Abstract: A roller conveyor system configured for installation on top of a mobile robot to provide robotic transport of a payload includes: a roller conveyor, the roller conveyor comprising: a roller assembly, the roller assembly comprising a plurality of rollers, the rollers configured to move a payload, each of the rollers being configured to rotate, the roller assembly comprising a motorized roller and one or more auxiliary rollers, the motorized roller comprising a motor configured to cause the motorized roller to rotate; and a hybrid power transmission configured to drive the rollers, the hybrid power transmission coupling the motorized roller to at least one of the one or more auxiliary rollers, the hybrid power transmission using at least two power transmission methods.

Abstract: A system includes: a cart including: four legs; at least one shelf, each shelf attached to each of the legs; the cart having a generally rectangular shape, a width of the cart being longer than a length of the robot, a length of the cart being longer than a length of the robot; four wheels, each wheel attached to a different leg at a bottom of the leg, the wheels configured to roll to facilitate movement of the cart; and a robotic dock, the robotic dock comprising four docking receptacles at ninety degree angles from adjacent docking receptacles; and a robot comprising: a sensor; and a docking module, the docking module comprising retractable docking pins, each retractable docking pin configured, when extended upward, to mate with a corresponding docking receptacle, thereby securing the robot to a bottom shelf of the cart.

Abstract: A cart-based workflow system includes: a robot operating in a facility; a server, the server operably connected to the robot, the server configured to do one or more of send the robot a cart transfer location usable for transferring the cart and instruct the robot to specify the cart transfer location; a graphic user interface (GUI) comprising a map of the facility, the GUI operably connected to the server, the GUI configured to do one or more of receive input from a human user and provide output to the human user, the GUI further configured to be usable by the user to coordinate movement of one or more of robots and carts.

Abstract: A cart-based workflow system includes: a robot operating in a facility; a server, the server operably connected to the robot, the server configured to do one or more of send the robot a cart transfer location usable for transferring the cart and instruct the robot to specify the cart transfer location; a graphic user interface (GUI) comprising a map of the facility, the GUI operably connected to the server, the GUI configured to do one or more of receive input from a human user and provide output to the human user, the GUI further configured to be usable by the user to coordinate movement of one or more of robots and carts.

Abstract: A roller conveyor system configured for installation on top of a mobile robot to provide robotic transport of a payload includes: a roller conveyor, the roller conveyor comprising: a roller assembly, the roller assembly comprising a plurality of rollers, the rollers configured to move a payload, each of the rollers being configured to rotate, the roller assembly comprising a motorized roller and one or more auxiliary rollers, the motorized roller comprising a motor configured to cause the motorized roller to rotate; and a hybrid power transmission configured to drive the rollers, the hybrid power transmission coupling the motorized roller to at least one of the one or more auxiliary rollers, the hybrid power transmission using at least two power transmission methods.

Abstract: A system includes: a cart including: four legs; at least one shelf, each shelf attached to each of the legs; the cart having a generally rectangular shape, a width of the cart being longer than a length of the robot, a length of the cart being longer than a length of the robot; four wheels, each wheel attached to a different leg at a bottom of the leg, the wheels configured to roll to facilitate movement of the cart; and a robotic dock, the robotic dock comprising four docking receptacles at ninety degree angles from adjacent docking receptacles; and a robot comprising: a sensor; and a docking module, the docking module comprising retractable docking pins, each retractable docking pin configured, when extended upward, to mate with a corresponding docking receptacle, thereby securing the robot to a bottom shelf of the cart.

Abstract: A roller conveyor system configured for installation on top of a mobile robot to provide robotic transport of a payload includes: a roller conveyor, the roller conveyor comprising: a roller assembly, the roller assembly comprising a plurality of rollers, the rollers configured to move a payload, each of the rollers being configured to rotate, the roller assembly comprising a motorized roller and one or more auxiliary rollers, the motorized roller comprising a motor configured to cause the motorized roller to rotate; and a hybrid power transmission configured to drive the rollers, the hybrid power transmission coupling the motorized roller to at least one of the one or more auxiliary rollers, the hybrid power transmission using at least two power transmission methods.

Abstract: A system includes: a cart including: four legs; at least one shelf, each shelf attached to each of the legs; the cart having a generally rectangular shape, a width of the cart being longer than a length of the robot, a length of the cart being longer than a length of the robot; four wheels, each wheel attached to a different leg at a bottom of the leg, the wheels configured to roll to facilitate movement of the cart; and a robotic dock, the robotic dock comprising four docking receptacles at ninety degree angles from adjacent docking receptacles; and a robot comprising: a sensor; and a docking module, the docking module comprising retractable docking pins, each retractable docking pin configured, when extended upward, to mate with a corresponding docking receptacle, thereby securing the robot to a bottom shelf of the cart.

Abstract: A system includes: a cart including: four legs; at least one shelf, each shelf attached to each of the legs; the cart having a generally rectangular shape, a width of the cart being longer than a length of the robot, a length of the cart being longer than a length of the robot; four wheels, each wheel attached to a different leg at a bottom of the leg, the wheels configured to roll to facilitate movement of the cart; and a robotic dock, the robotic dock comprising four docking receptacles at ninety degree angles from adjacent docking receptacles; and a robot comprising: a sensor; and a docking module, the docking module comprising retractable docking pins, each retractable docking pin configured, when extended upward, to mate with a corresponding docking receptacle, thereby securing the robot to a bottom shelf of the cart.

Abstract: A compact payload stopper includes: an interface assembly that serves as a main structural member of the payload stopper, the payload stopper configured to stop the payload from moving off a mobile robot; a stopper blade assembly connected to the interface assembly so as to allow the stopper blade assembly to pivot about an axis of the interface assembly, the stopper blade assembly configured to have a disengaged position that allows for a payload to be moved onto or off the robot, the stopper blade assembly further configured to have an engaged position that stops the payload from moving off the robot; and a motor assembly comprising a motor, the motor assembly connected to the interface assembly, the motor assembly configured to apply a force to the stopper blade assembly, causing the stopper blade assembly to rotate into a desired position of the engaged position and the disengaged position.

Abstract: A roller conveyor system configured for installation on top of a mobile robot to provide robotic transport of a payload includes: a roller conveyor, the roller conveyor comprising: a roller assembly, the roller assembly comprising a plurality of rollers, the rollers configured to move a payload, each of the rollers being configured to rotate, the roller assembly comprising a motorized roller and one or more auxiliary rollers, the motorized roller comprising a motor configured to cause the motorized roller to rotate; and a hybrid power transmission configured to drive the rollers, the hybrid power transmission coupling the motorized roller to at least one of the one or more auxiliary rollers, the hybrid power transmission using at least two power transmission methods.

Abstract: A compact payload stopper includes: an interface assembly that serves as a main structural member of the payload stopper, the payload stopper configured to stop the payload from moving off a mobile robot; a stopper blade assembly connected to the interface assembly so as to allow the stopper blade assembly to pivot about an axis of the interface assembly, the stopper blade assembly configured to have a disengaged position that allows for a payload to be moved onto or off the robot, the stopper blade assembly further configured to have an engaged position that stops the payload from moving off the robot; and a motor assembly comprising a motor, the motor assembly connected to the interface assembly, the motor assembly configured to apply a force to the stopper blade assembly, causing the stopper blade assembly to rotate into a desired position of the engaged position and the disengaged position.

Abstract: A joint includes: a motor coupled to the joint, the motor configured to move the joint; a joint side sensor configured to measure a parameter of interest of a joint side target; a motor side sensor configured to measure the parameter of interest of the motor; and a controller configured to control the motor, the controller operably connected to the joint side sensor, the controller operably connected to the motor side sensor.

Abstract: A joint includes: a motor coupled to the joint, the motor configured to move the joint; a joint side sensor configured to measure a parameter of interest of a joint side target; a motor side sensor configured to measure the parameter of interest of the motor; and a controller configured to control the motor, the controller operably connected to the joint side sensor, the controller operably connected to the motor side sensor.

Abstract: A system for aligning a robotic charging connector with a mating connector includes: a robot comprising a charging connector; a self-aligning robotic charging dock comprising a floating interface assembly, the floating interface assembly comprising a floating interface plate, the floating interface assembly further comprising a mating connector, the mating connector configured to snugly mate with the charging connector, the floating interface assembly further comprising a floating interface configured to align the robotic charging connector with the mating connector, the floating interface comprising a sliding surface configured to move against the floating interface plate as the robot docks with the robotic charging dock.