US 12,186,919 B2
Perception mast for an integrated mobile manipulator robot
Matthew Turpin, Newton, MA (US); Benjamin Zelnick, Newton, MA (US); Michael Murphy, Carlisle, MA (US); and Alex Perkins, Lincoln, MA (US)
Assigned to Boston Dynamics, Inc., Waltham, MA (US)
Filed by Boston Dynamics, Inc., Waltham, MA (US)
Filed on Mar. 21, 2022, as Appl. No. 17/699,545.
Claims priority of provisional application 63/166,791, filed on Mar. 26, 2021.
Prior Publication US 2022/0305663 A1, Sep. 29, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 5/00 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1697 (2013.01) [B25J 5/007 (2013.01); B25J 13/086 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A mobile robot comprising:
a mobile base;
a turntable operatively coupled to the mobile base, the turntable configured to rotate about a first axis;
an arm operatively coupled to a first location on the turntable; and
a perception mast operatively coupled to a second location on the turntable, the perception mast configured to rotate about a second axis parallel to the first axis, wherein the first axis is spatially separate from the second axis, and the perception mast includes, disposed thereon, a first perception module and a second perception module arranged between the first perception module and the turntable.