A modular robotic service vehicle (MRSV) comprising:
- a chassis coupled to a body;
- one or more robotic legs including a steering mechanism, actuators and a drive wheel comprising a motor and motor controller connected therein, wherein the one or more robotic legs are extendable and retractable providing multiple degrees of freedom the MRSV maneuvers over pathways;
- one or more robotic arms including actuators and an implement connected thereupon, wherein the one or more robotic arms are extendable and retractable providing multiple degrees of freedom in such a manner that the MRSV maneuvers to attain one or more objects;
- one or more robotic legs and one or more robotic arms being rotatably connected to the chassis and to the body via chassis couplings in a horizontal position or in a vertical position, wherein provide a retracted a pitch position for lowering the MRSV, or provide a protracted pitch position to raise the MRSV, or actuate the wheel into different directions to stabilize the MRSV;
- a control system comprising kinematics equations providing real-time administration involving controlling one or more robotic legs and the one or more robotic arms to transition in a retracted position or in protracted position in such a manner that the MRSV achieves one or more of the following maneuvers including walking, driving, attaining objects, handling objects, aiding or assisting a user;
- an onboard operator, user or a Network associated with providing real-time administration involving controlling motion and position of the MRSV according to a walking or driving assignment in such a manner that the MRSV achieves one or more of the following motion states involving stepping, walking, driving on a stairway, driving on a curb, driving on a ramp, or driving on other surface, or walking or driving on various routes, pathways or terrain;
- a perception system utilizing an array of sensors and cameras, the perception system sensors and cameras configured for detecting objects and generating data;
- a positioning system utilizing GPS and generating various routes;
- an autonomous walking mode associated with programming and software configured with calibrations for controlling stepping, walking, and driving maneuvers of the MRSV;
- and
- an operator to control motion, position, and performance of the MRSV, the operator being one of:
- an onboard operator, a remote operator, or a teleoperator associated with one of:
- Wi-Fi, Bluetooth, Internet, Cloud;
- wherein the MRSV control system utilizes programming and providing real-time technical calibrations configured for controlling motion, position, and performance assignments autonomously when instructed by user inputs;
- wherein the control system comprises processors with software programming configured for controlling maneuvers of the MRSV in such a manner that each robotic leg is calibrated to step, to walk or to drive through pathways;
- wherein the control system comprising processors with software associated with programming calibrations configured for controlling robotic arm maneuvers in such a manner that the MRSV controls robotic leg maneuvers of the MRSV;
- wherein the processors of the control system are linked to the sensors and cameras for providing data to the control system comprising processors with software programming;
- wherein control system is further configured for controlling a motion and a position of the plurality of robotic legs during a walking mode of the MRV;
- wherein the control system utilizes an autonomous drive mode associated with quadratic programming calibrations configured for controlling driving maneuvers in such a manner that the MRSV achieves real time autonomous path planning based on generated perception system data;
- wherein the control system is further configured for initiating the one or more actuator controllers to activate one of:
- a retracted pitch position for lowering the MRSV;
- a protracted pitch position to raise the MRSV;
- or
- the one or more robotic legs into opposed respective directions to stabilize the MRSV.