US 12,253,857 B2
System and method for a collapsible self-storing robot
Axel Hansen, San Francisco, CA (US); Jonah Varon, Oakland, CA (US); Luke Hansen, San Francisco, CA (US); and Sungbum Park, Mountain View, CA (US)
Assigned to Armstrong Robotics, Inc.., San Francisco, CA (US)
Filed by Armstrong Robotics, Inc., San Francisco, CA (US)
Filed on Apr. 20, 2022, as Appl. No. 17/725,156.
Prior Publication US 2023/0341864 A1, Oct. 26, 2023
Int. Cl. G05D 1/02 (2020.01); A47B 77/08 (2006.01); B25J 5/00 (2006.01); G05D 1/00 (2006.01)
CPC G05D 1/0225 (2013.01) [A47B 77/08 (2013.01); B25J 5/007 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A robotic system, comprising:
a base;
an adjustable body having an adjustable height and a base end, the adjustable body connected to the base at the base end;
a set of retractable robotic arms coupled to the adjustable body;
a set of sensors;
a first set of motors coupled to the set of retractable robotic arms and configured to extend and retract the set of retractable robotic arms within a range of motion bounded by a fully-extended arm configuration and a fully-retracted arm configuration;
a second set of motors configured to extend and retract the adjustable height of the adjustable body within a range bounded by a fully-extended body height and a fully-retracted body height; and
control circuitry electrically coupled to the base, the set of sensors, the first set of motors, and the second set of motors, the control circuitry configured to generate
a first set of control signals operable to initiate a collision-free body retraction of the adjustable body to the fully-retracted body height, and to coordinate a collision-free collapse of the set of retractable robotic arms into the fully-retracted arm configuration to be in a compact geometry configuration, and
a second set of control signals operable to initiate and conduct a collision-free self-storage of the robotic system in the compact geometry configuration by moving horizontally into an enclosure that has an interior height smaller than the fully-extended body height of the adjustable body and an interior width narrower than the fully-extended arm configuration.