US 12,251,831 B2
Integrated mobile manipulator robot
Michael Murphy, Carlisle, MA (US); Benjamin Zelnick, Newton, MA (US); Malik Hansen, Sudbury, MA (US); Vadim Chernyak, Waltham, MA (US); Christopher Everett Thorne, Waltham, 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. 17/699,534.
Claims priority of provisional application 63/166,780, filed on Mar. 26, 2021.
Prior Publication US 2022/0305641 A1, Sep. 29, 2022
Int. Cl. B25J 15/06 (2006.01); B25J 9/06 (2006.01); B25J 9/16 (2006.01); B25J 17/02 (2006.01); B25J 5/00 (2006.01)
CPC B25J 9/06 (2013.01) [B25J 9/162 (2013.01); B25J 9/1666 (2013.01); B25J 9/1694 (2013.01); B25J 15/0616 (2013.01); B25J 17/0283 (2013.01); B25J 5/007 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A robot comprising:
a mobile base;
a turntable rotatably coupled to the mobile base;
a robotic arm operatively coupled to the turntable, wherein the robotic arm includes a wrist having at least three degrees of freedom;
at least one directional sensor, wherein an orientation of the at least one directional sensor is independently controllable;
a vacuum-based end effector operatively coupled to the wrist; and
an on-board vacuum source coupled to the turntable, the on-board vacuum source being operatively coupled to the vacuum-based end effector via vacuum tubing routed through the wrist,
wherein the on-board vacuum source is configured to rotate with the turntable when the turntable rotates relative to the mobile base.