Abstract: A mobile manipulation system configured to perform objective tasks within human environments is provided. The mobile manipulation system can include a mobile base assembly including a computing device, at least two drive wheels, and a sensor. The mobile manipulation system can include an actuation assembly including a chain cartridge and a drive chain including a plurality of inter-connected links conveying at least one cable within an interior space of each inter-connected link. The actuation assembly system can also include a telescopic structure including a plurality of segments configured to extend and retract telescopically and conveying the drive chain therein. The mobile manipulation system can include a mast attached to the mobile base assembly along which the actuation assembly translates vertically and a head assembly atop the mast including a first collection of sensors. The mobile manipulation system can also include a manipulation payload coupled to the telescopic structure.

Abstract: A mobile manipulation system configured to perform objective tasks within human environments is provided. The mobile manipulation system can include a mobile base assembly including a computing device, at least two drive wheels, and a sensor. The mobile manipulation system can include an actuation assembly including a chain cartridge and a drive chain including a plurality of inter-connected links conveying at least one cable within an interior space of each inter-connected link. The actuation assembly system can also include a telescopic structure including a plurality of segments configured to extend and retract telescopically and conveying the drive chain therein. The mobile manipulation system can include a mast attached to the mobile base assembly along which the actuation assembly translates vertically and a head assembly atop the mast including a first collection of sensors. The mobile manipulation system can also include a manipulation payload coupled to the telescopic structure.

Abstract: A system may measure, store, and recall at least one tactile property of multiple objects. The system may include one or more biomimetic tactile sensors that have mechanical properties and sensor modalities that are similar to those of human fingertips. The system may perform at least one exploratory movement on one of the objects by moving the biomimetic tactile sensors over a surface of the object. The at least one exploratory movement may be of a type that a human would normally perform on the object to discern the at least one tactile property and may have one or more movement parameters. Each of the movement parameters may fall within a range of movement parameters that would normally be exhibited if a human performed the exploratory movement for the at least one tactile property. The system may determine and store a value of the at least one tactile property based on information provided by the biomimetic tactile sensors in response to the exploratory movement.

Abstract: A compliant tactile sensor may include sponge-like material, a flexible skin, and a fluid pressure sensor. The flexible skin may have a shape, absorb fluid, compress in response to force applied to the sponge-like material, and decompress and return to its original shape when the force is removed. The flexible skin may cover an outer surface of the sponge-like material. The fluid pressure sensor may sense changes in pressure in fluid that is within the sponge-like material caused by a force applied to the flexible skin. A robotic system may include a movable robotic arm, a compliant tactile sensor on the movable robotic arm that senses contact between the compliant tactile sensor and an object during movement of the movable robotic arm and that cushions the effect of that contact, and a reflex system that causes the moveable robotic arm to move in response to commands.

Abstract: A compliant tactile sensor may include sponge-like material, a flexible skin, and a fluid pressure sensor. The flexible skin may have a shape, absorb fluid, compress in response to force applied to the sponge-like material, and decompress and return to its original shape when the force is removed. The flexible skin may cover an outer surface of the sponge-like material. The fluid pressure sensor may sense changes in pressure in fluid that is within the sponge-like material caused by a force applied to the flexible skin. A robotic system may include a movable robotic arm, a compliant tactile sensor on the movable robotic arm that senses contact between the compliant tactile sensor and an object during movement of the movable robotic arm and that cushions the effect of that contact, and a reflex system that causes the moveable robotic arm to move in response to commands.