Systems and methods for an autonomous mobile robot

A method of controlling an autonomous robotic cart that includes a chassis including one or more shelves, a holonomic, omnidirectional, and backdriveable mechanical drive unit coupled with the chassis, and a plurality of sensors coupled with the chassis, the plurality of sensors including a plurality of visible light cameras, the method comprising:

• transmitting a first one or more instructions to the holonomic, omnidirectional, and backdriveable mechanical drive unit to autonomously navigate a physical environment to execute one or more navigation goals determined based on communication with a remote computing system configured to manage a fleet of robots including the autonomous robotic cart;
• detecting a translational force and a rotational force exerted on a handlebar included in a handlebar unit coupled with the chassis, the handlebar being vertically positioned orthogonal to the planar surface;
• determining an output force vector based on the translational force, the rotational force, sensor data received from the plurality of sensors, and a force multiplier applied to the translational force and the rotational force such that a translational force of interaction and a rotational force of interaction exerted by the handlebar falls below a designated threshold;
• and
• transmitting a second one or more instructions to the holonomic, omnidirectional, and backdriveable mechanical drive unit to cause the autonomous robotic cart to move translationally and rotationally in a direction corresponding to the output force vector.

One or more non-transitory computer readable media having instructions stored thereon for performing a method of controlling an autonomous robotic cart that includes a chassis including one or more shelves, a holonomic and omnidirectional mechanical drive unit coupled with the chassis, and a plurality of sensors coupled with the chassis, the plurality of sensors including a plurality of visible light cameras, the method comprising:

• transmitting a first one or more instructions to the holonomic, omnidirectional, and backdriveable mechanical drive unit to autonomously navigate a physical environment to execute one or more navigation goals determined based on communication with a remote computing system configured to manage a fleet of robots including the autonomous robotic cart;
• detecting a translational force and a rotational force exerted on a handlebar included in a handlebar unit coupled with the chassis, the handlebar being vertically positioned orthogonal to the planar surface;
• determining an output force vector based on the translational force, the rotational force, sensor data received from the plurality of sensors, and a force multiplier applied to the translational force and the rotational force such that a translational force of interaction and a rotational force of interaction exerted by the handlebar falls below a designated threshold;
• and
• transmitting a second one or more instructions to the holonomic, omnidirectional, and backdriveable mechanical drive unit to cause the autonomous robotic cart to move translationally and rotationally in a direction corresponding to the output force vector.