Autonomous humanoid robot

An autonomous humanoid robot comprising:

• an autonomous humanoid robot configured to overcome limited maneuvering issues by offering a more efficient autonomous humanoid robot that autonomously operates to interact with users and interact with other robots, and includes a computing system configured to provide instruction and programming for estimating and controlling pivotal movement of body components involving arms, legs and a waist module which are configured to support the body and reposition the body such that the autonomous humanoid robot can step, walk, roll or skate or perform various handling maneuvers to complete a task;
• based on user instruction, an algorithm configured for generating a first, second and third set of joint angular velocities, causes the autonomous humanoid robot to accomplish an operating mode function;
• to step, to walk, to roll, to skate, or to perform a series thereof to complete a task;
• wherein the body is rotatably coupled to a head configuration, to arms, legs, the body's upper portion and bottom portion is configured with a waist module, a charge module, and batteries for powering the autonomous robot to move with human-like attitude;
• each arm includes a respective shoulder joint, an elbow joint, a wrist joint coupled to an implement adapted for manipulating an object;
• each leg includes a respective pivotal hip joint, a pivotal knee, an ankle joint coupled to a wheeled foot having a motor adapted to step, walk, roll or skate;
• wherein the wheeled foot's motor, when immobile (powered OFF), causes the wheeled foot to propel upwards to step, or the wheeled foot's motor, when mobile (powered ON), causes the wheeled foot's motor to propel at a slow speed to roll forward or backward, or the wheeled foot's motor propels at a fast speed to skate;
• the waist module includes a respective servo configured to provide yaw, roll, and pitch motion, the servo adapted for bending at various angles to maintain balance at center mass (CM);
• a plurality of perception system sensors and cameras configured for detecting an object surrounding the autonomous humanoid robot, the sensors and cameras providing object data and image data to a computing system;
• the computing system comprising a plurality of processors, memory, programming, instructions and an application associated with operating mode functions in which the autonomous humanoid robot achieves various motion states to work;
• a processor to activate a charging module situated on the body, based on a battery storage level, the charging module configured to charge one or more batteries;
• a computing system, to engage and regulate velocity of the respective joints, waist servo and motor of the body to accomplish a motion state;
• a balance control algorithm, and a momentum planning algorithm configured for estimating joint angular velocities of all joints of the autonomous humanoid robot according to a pose return-to-zero algorithm, such that the body maintains an upright position;
• instructions for accomplishing pose control on the autonomous humanoid robot according to a first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities such that the body repositions to stand still or move with a pose attitude;
• a momentum planning algorithm configured for controlling a turning motion of a hip joint of the leg such that the leg turns the wheeled foot at an angle, each leg and wheeled foot to steer the autonomous humanoid robot at a predetermined steering direction, respectively;
• instructions for accomplishing a pose controlled position of the autonomous humanoid robot according to a first set of joint angular velocities, a second set of joint angular velocities, and a third set of joint angular velocities such that the autonomous humanoid robot can step, walk, roll, skate, or perform various acrobatic maneuvers;
• a balance control algorithm configured for estimating joint angular velocities for bending to counter balance the body at CM;
• a momentum planning algorithm configured for estimating joint angular velocities of all joints in order to adjust various maneuvers of the body such that the autonomous humanoid robot moves human like;
• a computer-implemented control method configured for collecting posture information of posture sensors disposed on the body, and configured for estimating motion and position of the autonomous humanoid robot, such that the autonomous humanoid robot can perform one or more of the following human-like functions;
• a sports activity, a series of dance movements, or perform a vehicle-like mobility service, a mule or a towing-vehicle configured for transporting a payload or an object.