Abstract: The invention includes systems and methods for determining movement of a robot. A computing system of the robot receives information comprising a reference behavior specification, a current state of the robot, and a characteristic of a massive body coupled to or expected to be coupled to the robot. The computing system determines, based on the information, a set of movement parameters for the robot, the set of movement parameters reflecting a goal trajectory for the robot. The computing system instructs the robot to move consistent with the set of movement parameters.

Abstract: Methods and apparatus for controlling a robot (e.g., having a set of continuous rotation joints) to perform extra human behaviors are provided. The method includes receiving task information to perform a task, determining, using a control system of the robot, a motion plan for the robot to perform the task, wherein the motion plan includes rotation about one or more joints of the robot (e.g., about at least one of the continuous rotation joints in the set of continuous rotation joints) to efficiently perform the task using extra human behaviors.

Abstract: The invention includes systems and methods for determining movement of a robot. A computing system of the robot receives information comprising a reference behavior specification, a current state of the robot, and a characteristic of a massive body coupled to or expected to be coupled to the robot. The computing system determines, based on the information, a set of movement parameters for the robot, the set of movement parameters reflecting a goal trajectory for the robot. The computing system instructs the robot to move consistent with the set of movement parameters.

Abstract: Methods and apparatus for determining a control strategy for controlling a robot based on power limits of the robot are provided. The method includes determining, by a computing device, motor control information for a plurality of motors associated with a plurality of joints of the robot, the motor control information being determined based, at least in part, on a robot trajectory to achieve a desired behavior and power limit information associated with a power system of the robot, and controlling the plurality of motors associated with the plurality of joints of the robot based, at least in part, on the motor control information.

Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.

Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.

Abstract: The invention includes systems and methods for determining movement of a robot. A computing system of the robot receives information comprising a reference behavior specification, a current state of the robot, and a characteristic of a massive body coupled to or expected to be coupled to the robot. The computing system determines, based on the information, a set of movement parameters for the robot, the set of movement parameters reflecting a goal trajectory for the robot. The computing system instructs the robot to move consistent with the set of movement parameters.

Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.

Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.

Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.

Abstract: A radial magnetic bearing for magnetic bearing of a rotor has a stator which includes a magnetically conductive stator element, arranged circulating around a rotor. The stator element has recesses running in the axial direction of the stator element in which electrical lines from coils are arranged, wherein magnetic fields can be generated by the coils which hold the rotor suspended in an air gap arranged between the rotor and stator. A softer progression of the components of magnetic flow density in the radial direction is achieved by design measures on the transitions from one magnetic pole to the next magnetic pole, which results in a reduction of the eddy currents induced in the rotor.

Abstract: A radial magnetic bearing for magnetic bearing of a rotor has a stator which includes a magnetically conductive stator element, arranged circulating around a rotor. The stator element has recesses running in the axial direction of the stator element in which electrical lines from coils are arranged, wherein magnetic fields can be generated by the coils which hold the rotor suspended in an air gap arranged between the rotor and stator.