Work mode and travel mode for mobile robots
AssigneeBoston Dynamics, Inc.
InventorsAdrianna Rodriguez, Alexander Douglas Perkins
Life of this patent
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Abstract
A method for operating a robot includes receiving a drive command to drive the robot across a work surface. The drive command includes a work mode command or a travel mode command. In response to receiving the work mode command, the method includes operating the robot in a work mode. In the work mode, the robot dynamically balances on a right drive wheel and a left drive wheel on the work surface, while keeping a non-drive wheel off of the work surface. In response to receiving the travel mode command, the method includes operating the robot in a travel mode. In the travel mode, the robot statically balances on the right drive wheel, the left drive wheel, and the non-drive wheel in contact with the work surface.
Claims19
A computer-implemented method when executed by data processing hardware causes the data processing hardware to perform operations comprising:
- commanding a robot to operate in a first mode to perform an operation with an arm of the robot in a first area, the robot having a first wheel, a second wheel, and a third wheel, each of the first, second and third wheels being coupled to a body of the robot, the third wheel being coupled to a component that is rotatably coupled to the body at a joint, the component configured to lower or raise the third wheel from a ground surface when a rotational actuator is controlled to rotate the component relative to the body at the joint, the third wheel being elevated from the ground surface when in the first mode;
- receiving, by the robot, information identifying a second mode;
- and
- commanding the robot to operate in the second mode to move from the first area to a second area based on receiving the information identifying the second mode, the robot being balanced on the first, second and third wheels when in the second mode.
A robot comprising:
- an arm having an end-effector;
- a body coupled to the arm opposite the end-effector;
- two or more drive wheels coupled to the body;
- a non-drive wheel coupled a component that is rotatably coupled to the body at a joint, the component configured to lower or raise the non-drive wheel from a ground surface when a rotational actuator is controlled to rotate the component relative to the body at the joint;
- and
- a controller configured to perform operations comprising:
- commanding the robot to operate in a first mode to perform an operation with the arm of the robot in a first area, the non-drive wheel being elevated from the ground surface when in the first mode;
- receiving, by the robot, information identifying a second mode;
- and
- commanding the robot to operate in the second mode to move from the first area to a second area based on receiving the information identifying the second mode, the robot being balanced on the two or more drive wheels and the non-drive wheel when in the second mode.
Dependencies are inferred from the claim text.