US 12,330,313 B2
Guided travel mode with dynamic force feedback for mobile robots
Achal Dasa Arvind, Santa Clara, CA (US); Benjamin Narin, Lincolnshire, IL (US); Melonee Wise, San Jose, CA (US); and Derek King, Seattle, WA (US)
Assigned to Zebra Technologies Corporation, Lincolnshire, IL (US)
Filed by ZEBRA TECHNOLOGIES CORPORATION, Lincolnshire, IL (US)
Filed on Oct. 20, 2022, as Appl. No. 17/970,333.
Prior Publication US 2024/0131709 A1, Apr. 25, 2024
Prior Publication US 2024/0227187 A9, Jul. 11, 2024
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 9/1694 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A mobile robot, comprising:
a chassis supporting a locomotive assembly;
a sensor;
a processor configured, in a guided travel mode, to:
detect an external force applied to the chassis in a first direction;
control the sensor to capture sensor data;
detect, based on the sensor data, an operational constraint;
determine, based on the detected operational constraint, a control parameter for generating a feedback force in a second direction opposite the first direction; and
controlling the locomotive assembly according to the control parameter;
wherein the processor is configured to determine a motor force based on the feedback force and an internal resistance of the locomotive assembly.