Abstract: A humanoid robot, including an upper portion including a torso, a head, and left and right arm assemblies; a lower portion including left and right lower leg assemblies; a central portion coupled to the upper portion and including a spine, a pelvis, and left and right upper leg assemblies. Each upper leg assembly includes a hip flex actuator coupled to the pelvis and having a hip flex axis positioned at a non-zero downward angle relative to a transverse plane of the humanoid robot. The upper leg assembly also includes left and right knee actuators, wherein each knee actuator is an electric rotary actuator, has a knee axis that is co-planar with the hip flex axis, and has a momentary peak torque greater than a momentary peak torque of the torso twist actuator. The humanoid robot lacks a distinct torso pitch actuator and wherein the hip flex actuators are collectively arranged to provide for pitch movements of the torso.

Abstract: This article is an interactive humanoid robot that consists of a head with a 3D face projected onto a mask, and communicates with its surrounding in the same way as humans do, by listening, observing, speaking, and expressing complex emotions. The robot is used in various contexts throughout society, for example, as a job training robot, a recruiter robot, a health pre-screening robot, etc.

Abstract: A humanoid robot, including an upper portion including a torso, a head, and left and right arm assemblies; a lower portion including left and right lower leg assemblies; a central portion coupled to the upper portion and including a spine, a pelvis, and left and right upper leg assemblies. Each upper leg assembly includes a hip flex actuator coupled to the pelvis and having a hip flex axis positioned at a non-zero downward angle relative to a transverse plane of the humanoid robot. The upper leg assembly also includes left and right knee actuators, wherein each knee actuator is an electric rotary actuator, has a knee axis that is co-planar with the hip flex axis, and has a momentary peak torque greater than a momentary peak torque of the torso twist actuator. The humanoid robot lacks a distinct torso pitch actuator and wherein the hip flex actuators are collectively arranged to provide for pitch movements of the torso.

Abstract: A humanoid robot comprising an upper portion with a torso, left elbow, left fingertip, and actuators including four electrical actuators between the left elbow and fingertip (each with motor peak torque below 0.12 Nm), and two electrical actuators between the torso and left elbow (each with motor peak torque above 1.3 Nm). A lower portion includes a shin with an electrical actuator having motor peak torque above 0.75 Nm. A central portion between the upper and lower portions includes a pelvis with a hip flex electrical actuator directly coupled to the pelvis having motor peak torque above 3.5 Nm.

Abstract: A torque protection apparatus comprising: a gearbox coupled to an axle; an output ring with first and second planar disc surfaces coupled to the gearbox output; an outer body surrounding these components; an output adaptor attached to the outer body; an inner body within the outer body; a first clutch friction plate between the output adaptor and first planar disc surface; fluid in a chamber between the inner body and outer body; and a hydraulic pressure mechanism. The pressurized fluid pushes the inner body toward the output ring, pressing the output ring against the clutch friction plate. This creates friction causing the outer body to rotate with the axle until rotational torque exceeds a predetermined threshold, at which point the clutch friction plate slides against the disc surface, protecting the gearbox from excessive torque.

Abstract: Disclosed herein are systems and methods directed to an industrial robot that can perform mobile manipulation (e.g., dexterous mobile manipulation). A robotic arm may be capable of precise control when reaching into tight spaces, may be robust to impacts and collisions, and/or may limit the mass of the robotic arm to reduce the load on the battery and increase runtime. A robotic arm may include differently configured proximal joints and/or distal joints. Proximal joints may be designed to promote modularity and may include separate functional units, such as modular actuators, encoder, bearings, and/or clutches. Distal joints may be designed to promote integration and may include offset actuators to enable a through-bore for the internal routing of vacuum, power, and signal connections.

Abstract: Disclosed herein are systems and methods directed to an industrial robot that can perform mobile manipulation (e.g., dexterous mobile manipulation). A robotic arm may be capable of precise control when reaching into tight spaces, may be robust to impacts and collisions, and/or may limit the mass of the robotic arm to reduce the load on the battery and increase runtime. A robotic arm may include differently configured proximal joints and/or distal joints. Proximal joints may be designed to promote modularity and may include separate functional units, such as modular actuators, encoder, bearings, and/or clutches. Distal joints may be designed to promote integration and may include offset actuators to enable a through-bore for the internal routing of vacuum, power, and signal connections.

Abstract: Disclosed herein are systems and methods directed to an industrial robot that can perform mobile manipulation (e.g., dexterous mobile manipulation). A robotic arm may be capable of precise control when reaching into tight spaces, may be robust to impacts and collisions, and/or may limit the mass of the robotic arm to reduce the load on the battery and increase runtime. A robotic arm may include differently configured proximal joints and/or distal joints. Proximal joints may be designed to promote modularity and may include separate functional units, such as modular actuators, encoder, bearings, and/or clutches. Distal joints may be designed to promote integration and may include offset actuators to enable a through-bore for the internal routing of vacuum, power, and signal connections.

Abstract: A modular slide for use on a staircase includes at least a first slide module with an entry section having an entry surface defining a seat and a gripping surface substantially opposite the entry surface. The modular slide also has a ramp section with an elongated surface extending from the entry section towards a terminal end of the ramp section, an underside being configured to rest upon portions of the staircase, and two opposing sidewalls spanning both the ramp section and the entry section and having an upper edge defining a handrail. An identical second slide module is configured to overlap and integrate with an upper portion of the first slide module to form a continuous slide surface and a continuous handrail of an extended modular slide.

Abstract: A modular slide for use on a staircase includes at least a first slide module with an entry section having an entry surface defining a seat and a gripping surface substantially opposite the entry surface. The modular slide also has a ramp section with an elongated surface extending from the entry section towards a terminal end of the ramp section, an underside being configured to rest upon portions of the staircase, and two opposing sidewalls spanning both the ramp section and the entry section and having an upper edge defining a handrail. An identical second slide module is configured to overlap and integrate with an upper portion of the first slide module to form a continuous slide surface and a continuous handrail of an extended modular slide.

Abstract: Disclosed herein are systems and methods directed to an industrial robot that can perform mobile manipulation (e.g., dexterous mobile manipulation). A robotic arm may be capable of precise control when reaching into tight spaces, may be robust to impacts and collisions, and/or may limit the mass of the robotic arm to reduce the load on the battery and increase runtime. A robotic arm may include differently configured proximal joints and/or distal joints. Proximal joints may be designed to promote modularity and may include separate functional units, such as modular actuators, encoder, bearings, and/or clutches. Distal joints may be designed to promote integration and may include offset actuators to enable a through-bore for the internal routing of vacuum, power, and signal connections.

Abstract: A modular slide for use on a staircase includes at least a first slide module with an entry section having an entry surface defining a seat and a gripping surface substantially opposite the entry surface. The modular slide also has a ramp section with an elongated surface extending from the entry section towards a terminal end of the ramp section, an underside being configured to rest upon portions of the staircase, and two opposing sidewalls spanning both the ramp section and the entry section and having an upper edge defining a handrail. An identical second slide module is configured to overlap and integrate with an upper portion of the first slide module to form a continuous slide surface and a continuous handrail of an extended modular slide.