processor, circuit, and / or server, such that the distributed resources function together to perform the operations of the computer, computing device, processor, circuit, and / or server. In certain embodiments, each computer, computing device, processor, circuit, and / or server may be on separate hardware, and / or one or more hardware devices may include aspects of more than one computer, computing device, processor, circuit, and / or server, for example as separately executable instructions stored on the hardware device, and / or as logically partitioned aspects of a set of executable instructions, with some aspects of the hardware device comprising a part of a first computer, computing device, processor, circuit, and / or server, and some aspects of the hardware device comprising a part of a second computer, computing device, processor, circuit, and / or server.

[0436] A computer, computing device, processor, circuit, and / or server may be part of a server, client, network infrastructure, mobile computing platform, stationary computing platform, or other computing platform. A processor may be any kind of computational or processing device capable of executing program instructions, codes, binary instructions and the like. The processor may be or include a signal processor, digital processor, embedded processor, microprocessor or any variantAttorney Docket No. ONEX-0008-WO2such as a co-processor (math co-processor, graphic co-processor, communication co-processor and the like) and the like that may directly or indirectly facilitate execution of program code or program instructions stored thereon. In addition, the processor may enable execution of multiple programs, threads, and codes. The threads may be executed simultaneously to enhance the performance of the processor and to facilitate simultaneous operations of the application. By way of implementation, methods, program codes, program instructions and the like described herein may be implemented in one or more threads. The thread may spawn other threads that may have assigned priorities associated with them; the processor may execute these threads based on priority or any other order based on instructions provided in the program code. The processor may include memory that stores methods, codes, instructions and programs as described herein and elsewhere. The processor may access a storage medium through an interface that may store methods, codes, and instructions as described herein and elsewhere. The storage medium associated with the processor for storing methods, programs, codes, program instructions or other type of instructions capable of being executed by the computing or processing device may include but may not be limited to one or more of a CD-ROM, DVD, memory, hard disk, flash drive, RAM, ROM, cache and the like.

[0437] A processor may include one or more cores that may enhance speed and performance of a multiprocessor. In embodiments, the process may be a dual core processor, quad core processors, other chip-level multiprocessor and the like that combine two or more independent cores (called a die).

[0438] The methods and systems described herein may be deployed in part or in whole through a machine that executes computer readable instructions on a server, client, firewall, gateway, hub, router, or other such computer and / or networking hardware. The computer readable instractions may be associated with a server that may include a file server, print server, domain server, internet server, intranet server and other variants such as secondary server, host server, distributed server and the like. The server may include one or more of memories, processors, computer readable transitory and / or non-transitory media, storage media, ports (physical and virtual), communication devices, and interfaces capable of accessing other servers, clients, machines, and devices through a wired or a wireless medium, and the like. The methods, programs, or codes as described herein and elsewhere may be executed by the server. In addition, other devices required for execution of methods as described in this application may be considered as a part of the infrastructure associated with the server.

[0439] The server may provide an interface to other devices including, without limitation, clients, other servers, printers, database servers, print servers, file servers, communication servers, distributed servers, and the like. Additionally, this coupling and / or connection may facilitate remoteAttorney Docket No. ONEX-0008-WO2execution of instructions across the network. The networking of some or all of these devices may facilitate parallel processing of program code, instructions, and / or programs at one or more locations without deviating from the scope of the disclosure. In addition, all the devices attached to the server through an interface may include at least one storage medium capable of storing methods, program code, instructions, and / or programs. A central repository may provide program instructions to be executed on different devices. In this implementation, the remote repository may act as a storage medium for methods, program code, instructions, and / or programs.

[0440] The methods, program code, instructions, and / or programs may be associated with a client that may include a file client, print client, domain client, internet client, intranet client and other variants such as secondary client, host client, distributed client and the like. The client may include one or more of memories, processors, computer readable transitory and / or non-transitory media, storage media, ports (physical and virtual), communication devices, and interfaces capable of accessing other clients, servers, machines, and devices through a wired or a wireless medium, and the like. The methods, program code, instructions, and / or programs as described herein and elsewhere may be executed by the client. In addition, other devices utilized for execution of methods as described in this application may be considered as a part of the infrastructure associated with the client.

[0441] The client may provide an interface to other devices including, without limitation, servers, other clients, printers, database servers, print servers, file servers, communication servers, distributed servers, and the like. Additionally, this coupling and / or connection may facilitate remote execution of methods, program code, instructions, and / or programs across the network. The networking of some or all of these devices may facilitate parallel processing of methods, program code, instructions, and / or programs at one or more locations without deviating from the scope of the disclosure. In addition, all the devices attached to the client through an interface may include at least one storage medium capable of storing methods, program code, instructions, and / or programs. A central repository may provide program instructions to be executed on different devices. In this implementation, the remote repository may act as a storage medium for methods, program code, instructions, and / or programs.

[0442] The methods and systems described herein may be deployed in part or in whole through network infrastructures. The network infrastructure may include elements such as computing devices, servers, routers, hubs, firewalls, clients, personal computers, communication devices, routing devices and other active and passive devices, modules, and / or components as known in the art. The computing and / or non-computing device(s) associated with the network infrastructure may include, apart from other components, a storage medium such as flash memory, buffer, stack, RAM,Attorney Docket No. ONEX-0008-WO2ROM and the like. The methods, program code, instructions, and / or programs described herein and elsewhere may be executed by one or more of the network infrastructural elements.

[0443] The methods, program code, instructions, and / or programs described herein and elsewhere may be implemented on a cellular network having multiple cells. The cellular network may either be frequency division multiple access (FDMA) network or code division multiple access (CDMA) network. The cellular network may include mobile devices, cell sites, base stations, repeaters, antennas, towers, and the like.

[0444] The methods, program code, instructions, and / or programs described herein and elsewhere may be implemented on or through mobile devices. The mobile devices may include navigation devices, cell phones, mobile phones, mobile personal digital assistants, laptops, palmtops, netbooks, pagers, electronic books readers, music players, and the like. These mobile devices may include, apart from other components, a storage medium such as a flash memory, buffer, RAM, ROM and one or more computing devices. The computing devices associated with mobile devices may be enabled to execute methods, program code, instructions, and / or programs stored thereon. Alternatively, the mobile devices may be configured to execute instructions in collaboration with other devices. The mobile devices may communicate with base stations interfaced with servers and configured to execute methods, program code, instructions, and / or programs. The mobile devices may communicate on a peer to peer network, mesh network, or other communications network. The methods, program code, instructions, and / or programs may be stored on the storage medium associated with the server and executed by a computing device embedded within the server. The base station may include a computing device and a storage medium. The storage device may store methods, program code, instructions, and / or programs executed by the computing devices associated with the base station.

[0445] The methods, program code, instructions, and / or programs may be stored and / or accessed on machine readable transitory and / or non-transitory media that may include: computer components, devices, and recording media that retain digital data used for computing for some interval of time; semiconductor storage known as random access memory (RAM); mass storage typically for more permanent storage, such as optical discs, forms of magnetic storage like hard disks, tapes, drums, cards and other types; processor registers, cache memory, volatile memory, non-volatile memory; optical storage such as CD, DVD; removable media such as flash memory (e.g., USB sticks or keys), floppy disks, magnetic tape, paper tape, punch cards, standalone RAM disks, Zip drives, removable mass storage, off-line, and the like; other computer memory such as dynamic memory, static memory, read / write storage, mutable storage, read only, random access, sequential access, locationAttorney Docket No. ONEX-0008-WO2addressable, file addressable, content addressable, network attached storage, storage area network, bar codes, magnetic ink, and the like.

[0446] Certain operations described herein include interpreting, receiving, and / or determining one or more values, parameters, inputs, data, or other information. Operations including interpreting, receiving, and / or determining any value parameter, input, data, and / or other information include, without limitation: receiving data via a user input: receiving data over a network of any type; reading a data value from a memory location in communication with the receiving device; utilizing a default value as a received data value; estimating, calculating, or deriving a data value based on other information available to the receiving device; and / or updating any of these in response to a later received data value. In certain embodiments, a data value may be received by a first operation, and later updated by a second operation, as part of the receiving a data value. For example, when communications are down, intermittent, or interrupted, a first operation to interpret, receive, and / or determine a data value may be performed, and when communications are restored an updated operation to interpret, receive, and / or determine the data value may be performed.

[0447] Certain logical groupings of operations herein, for example methods or procedures of the current disclosure, are provided to illustrate aspects of the present disclosure. Operations described herein are schematically described and / or depicted, and operations may be combined, divided, reordered, added, or removed in a manner consistent with the disclosure herein. It is understood that the context of an operational description may require an ordering for one or more operations, and / or an order for one or more operations may be explicitly disclosed, but the order of operations should be understood broadly, where any equivalent grouping of operations to provide an equivalent outcome of operations is specifically contemplated herein. For example, if a value is used in one operational step, the determining of the value may be required before that operational step in certain contexts (e.g. where the time delay of data for an operation to achieve a certain effect is important), but may not be required before that operation step in other contexts (e.g. where usage of the value from a previous execution cycle of the operations would be sufficient for those purposes). Accordingly, in certain embodiments an order of operations and grouping of operations as described is explicitly contemplated herein, and in certain embodiments re-ordering, subdivision, and / or different grouping of operations is explicitly contemplated herein.

[0448] The methods and systems described herein may transform physical and / or or intangible items from one state to another. The methods and systems described herein may also transform data representing physical and / or intangible items from one state to another.

[0449] The elements described and depicted herein, including in flow charts, block diagrams, and / or operational descriptions, depict and / or describe specific example arrangements of elementsAttorney Docket No. ONEX-0008-WO2for purposes of illustration. However, the depicted and / or described elements, the functions thereof, and / or arrangements of these, may be implemented on machines, such as through computer executable transitory and / or non-transitory media having a processor capable of executing program instructions stored thereon, and / or as logical circuits or hardware arrangements. Example arrangements of programming instructions include at least: monolithic structure of instructions; standalone modules of instructions for elements or portions thereof; and / or as modules of instructions that employ external routines, code, services, and so forth; and / or any combination of these, and all such implementations are contemplated to be within the scope of embodiments of the present disclosure Examples of such machines include, without limitation, personal digital assistants, laptops, personal computers, mobile phones, other handheld computing devices, medical equipment, wired or wireless communication devices, transducers, chips, calculators, satellites, tablet PCs, electronic books, gadgets, electronic devices, devices having artificial intelligence, computing devices, networking equipment, servers, routers and the like. Furthermore, the elements described and / or depicted herein, and / or any other logical components, may be implemented on a machine capable of executing program instructions. Thus, while the foregoing flow charts, block diagrams, and / or operational descriptions set forth functional aspects of the disclosed systems, any arrangement of program instructions implementing these functional aspects are contemplated herein. Similarly, it will be appreciated that the various steps identified and described above may be varied, and that the order of steps may be adapted to particular applications of the techniques disclosed herein.Additionally, any steps or operations may be divided and / or combined in any manner providing similar functionality to the described operations. All such variations and modifications are contemplated in the present disclosure. The methods and / or processes described above, and steps thereof, may be implemented in hardware, program code, instructions, and / or programs or any combination of hardware and methods, program code, instructions, and / or programs suitable for a particular application. Example hardware includes a dedicated computing device or specific computing device, a particular aspect or component of a specific computing device, and / or an arrangement of hardware components and / or logical circuits to perform one or more of the operations of a method and / or system. The processes may be implemented in one or more microprocessors, microcontrollers, embedded microcontrollers, programmable digital signal processors or other programmable device, along with internal and / or external memory. The processes may also, or instead, be embodied in an application specific integrated circuit, a programmable gate array, programmable array logic, or any other device or combination of devices that may be configured to process electronic signals. It will further be appreciated that one or more of theAttorney Docket No. ONEX-0008-WO2processes may be realized as a computer executable code capable of being executed on a machine readable medium.

[0450] The computer executable code may be created using a structured programming language such as C, an object oriented programming language such as C++, or any other high-level or low-level programming language (including assembly languages, hardware description languages, and database programming languages and technologies) that may be stored, compiled or interpreted to run on one of the above devices, as well as heterogeneous combinations of processors, processor architectures, or combinations of different hardware and computer readable instructions, or any other machine capable of executing program instructions.

[0451] Thus, in one aspect, each method described above and combinations thereof may be embodied in computer executable code that, when executing on one or more computing devices, performs the steps thereof. In another aspect, the methods may be embodied in systems that perform the steps thereof, and may be distributed across devices in a number of ways, or all of the functionality may be integrated into a dedicated, standalone device or other hardware. In another aspect, the means for performing the steps associated with the processes described above may include any of the hardware and / or computer-readable instructions described above. All such permutations and combinations are contemplated in embodiments of the present disclosure.

[0452] While the disclosure has been disclosed in connection with the preferred embodiments shown and described in detail, various modifications and improvements thereon will become readily apparent to those skilled in the art. Accordingly, the scope of the present disclosure is not to be limited by the foregoing examples, but is to be understood in the broadest sense allowable by law.

Claims

Attorney Docket No. ONEX-0008-WO2What is claimed is:

1. A method of operating a humanoid robot, the method comprising:receiving a movement command specifying a desired movement of the humanoid robot; receiving state information indicative of a condition of the humanoid robot, the state information including at least joint position information for at least one joint of the humanoid robot; determining a force-based control target in response to the movement command and the state information; andproviding at least one motor command signal in response to the force-based control target.

2. The method of claim 1, further comprising receiving the movement command as a position command, and determining the force-based control target as a force operation configured to move the humanoid robot toward a position responsive to the position command.

3. The method of claim 2, wherein determining the force-based control targets comprises determining at least one joint torque target for moving at least one joint toward a commanded joint position specified by the position command.

4. The method of claim 1, wherein providing the at least one motor command signal causes a shoulder joint of at least one of a left arm assembly or a right arm assembly to move relative to a torso assembly.

5. The method of claim 4, wherein providing the at least one motor command signal causes the shoulder joint to execute at least one of a flexion movement, an abduction movement, or an internal rotation movement.

6. The method of claim 1, wherein providing the at least one motor command signal causes an elbow joint of at least one of a left arm assembly or a right arm assembly to move.

7. The method of claim 6, wherein providing the at least one motor command signal causes the elbow joint to execute at least one of a flexion movement or a supination movement.

8. The method of claim 1, wherein providing the at least one motor command signal causes a wrist joint of at least one of a left arm assembly or a right arm assembly to move.

9. The method of claim 8, wherein providing the at least one motor command signal causes the wrist joint to execute at least one of an abduction movement or a flexion movement.

10. The method of claim 1, wherein providing the at least one motor command signal causes a hip joint of at least one of a left leg assembly or a right leg assembly to move relative to a torso assembly.

11. The method of claim 10, wherein providing the at least one motor command signal causes the hip joint to execute at least one of a flexion movement, an abduction movement, or an internal rotation movement.Attorney Docket No. ONEX-0008-WO212. The method of claim 1, wherein providing the at least one motor command signal causes a knee joint of at least one of a left leg assembly or a right leg assembly to move.

13. The method of claim 12, wherein the knee joint comprises a two stage knee joint including a first stage and a second stage, and wherein providing the at least one motor command signal causes at least one of the first stage or the second stage to move in a flexion movement.

14. The method of claim 1, wherein providing the at least one motor command signal causes an ankle joint of at least one of a left leg assembly or a right leg assembly to move.

15. The method of claim 14, wherein providing the at least one motor command signal causes the ankle joint to execute at least one of an inversion movement or a flexion movement.

16. The method of claim 1, wherein providing the at least one motor command signal causes a neck joint coupling a head assembly to a torso assembly to move.

17. The method of claim 16, wherein providing the at least one motor command signal causes the neck joint to execute at least one of a flexion movement, a lateral flexion movement, or a rotation movement.

18. The method of claim 1, wherein providing the at least one motor command signal causes a spine joint coupling a pelvic sub-assembly to a remainder of a torso assembly to move.

19. The method of claim 18, wherein providing the at least one motor command signal causes the spine joint to execute at least one of a flexion movement or a rotation movement.

20. The method of claim 1, wherein providing the at least one motor command signal causes at least one motor command signal to actuate a hand of at least one of a left arm assembly or a right arm assembly at least partially between an open position and a closed position.

21. The method of claim 1, wherein providing the at least one motor command signal causes a midjoint of a foot of at least one of a left leg assembly or a right leg assembly to move between a first flat position and a second raised position.

22. The method of claim 1, wherein determining the force-based control target comprises determining the force-based control target subject to a velocity limit for a limb of the humanoid robot such that the at least one motor command signal is constrained to limit a velocity of the limb to not exceed a predetermined maximum limb velocity.

23. The method of claim 1, wherein determining the force-based control target comprises determining the force-based control target subject to an acceleration limit for a limb of the humanoid robot such that the at least one motor command signal is constrained to limit an acceleration of the limb to not exceed a predetermined maximum limb acceleration.

24. The method of claim 1, wherein determining the force-based control target comprises determining the force-based control target, subject to at least one of (i) a rotationalAttorney Docket No. ONEX-0008-WO2momentum limit or (ii) a linear momentum limit, such that the at least one motor command signal is constrained to limit the at least one of the rotational momentum or the linear momentum to not exceed a predetermined maximum momentum threshold.

25. A control system for a humanoid robot, the humanoid robot comprising a plurality of motors operable to drive movement of a plurality of joints, the control system comprising at least one controller comprising:a movement command circuit configured to receive a movement command specifying a desired movement of the humanoid robot;an input interface configured to receive state information indicative of a condition of the humanoid robot, the state information including at least one joint position for at least one joint of the humanoid robot;a force translation circuit configured to determine a force-based control target in response to the movement command and the state information; anda motor response circuit configured provide at least one motor command signal in response to the force-based control target.

26. The control system of claim 25, wherein the motor response circuit is further configured to provide the motor command signal further in response to a motor feedback from at least one motor responsive to the at least one motor command signal.

27. The control system of claim 25, wherein the movement command circuit is further configured to receive the movement command as a position command, and wherein the force translation circuit is further configured to determine the force-based control target as a force operation configured to move the humanoid robot toward a position responsive to the position command.

28. The control system of claim 27, wherein the force translation circuit is further configured to determine at least one joint torque target for moving at least one joint toward a commanded joint position specified by the position command.

29. The control system of claim 27, wherein the force translation circuit is further configured to determine the force-based control target subject to a velocity limit for a limb of the humanoid robot such that the at least one motor command signal is constrained to limit a velocity of the limb to not exceed a predetermined maximum limb velocity.

30. The control system of claim 27, wherein the force translation circuit is further configured to determine the force-based control target subject to an acceleration limit for a limb of the humanoid robot such that the at least one motor command signal is constrained to limit an acceleration of the limb to not exceed a predetermined maximum limb acceleration.Attorney Docket No. ONEX-0008-WO231. The control system of claim 27, wherein the force translation circuit is further configured to determine the force-based control target, subject to at least one of (i) a rotational momentum limit or (ii) a linear momentum limit, such that the at least one motor command signal is constrained to limit the at least one of the rotational momentum or the linear momentum to not exceed a predetermined maximum momentum threshold.

32. A system, comprising:a humanoid robot having a controller configured to perform movement operations of the robot, and external communications for the robot;the controller comprising:a movement command circuit configured to interpret a motive command for the robot; a movement validation circuit configured to determine whether the motive command comprises a valid motive command; andin response to determining the motive command is a valid motive command, authorizing a force translation circuit to determine a force-based control target in response to the movement command; andin response to determining the motive command is not a valid motive command, sending an administrative assistance request to an external device.

33. The system of claim 32, wherein the movement validation circuit is further configured to determine the motive command is not a valid motive command in response to the motive command comprising an unauthorized value.

34. The system of claim 32, wherein the movement validation circuit is further configured to determine the motive command is not a valid motive command in response to the motive command comprising an unachievable value.

35. The system of claim 32, wherein the movement validation circuit is further configured to determine the motive command is not a valid motive command in response to a safety condition.

36. The system of claim 32, wherein the movement validation circuit is further configured to determine the motive command is not a valid motive command in response to a fault condition.

37. The system of claim 32, wherein the movement validation circuit is further configured to determine the motive command is not a valid motive command in response to at least one of an ambiguous motive command, an unclear motive command, or an unrecognized motive command.

38. A method, comprising:Attorney Docket No. ONEX-0008-WO2interpreting a motive command for a humanoid robot;determining whether the motive command comprises a valid motive command; andin response to determining the motive command comprises the valid motive command, authorizing determining a force-based control target in response to the motive command;in response to determining the motive command does not comprise the valid motive command, sending an administrative assistance request to an external device.

39. The method of claim 38, wherein determining the motive command does not comprise the valid motive command comprises determining the motive command comprises an unauthorized value.

40. The method of claim 38, wherein determining the motive command does not comprise the valid motive command comprises determining the motive command comprises an unachievable value.

41. The method of claim 38, wherein determining the motive command does not comprise the valid motive command comprises determining the motive command does not satisfy a safety condition.

42. The method of claim 38, wherein determining the motive command does not comprise the valid motive command comprises determining a fault condition is present.

43. The method of claim 38, wherein determining the motive command does not comprise the valid motive command comprises determining the motive command comprises an ambiguous motive command.

44. The method of claim 38, wherein determining the motive command does not comprise the valid motive command comprises determining the motive command comprises an unclear motive command.

45. The method of claim 38, wherein determining the motive command does not comprise the valid motive command comprises determining the motive command comprises an unrecognized motive command.

46. A method, comprising:ceasing an ongoing motive operation of a humanoid robot;in response to determining that power and control of the humanoid robot are available, returning limbs of the robot to a safe posture position; andin response to determining that either power or control of the humanoid robot is not available, collapsing the robot into a safe rest position.Attorney Docket No. ONEX-0008-WO247. The method of claim 46, wherein returning limbs of the robot to the safe posture position comprises returning limbs of the robot to a baseline selected safe position.

48. The method of claim 46, wherein returning limbs of the robot to the safe posture position comprises moving the limbs through an obstacle free path.

49. The method of claim 46, wherein returning limbs of the robot to the safe posture position comprises moving the limbs through a human free path.

50. A system, comprising:a humanoid robot, comprising:a controller configured to perform movement operations of the robot, wherein the controller is configured to:cease an ongoing motive operation of the humanoid robot; andin response to determining that power and control of the humanoid robot are available, returning limbs of the robot to a safe posture position; and wherein the humanoid robot is configured to collapse into a safe rest position in response to a loss of at least one of power or control of the humanoid robot.

51. The system of claim 50, wherein the configuration of the humanoid robot comprises:a selected center of mass position defined by pivot points of the humanoid robot in a typical foot position; andwherein major limbs of the humanoid robot are motively operated using tendon drives.

52. The system of claim 50, wherein the controller is further configured to:detect one of a position or a position request for the humanoid robot that is not a typical foot position; andadjust motive operations to retain and / or return the humanoid robot in a typical foot position.

53. The system of claim 50, wherein the controller is further configured to:detect a position request for the humanoid robot that is not a typical foot position; andadjust motive operations to retain the humanoid robot to the typical foot position.

54. The system of claim 50, wherein the controller is further configured to:detect a position request for the humanoid robot that is not a typical foot position; and determine that a motive command responsive to the position request is not a valid motive command.

55. The system of claim 51, wherein the controller is further configured to determine the typical foot position in response to at least one of: a torso position of the humanoid robot, an arm position of the humanoid robot, a load carried by the humanoid robot, or an expected value of any one or more of the foregoing.

56. A sensor for use in robotic systems, comprising:Attorney Docket No. ONEX-0008-WO2a contact layer comprising:an external surface; andan internal surface including a plurality of sensing pillars; anda sensing array in contact with the plurality of sensing pillars, wherein the sensing array is configured to measure deformities in the plurality of sensing pillars caused by at least one force applied to the external surface.

57. The sensor of claim 56, wherein the at least one force applied to the external surface is caused by an object in contact with the external surface.

58. The sensor of claim 57, wherein the external surface is configured to deform based on the at least one force applied to the external surface.

59. The sensor of claim 58, wherein the deformation of the external surface causes deformities in the plurality of sensing pillars.

60. The sensor of claim 56, wherein the plurality of sensing pillars are made from an electrically- conductive material.

61. The sensor of claim 60, wherein the plurality of sensing pillars are made from an elastomer mixed with a conductive powder.

62. The sensor of claim 60, wherein each sensing pillar of the plurality of sensing pillars is made from a same material.

63. The sensor of claim 60, wherein at least one sensing pillar of the plurality of sensing pillars is made from a different material than at least one other sensing pillar.

64. The sensor of claim 56, wherein the plurality of sensing pillars are arranged in a grid.

65. The sensor of claim 56, wherein each sensing pillar of the plurality of sensing pillars has one of a cone, hemisphere, cylinder, or prism shape.

66. The sensor of claim 56, wherein each sensing pillar of the plurality of sensing pillars has one of a cone, cylinder, or prism shape, and wherein at least one of the sensing pillars comprises a right angle cone, cylinder, or prism shape.

67. The sensor of claim 65, wherein each sensing pillar of the plurality of sensing pillars has a same shape.

68. The sensor of claim 65, wherein at least one sensing pillar of the plurality of sensing pillars has a different shape than at least one other sensing pillar.

69. The sensor of claim 56, wherein the sensing array includes a plurality of individually- addressable sensing elements.

70. The sensor of claim 69, wherein each sensing element of the sensing array corresponds to a sensing pillar of the plurality of sensing pillars.Attorney Docket No. ONEX-0008-WO271. The sensor of claim 70, wherein at least one sensing element of the sensing array corresponds to two or more sensing pillars of the plurality of sensing pillars.

72. The sensor of claim 70, wherein at least one sensing pillar of the plurality of sensing pillars corresponds to two or more of the sensing elements.

73. The sensor of claim 56, wherein the sensing array is configured to measure deformities in the plurality of sensing pillars based on changes in at least one of capacitance or resistance.

74. The sensor of claim 56, wherein the sensing array is configured to generate an image representing the deformities in the plurality of sensing pillars.

75. The sensor of claim 74, wherein the image is processed via image processing software to measure the at least one force applied to the external surface.

76. The sensor of claim 56, wherein the sensing array comprises a distribution density of sensing elements of the sensing array throughout a sensing pillar region of the contact layer.

77. The sensor of claim 76, wherein the distribution density is uniform throughout the sensing pillar region.

78. The sensor of claim 76, wherein the distribution density is variable throughout the sensing pillar region.

79. A humanoid robot, comprising:a head comprising an ear panel configured to display a robot status indicator;a torso assembly having a pelvic sub-assembly positioned in a lower portion of the torso assembly, the pelvic sub-assembly comprising a spine motor assembly, a motive power battery pack, and a hip motor assembly;a left arm assembly and a right arm assembly; anda left leg assembly and a right leg assembly.

80. The humanoid robot of claim 79, wherein the robot status indicator comprises an indicator of at least one status selected from: a listening status; a charging status; or a remote operation status.

81. The humanoid robot of claim 79, wherein the ear panel is configured to display the robot status indicator as a graphical icon.

82. The humanoid robot of claim 79, wherein the ear panel is configured to display the robot status indicator as a color of light.

83. The humanoid robot of claim 79, wherein the ear panel is configured to display the robot status indicator as a sequence of light.Attorney Docket No. ONEX-0008-WO284. The humanoid robot of claim 79, wherein the robot status indicator comprises an indicator of at least one status selected from: a confirmation status; an invalid command status; a task status; or a remaining time status.

Images