Systems, devices, and methods for a humanoid robot
A robot includes a robot body having a first robotic leg, a second robotic leg, and a robotic torso. The first robotic leg includes a first foot, a first lower leg member coupled to the first foot, and a first upper leg member coupled to the first lower leg member. The second robotic leg includes a second foot, a second lower leg member coupled to the second foot, and a second upper leg member coupled to the second lower leg member. The robot includes a mobile base having a platform to which the first and second feet of the robot body are fastened.
1 . A robot comprising:
a mobile base including a chassis and having a platform formed in a front portion of the chassis; and
a humanoid robot body comprising:
a first robotic leg having a first foot, a first lower leg member mechanically coupled to the first foot, and a first upper leg member mechanically coupled to the first lower leg member, wherein the first foot is fastened to the platform;
a second robotic leg having a second foot, a second lower leg member mechanically coupled to the second foot, and a second upper leg member mechanically coupled to the second lower leg member, wherein the second foot is fastened to the platform;
a robotic torso mechanically coupled to the first upper leg member and the second upper leg member;
a robotic arm mechanically coupled to a side of the robotic torso; and
an end effector mechanically coupled to the robotic arm, the end effector having at least one digit with at least one hydraulically-actuated joint:
a hydraulic system operatively coupled to the at least one hydraulically-actuated joint, the hydraulic system having at least one component attached to the robotic torso; and
a plurality of components mounted in a rear portion of the chassis for operation of the robot body, the plurality of components comprising a battery electrically coupled to the robot body and operable to provide electrical power to the robot body and a controller communicatively coupled to the robot body and operable to control an action of the robot body.
2 . The robot of claim 1 , wherein the first lower leg member is mechanically coupled to the first foot by a first joint having a first degree of freedom, and wherein the first foot remains fastened to the platform during and after actuation of the first degree of freedom.
3 . The robot of claim 2 , wherein the second lower leg member is mechanically coupled to the second foot by a second joint having a second degree of freedom, and wherein the second foot remains fastened to the platform during and after actuation of the second degree of freedom.
4 . The robot of claim 1 , wherein the first lower leg member is mechanically coupled to the first foot by a first joint having a first degree of freedom, wherein the first upper leg member is mechanically coupled to the first lower leg member by a second joint having a second degree of freedom, wherein the robotic torso is mechanically coupled to the first upper leg member by a third joint having a third degree of freedom, and wherein the first foot and the second foot remain fastened to the platform during and after any combination of actuation of the first, second, and third degrees of freedom.
5 . The robot of claim 4 , wherein the second lower leg member is mechanically coupled to the second foot by a fourth joint having a fourth degree of freedom, wherein the second upper leg member is mechanically coupled to the second lower leg member by a fifth joint having a fifth degree of freedom, wherein the robotic torso is mechanically coupled to the second upper leg member by a sixth joint having a sixth degree of freedom, and wherein the first foot and the second foot remain fastened to the platform during and after any combination of actuation of the fourth, fifth, and sixth degrees of freedom.
6 . The robot of claim 1 , further comprising a joint member coupled to the robotic torso by a first joint, coupled to the first upper leg member by a second joint, and coupled to the second upper leg member by a third joint.
7 . The robot of claim 6 , wherein the first joint includes at least a first actuator controllable to rotate the robotic torso relative to the joint member.
8 . The robot of claim 7 , wherein the second joint includes at least a second actuator, wherein the third joint includes at least a third actuator, and wherein the second and third actuators are controllable to rotate the joint member and the robotic torso relative to the first upper leg member and the second upper leg member.
9 . The robot of claim 8 , wherein the mobile base has a weight that counterbalances a weight of the robot when the robotic torso and joint member rotate relative to the first upper leg member and the second upper leg member such that the robotic torso overhangs the mobile base.
10 . The robot of claim 1 , wherein at least one component of the hydraulic system is mounted in the rear portion of the chassis.
11 . The robot of claim 1 , wherein the mobile base comprises a propulsion system operable to cause motion of the mobile base.
12 . The robot of claim 1 , wherein the mobile base comprises a plurality of wheels and an electric motor operable to rotate the plurality of wheels.