Wheel-foot mobile manipulator robot

Abstract

A mobile manipulator robot designed to transition between different modes of mobility. The robot includes a torso, a plurality of legs, at least one manipulator arm including a first end coupled to the torso and a working end, and an end effector removably securable to the working end of the manipulator arm. The plurality of legs including a first wheel and a foot. Each of the feet being moveable relative the wheel located on a respective leg between a first position, in which the foot is in contact with the ground, and a second position in which the foot is elevated above the ground. The first end of the manipulator arm is moveable in an upward and downward direction relative the torso and allows the robot to efficiently position the end effector at various elevations relative to the ground to manipulate items.

Dependencies are inferred from the claim text.