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US 12,251,831 B2Granted
Integrated mobile manipulator robot
AssigneeBoston Dynamics, Inc.
InventorsMichael Murphy, Benjamin Zelnick, Malik Hansen, Vadim Chernyak, Christopher Everett Thorne, Alex Perkins
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Abstract
A robot includes a mobile base, a turntable rotatably coupled to the mobile base, a robotic arm operatively coupled to the turntable, and at least one directional sensor. An orientation of the at least one directional sensor is independently controllable. A method of controlling a robotic arm includes controlling a state of a mobile base and controlling a state of a robotic arm coupled to the mobile base, based, at least in part, on the state of the mobile base.
Claims12
A robot comprising:
- a mobile base;
- a turntable rotatably coupled to the mobile base;
- a robotic arm operatively coupled to the turntable, wherein the robotic arm includes a wrist having at least three degrees of freedom;
- at least one directional sensor, wherein an orientation of the at least one directional sensor is independently controllable;
- a vacuum-based end effector operatively coupled to the wrist;
- and
- an on-board vacuum source coupled to the turntable, the on-board vacuum source being operatively coupled to the vacuum-based end effector via vacuum tubing routed through the wrist,
- wherein the on-board vacuum source is configured to rotate with the turntable when the turntable rotates relative to the mobile base.
5 more elements
Dependencies are inferred from the claim text.