Abstract: The various implementations described herein are directed to autonomous mobile robots or vehicles that are adapted for sterile environments. In one aspect, an autonomous mobile robot (AMR) includes a set of functional components enclosed in a sealed housing. The AMR includes a set of sensors configured to monitor a vicinity of the AMR. The AMR includes a compliant linkage configured to connect the sealed housing to a topper cart with relative movement between the sealed housing and the topper cart in two degrees of freedom. The AMR further includes a set of drive wheels coupled to the sealed housing and configured to enable movement of the AMR.

Abstract: The various implementations described herein include methods and systems for determining Autonomous Mobile Robot (AMR) payload sizing. In one aspect, a method for visualizing payload center of gravity envelopes includes displaying a user interface. The method includes receiving, via the user interface, an AMR type and a corresponding set of operating parameters. The method includes detecting a user input at a location on the user interface corresponding to a control element on the user interface. The method includes, in response to detecting the user input, generating a center of gravity (CG) envelope based on the AMR type and the set of operating parameters. The method also includes, after generating the CG envelope, displaying a visualization of the CG envelope.

Abstract: A mobile robot can include a chassis and support wheels configured to support the chassis on a ground surface. The mobile robot can have a drive assembly that includes a drive wheel mounted to a control arm for moving the mobile robot. The control arm can pivot about a pivot axis. The pivot axis can be rearward of the axis of rotation of the drive wheel. The pivot axis can be lower than the axis of rotation of the drive wheel. The pivot axis can be lower than the axis of rotation for one or more of the support wheels. A biasing member can bias the control arm downward. Braking using the drive wheel can increase the force of the drive wheel against the ground. Accelerating using the drive wheel can decrease the force of the drive wheel against the ground.

Abstract: Features are disclosed for a stopping device that is resistant to forces in a first direction and compliant with forces in a second direction. The stopping device may be implemented in a roller top to restrict undesired horizontal movement of a payload being transported across the roller top. In some embodiments, the roller top can be implemented on a mobile robot to transport a payload between destinations. The stopping device can include a plurality of linkages to engage the stopping device and reduce forces applied to the stopping device by the payload. The stopping device, in an engaged position, may limit undesired horizontal movement of the payload. Further, the stopping device, in the engaged position, may respond to vertical forces applied to the stopping device by transitioning from the engaged position to a disengaged position.

Abstract: A mobile robot can include a chassis and support wheels configured to support the chassis on a ground surface. The mobile robot can have a drive assembly that includes a drive wheel mounted to a control arm for moving the mobile robot. The control arm can pivot about a pivot axis. The pivot axis can be rearward of the axis of rotation of the drive wheel. The pivot axis can be lower than the axis of rotation of the drive wheel. The pivot axis can be lower than the axis of rotation for one or more of the support wheels. A biasing member can bias the control arm downward. Braking using the drive wheel can increase the force of the drive wheel against the ground. Accelerating using the drive wheel can decrease the force of the drive wheel against the ground.

Abstract: This application describes independent safety systems for robotic systems using a safety rated PLC. For example, a robotic safety system can include a first sensor that is operatively coupled to a drive assembly of a mobile robot. The first sensor can be configured to determine first rotation information of a wheel of the drive assembly. The system may further include a second sensor that is operatively coupled to the drive assembly. The second sensor may be configured to determine second rotation information of the wheel. The system can include a speed conversion module that is configured to receive the first and second rotation information at a first processing rate. The speed conversion module may also be configured to determine corresponding first and second speed information based on the first and second rotation information. The system can include a safety programmable logic controller (SPLC).

Abstract: A mobile robot charger can have one or more charger electrical contacts. A shroud can be movable between a closed position and an open position, and can be configured to cover the charger electrical contact(s) in the closed position and to expose the charger electrical contact(s) in the open position. The shroud can be configured to move from the closed position to the open position when the mobile robot engages the charger. A switch, such as a momentary switch, can be movable between an off position and an on position, and can be moved from the off position to the on position when the mobile robot engages the charger. One or more electromagnetic switches (e.g., reed switches) can have an on configuration and an off configuration, and can be turned to the on configuration by one or more magnets on the mobile robot when the mobile robot engages the charger.

Abstract: Features are disclosed for a stopping device that is resistant to forces in a first direction and compliant with forces in a second direction. The stopping device may be implemented in a roller top to restrict undesired horizontal movement of a payload being transported across the roller top. In some embodiments, the roller top can be implemented on a mobile robot to transport a payload between destinations. The stopping device can include a plurality of linkages to engage the stopping device and reduce forces applied to the stopping device by the payload. The stopping device, in an engaged position, may limit undesired horizontal movement of the payload. Further, the stopping device, in the engaged position, may respond to vertical forces applied to the stopping device by transitioning from the engaged position to a disengaged position.