US 12,409,570 B1
Humanoid transformer robots and methods of controlling the same
Vincent Denis Clerc, Montreal (CA)
Assigned to Sanctuary Cognitive Systems Corporation, Vancouver (CA)
Filed by Sanctuary Cognitive Systems Corporation, Vancouver (CA)
Filed on Aug. 16, 2024, as Appl. No. 18/807,017.
Claims priority of provisional application 63/659,832, filed on Jun. 14, 2024.
Int. Cl. B25J 5/00 (2006.01); B25J 9/00 (2006.01); B25J 17/00 (2006.01); B25J 9/16 (2006.01)
CPC B25J 17/00 (2013.01) [B25J 5/007 (2013.01); B25J 9/0009 (2013.01); B25J 9/162 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A robot comprising:
an upper body comprising a torso and at least a first arm coupled to the torso, the first arm including a first end effector;
a mobile base comprising a base body and a set of wheels coupled to the base body;
a pedestal linkage that couples the torso to the base body, wherein coupling between the torso and the base body through the pedestal linkage is controllable to transform the robot into and between each of a first configuration in which the upper body is elevated above the mobile base and a second configuration in which the upper body is positioned at the mobile base;
at least one passive wheel coupled to the pedestal linkage at a base of the torso, wherein the at least one passive wheel engages a ground in the second configuration; and
an energy storage unit integrated in a volume of the pedestal linkage.