Abstract: A mixed mode robot is provided having an autonomous mode, wherein the robot moves autonomously, and a manual mode, wherein the robot is passive and allows manual manipulation by a user. The mixed mode robot is wheeled and in an embodiment is powered by one or more direct drive motor while in the autonomous mode. One or more handholds are adapted for use by a user to move the robot when the robot is in the manual mode. A processor associated with the robot places the robot in a selected one of the autonomous mode and the manual mode, such that the robot is easily moved by a user when in the manual mode.

Abstract: An integrated inertial motion capture system includes external position aiding such as optical tracking. The integrated system addresses and corrects misalignment between the inertial (relative) and positioning reference (external) frames. This is especially beneficial when it is not feasible to rely on magnetometers to reference the heading of the inertial system. This alignment allows effective tracking of yaw in a common reference frame for all inertial sensing units, even those with no associated positional measurements. The disclosed systems and methods also enable an association to be formed between the inertial sensing units and positional measurements.

Abstract: An integrated inertial motion capture system includes external position aiding such as optical tracking. The integrated system addresses and corrects misalignment between the inertial (relative) and positioning reference (external) frames. This is especially beneficial when it is not feasible to rely on magnetometers to reference the heading of the inertial system. This alignment allows effective tracking of yaw in a common reference frame for all inertial sensing units, even those with no associated positional measurements. The disclosed systems and methods also enable an association to be formed between the inertial sensing units and positional measurements.