Abstract: A robotic assistant comprises a plurality of sensors in a compact and unobtrusive form. One or more sensors may be emplaced upon a mast that may be selectively raised and lowered. The mast allows the robotic assistant to acquire images or other sensor data from a greater height, without substantially increasing the bulk of the robotic assistant. For ease of transport from one floor to another or from one building to another, the robotic assistant may deploy a handhold that a human may use to pick up and carry the robotic assistant. Floor characterization sensors may be used to determine characteristics of the floor such as if the floor is wet or dry. The robotic assistant may be used to provide a user with access to network services, to monitor a facility, provide telepresence services, and so forth.

Abstract: A compact angular actuator allows for angular displacement between a first section and a second section. The first section comprises a cam that is circular in cross section and has a wedge-shaped face. The second section comprises two or more constraint components that are in contact with the face of the cam. A hinge joins the first section and the second section in proximity with one another. As the cam is rotated about an axis that is perpendicular to and extends through a center of the circular cross section, the position on the face that the constraint components are in contact with changes. As a result, a force is imparted between the first section and the second section, changing the angular displacement between the two. The actuator fits within a compact volume and allows for precise controlled angular displacement, while allowing that displacement to be maintained without power consumption.

Abstract: An extensible mast device allows a payload to be supported at a controllable distance from a supporting device. A motor driving a flexible strip provides a force through the flexible strip to extend the mast. The extended strip may have a curved cross section that provides some rigidity. A set of telescoping sections may enclose the strip. One or more of the sections may be flexible. In the event of an impact between the extensible mast and an object, such as a user, the flexible section and the strip yield to the impact and collapse. The extensible mast may be easily reset by lifting it back to a vertical position, with the flexible strip reasserting the curved cross section and the flexible sections resuming substantially the same shape as before the impact. A robot may use the extensible mast to elevate cameras or other sensors to a higher vantage point.