Abstract: A telepresence robot may include a drive system, a control system, an imaging system, and a mapping module. The mapping module may access a plan view map of an area and tags associated with the area. In various embodiments, each tag may include tag coordinates and tag information, which may include a tag annotation. A tag identification system may identify tags within a predetermined range of the current position and the control system may execute an action based on an identified tag whose tag information comprises a telepresence robot action modifier. The telepresence robot may rotate an upper portion independent from a lower portion. A remote terminal may allow an operator to control the telepresence robot using any combination of control methods, including by selecting a destination in a live video feed, by selecting a destination on a plan view map, or by using a joystick or other peripheral device.

Abstract: A ball joint having a housing with a cylindrical cavity that has an open receiving end and a closed retaining end receives a polymeric insert and a non-deformable insert therein. The polymeric insert has a cylindrical outer wall that extends upwardly from a base and the interior of the insert defines a concave spherical contour. The non-deformable insert fits into a slot formed in the base of the polymeric insert and rests against the housing's bottom. A ball stud comprising a shank with a spherical ball at one end thereof snaps into the polymeric insert and the non-deformable insert. A retaining ring slips over the shank of the ball stud into the receiving end of the housing and its inner surface also has a spherical contour conforming to the spherical ball. The inserts, the ball of the ball stud and the retainer ring are held in the housing by forming the periphery of the housing at the receiving end to overlay the retaining ring.