Force multiplying mobile robot

A robot comprising:

• a force sensor configured to transmit an input message characterizing a physical force exerted on the force sensor in a first direction;
• a processor configured to:
• determine a physical force input vector based on the input message, the physical force input vector quantifying the physical force in two or more dimensions, and
• determine a force output vector aggregating the physical force input vector and a second force input vector, the force output vector quantifying a force to apply to move the robot in a second direction, wherein determining the force output vector includes:
• (a) determining a velocity vector including one or more velocity values each characterizing a current velocity of the robot in a respective dimension, (b) based on the velocity vector, identifying a designated dimension in which the current velocity of the robot is directionally opposed to the physical force input vector, (c) increasing a force multiplier in the designated dimension, and (d) applying the force multiplier multiplying the physical force input vector;
• and
• an omnidirectional mechanical drive unit configured to receive an indication of the force output vector and move the robot in the second direction based on the force output vector.

One or more non-transitory computer readable media having instructions stored thereon for performing a method for controlling a robot including an omnidirectional mechanical drive unit, the method comprising:

• receiving from a force sensor an input message characterizing a physical force exerted on the force sensor in a first direction;
• determining via a processor a physical force input vector based on the input message and quantifying the physical force in two or more dimensions;
• determining via the processor a force output vector aggregating the physical force input vector and a second force input vector, the force output vector quantifying a force to apply to move the robot in a second direction, wherein determining the force output vector includes:
• (a) determining a velocity vector including one or more velocity values each characterizing a current velocity of the robot in a respective dimension, (b) based on the velocity vector, identifying a designated dimension in which the current velocity of the robot is directionally opposed to the physical force input vector, (c) increasing a force multiplier in the designated dimension, and (d) applying the force multiplier multiplying the physical force input vector;
• transmitting an indication of the force output vector to the omnidirectional mechanical drive unit via a communication interface;
• and
• moving the robot via the omnidirectional mechanical drive unit in the second direction based on the force output vector.