Abstract: A mobile robot system includes a mobile base and a humanoid robot. The mobile base includes a chassis having a platform. The mobile base includes a propulsion system that is coupled to the chassis and operable to propel the chassis within an environment. The humanoid robot includes a torso and two robotic legs. The humanoid robot has a first locomotion mode in which the humanoid robot is supported on the platform and travel of the humanoid robot within the environment is by movement of the mobile base within the environment. The humanoid robot has a second locomotion mode in which the humanoid robot is not supported on the platform and travel of the humanoid robot within the environment is by movement of the two robotic legs.

Abstract: A robotic digit includes a digit base, a gimbal coupled to the digit base, and a digit segment coupled to the gimbal. An actuator is coupled to the digit base. An input link is coupled to the gimbal and to an output of the actuator. The input link is movable relative to the gimbal by movement of the actuator output. An orthogonal joint couples the input link to the digit segment.

Abstract: A robotic digit includes a digit base and a joint link coupled to the digit base and movable relative to the digit base about a first axis. An input link is coupled to the joint link through a proximal digit segment and movable relative to the proximal digit segment about a second axis. A cable extending along the proximal digit segment has a distal end coupled to the input link. A cable drive is coupled to a proximal end of the cable and operable to displace the cable relative to the proximal digit segment. A main actuator has an output coupled to move the joint link about the first axis. Relative displacement between the cable and the proximal digit segment via operation of the first cable drive or operation of the main actuator causes movement of the input link about the second axis.

Abstract: A mobile robot system has a robot body attached to a mobile base. The robot body has a torso, a first robotic arm mechanically coupled to the torso, a first robotic leg, and a second robotic leg. The first robotic leg and the second robotic leg are controllably actuatable to enable the robot body to execute bipedal walking. The mobile base has a platform to receive a lower end of the first robotic leg and a lower end of the second robotic leg, at least one wheel and a controllable steering mechanism to enable the mobile base to travel both while the robot body is positioned on the platform and while the robot body is not positioned on the platform. The mobile base also has a plurality of components, at least one of which operable to support at least one function of the robot body.

Abstract: A mobile robot system includes a mobile base and a humanoid robot. The mobile base includes a chassis having a platform. The mobile base includes a propulsion system that is coupled to the chassis and operable to propel the chassis within an environment. The humanoid robot includes a torso and two robotic legs. The humanoid robot has a first locomotion mode in which the humanoid robot is supported on the platform and travel of the humanoid robot within the environment is by movement of the mobile base within the environment. The humanoid robot has a second locomotion mode in which the humanoid robot is not supported on the platform and travel of the humanoid robot within the environment is by movement of the two robotic legs.