Abstract: A humanoid robot includes a torso, a left arm assembly coupled to the torso and having a first reference line, a left wrist coupled to the left arm assembly and including at least a rotational axis, and a left end effector coupled to the left wrist. The left end effector is configured to move about the rotational axis and includes a finger assembly with a second reference line and at least two degrees of freedom, and a thumb assembly with at least three degrees of freedom. A first angle is formed between the first and second reference lines when the left wrist is in a first configuration, and a second angle is formed when the left wrist is in a second configuration. Both the first and second angles are greater than 70 degrees, and the difference between the first and second angles is greater than 150 degrees.

Abstract: The present disclosure provides a humanoid robot comprising a torso, a head coupled to the torso, an articulated arm coupled to torso, and an end effector coupled to the articulated arm and comprising a tactile sensor assembly. The tactile sensor assembly includes a bridge comprising a base section and three flexure arms, wherein each flexure arm includes a sloped section extending from the base section at a first non-zero angle and a load section extending from the sloped section at a second non-zero angle. A strain gauge is coupled to the sloped section of each flexure arm. The tactile sensor assembly includes an electronics assembly communicatively coupled to each strain gauge and configured to process data received from each strain gauge.

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: The present disclosure provides a humanoid robot comprising a torso, a head coupled to the torso, an arm assembly coupled to the torso, and an end effector coupled to the arm assembly at a distal end of the arm assembly. The end effector has a palmer side and a dorsal side and includes a thumb assembly having at least three degrees of freedom, a first finger assembly having at least two degrees of freedom, and a vision sensor coupled to a portion of the end effector. The vision sensor is configured to have a field of view that includes a majority of the palmer side of said end effector, and whereby said field of view enables the vision sensor to detect information about contact between an object and one or more of: (i) an extent of the thumb assembly, and (ii) an extent of the first finger assembly.

Abstract: The present disclosure provides a bipedal robot comprising a torso, head, arm assembly, and end effector. The end effector includes a thumb assembly with at least three degrees of freedom, a first finger assembly with at least two degrees of freedom, a vision sensor positioned between the arm assembly's distal end and first finger assembly, and an illumination source. The illumination source illuminates the field of view between the vision sensor and the thumb and first finger assembly extents when the robot is extended. The vision sensor's field of view includes most of the end effector's palmer side, enabling detection of contact information between objects and the thumb assembly and first finger assembly extents.

Abstract: The present disclosure provides a humanoid robot comprising a torso, a head coupled to the torso, an articulated arm coupled to torso, and an end effector coupled to the articulated arm and comprising a tactile sensor assembly. The tactile sensor assembly includes a bridge comprising a base section and three flexure arms, wherein each flexure arm includes a sloped section extending from the base section at a first non-zero angle and a load section extending from the sloped section at a second non-zero angle. A strain gauge is coupled to the sloped section of each flexure arm. The tactile sensor assembly includes an electronics assembly communicatively coupled to each strain gauge and configured to process data received from each strain gauge.

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: The present disclosure provides a thumb assembly for an end effector for a humanoid robot. The thumb assembly includes a digit assembly comprising a proximal assembly, a medial assembly, a distal assembly, a proximal interphalangeal joint pivotably coupling the proximal assembly to the medial assembly, and a distal interphalangeal joint pivotably coupling the distal assembly to the medial assembly. The thumb assembly also includes a motor assembly comprising a first motor and a second motor, and a gear assembly. The gear assembly includes a flexion gear configured to be driven by the first motor to cause the digit assembly to move about a second carpometacarpal joint axis, and an interposition gear configured to be driven by the second motor to cause the digit assembly to move about a first carpometacarpal joint axis.

Abstract: The present disclosure provides a thumb assembly for an end effector for a humanoid robot. The thumb assembly includes a digit assembly comprising a proximal assembly, a medial assembly, a distal assembly, a proximal interphalangeal joint pivotably coupling the proximal assembly to the medial assembly, and a distal interphalangeal joint pivotably coupling the distal assembly to the medial assembly. The thumb assembly also includes a motor assembly comprising a first motor and a second motor, and a gear assembly. The gear assembly includes a flexion gear configured to be driven by the first motor to cause the digit assembly to move about a second carpometacarpal joint axis, and an interposition gear configured to be driven by the second motor to cause the digit assembly to move about a first carpometacarpal joint axis.

Abstract: A mechanical end effector for a humanoid robot includes a plurality of identical finger assemblies. Each of the finger assemblies is removably connected to a frame. Each of the finger assemblies is fully self-contained and operable independently of every other one of the finger assemblies and independently of every other component connected to the frame. Each of the finger assemblies includes a single electric motor and is configured to be fully operable using only the single electric motor.

Abstract: The disclosure presents a humanoid robot with an upper region (head, torso, arms with forearm assemblies, end effectors), lower region (legs), and connecting central region. Each end effector features index, middle, ring, little finger, and thumb assemblies attached to a housing of said end effector. The housing includes interior wall extents creating spaces for tendon routing, where the first distance between first and second wall extents is less than 45% of the second distance between third and fourth wall extents. Tendons controlling finger movements pass between these wall extents. The robot incorporates a wrist assembly connecting the housing of the end effector to the forearm, actuators housed in the forearm that control the tendons, and a carpal tunnel-like structure that guides tendons from forearm to base of the housing, enabling precise hand movements without requiring actuators in the hand itself.

Abstract: A mechanical end effector for a humanoid robot includes a plurality of identical finger assemblies. Each of the finger assemblies is removably connected to a frame. Each of the finger assemblies is fully self-contained and operable independently of every other one of the finger assemblies and independently of every other component connected to the frame. Each of the finger assemblies includes a single electric motor and is configured to be fully operable using only the single electric motor.

Abstract: A mechanical end effector for a humanoid robot includes a plurality of identical finger assemblies. Each of the finger assemblies is removably connected to a frame. Each of the finger assemblies is fully self-contained and operable independently of every other one of the finger assemblies and independently of every other component connected to the frame. Each of the finger assemblies includes a single electric motor and is configured to be fully operable using only the single electric motor.

Abstract: The present disclosure provides an underactuated end effector for a humanoid robot. The end effector includes a frame, a plurality of finger assemblies removably connected to the frame, and a thumb assembly removably connected to the frame. Each finger assembly includes a finger motor assembly. The thumb assembly includes a first thumb motor with a first thumb motor shaft configured to rotate about a first motor shaft axis, and a first motor gear connected to the first thumb motor shaft. The thumb assembly also includes a second thumb motor with a second thumb motor shaft configured to rotate about a second motor shaft axis, and a second motor gear connected to the second thumb motor shaft. The first motor shaft axis is substantially parallel to the second motor shaft axis, and the first motor gear axis is substantially parallel to the second motor gear axis.

Abstract: An electric cooling fan system can include a frame, a first fan, a first electric motor assembly supported by the frame and operably connected to the first fan, a second fan, a second electric motor assembly supported by the frame and operably connected to the second fan, and a liquid cooling path that passes adjacent to both a first stator of the first electric motor assembly and a second stator of the second electric motor assembly such that thermal energy is transferable from the first electric motor assembly and the second electric motor assembly to a liquid coolant present in the liquid cooling path. Other aspects of an electric cooling fan system and associated method of making the same are also disclosed.

Abstract: A mechanical end effector for a humanoid robot includes a plurality of identical finger assemblies. Each of the finger assemblies is removably connected to a frame. Each of the finger assemblies is fully self-contained and operable independently of every other one of the finger assemblies and independently of every other component connected to the frame. Each of the finger assemblies includes a single electric motor and is configured to be fully operable using only the single electric motor.

Abstract: An electric cooling fan system can include a frame, a first fan, a first electric motor assembly supported by the frame and operably connected to the first fan, a second fan, a second electric motor assembly supported by the frame and operably connected to the second fan, and a liquid cooling path that passes adjacent to both a first stator of the first electric motor assembly and a second stator of the second electric motor assembly such that thermal energy is transferable from the first electric motor assembly and the second electric motor assembly to a liquid coolant present in the liquid cooling path. Other aspects of an electric cooling fan system and associated method of making the same are also disclosed.

Abstract: Apparatuses, systems, and techniques to optimize memory usage when performing matrix operations. In at least one embodiment, a matrix is optimized to limit memory and storage requirements while minimizing loss of precision for a sum of the members of the matrix.

Abstract: Apparatuses, systems, and techniques to optimize memory usage when performing matrix operations. In at least one embodiment, a matrix is optimized to limit memory and storage requirements while minimizing loss of precision for a sum of the members of the matrix.

Abstract: Artificial intelligence for keyword recommendations. In an embodiment, raw keyword data are received. The raw keyword data comprise keyword activity records that each comprises a uniform resource locator (URL) for an online resource and metadata for the online resource. Arrays of keywords are extracted from the keyword activity records, with each array of keywords associated with the URL in the keyword activity record from which the array of keywords was extracted. User-specified keyword(s) are received, and a subset of the arrays of keywords that match at least one of the user-specified keyword(s) is identified. A training dataset is generated from the subset, and used to train a machine-learning model to output recommended keywords based on an input keyword.