Abstract: A robotic cleaning apparatus for cleaning a dirty object includes a cleaning head and an articulated body. The articulated body is coupled to the cleaning head and mountable to the dirty object. The body has one or more actuators that collectively move the cleaning head into contact with surfaces of the dirty object. The one or more actuators, when activated, collectively rotate the cleaning head relative to the dirty object about first and second axes, and translate the cleaning head relative to the dirty object along an extension axis. A method of robotically cleaning is also disclosed.

Abstract: A robotic cleaning apparatus for cleaning a dirty object includes a cleaning head and an articulated body. The articulated body is coupled to the cleaning head and mountable to the dirty object. The body has one or more actuators that collectively move the cleaning head into contact with surfaces of the dirty object. The one or more actuators, when activated, collectively rotate the cleaning head relative to the dirty object about first and second axes, and translate the cleaning head relative to the dirty object along an extension axis. A method of robotically cleaning a dirty object.

Abstract: A robotic cleaning apparatus for cleaning a toilet includes a cleaning head, an articulated body, and a controller. The articulated body coupled to the cleaning head and mountable to the toilet. The body having one or more actuators that collectively move the cleaning head into contact with surfaces of the toilet bowl and toilet seat when the articulated body is mounted to the toilet. The controller communicatively coupled to the one or more actuators to send control signals that, when the articulated body is mounted to the toilet, direct the one or more actuators to move the cleaning head to a plurality of positions and determine an angular orientation of the toilet seat based at least in part on the plurality of positions. The cleaning head is in contact with the toilet seat or a rim of the toilet bowl in each of the positions.