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.
Claims20
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 an autonomous work mode in a first work area, the autonomous work mode allowing articulation of an articulated arm of the robot in a deployed state;
- commanding the robot to cease operation in the autonomous work mode in the first work area;
- and
- commanding the robot to operate in a travel mode to move from the first work area to a second work area, wherein in the travel mode, the robot stows the articulated arm in a stowed state and moves in a statically-balanced travel pose.
A robot comprising:
- an articulated arm having an end-effector;
- a body comprising:
- a first body portion coupled to the articulated arm opposite the end-effector;
- and
- a second body portion coupled to the first body portion opposite the articulated arm, the coupling of the first body portion to the second body portion enabling the first body portion to rotate with respect to the second body portion;
- two or more drive wheels coupled to the second body portion;
- and
- a controller configured to perform operations comprising:
- commanding the robot to operate in an autonomous work mode in a first work area, the autonomous work mode allowing articulation of the articulated arm in a deployed state;
- commanding the robot to cease operation in the autonomous work mode in the first work area;
- and
- commanding the robot to operate in a travel mode to move from the first work area to a second work area, wherein in the travel mode, stowing the articulated arm in a stowed state and moving in a statically-balanced travel pose.
Dependencies are inferred from the claim text.