A computer-implemented method, when executed by data processing hardware of a robot having an articulated arm and a base, causes data processing hardware to perform operations. The operations include determining a first location of a workspace of the articulated arm associated with a current base configuration of the base of the robot. The operations also include receiving a task request defining a task for the robot to perform outside of the workspace of the articulated arm at the first location. The operations also include generating base parameters associated with the task request. The operations further include instructing, using the generated base parameters, the base of the robot to move from the current base configuration to an anticipatory base configuration.

Methods perform one or more dispatched medical logistics operations using a modular autonomous bot apparatus assembly and a dispatch server where the operations are related to a diagnosis kit for treating a patient. The MAM of the bot receives a dispatch command, verifies compatibility of the bot assembly with the dispatched operation(s), receives a diagnosis kit in the CSS, has the MAM autonomously causing the MB to move to a destination location while notifying the authorized delivery recipient for the diagnosis kit of the approaching delivery. With appropriate authentication input received, the MAM coordinates with the CSS to provide access to the kit, monitor unloading of the kit, provide instructional information on use of the kit, and autonomously cause the MB to return to the original location with a return item related to the diagnosis kit with notification to personnel at the medical entity about the return item.

A modular mobility base for a modular autonomous bot apparatus transporting an item being shipped including a mobile base platform, a component alignment interface, a mobility controller, a propulsion and steering system, and sensors. The component alignment interface provides an alignment channel into which another modular component can be placed and secured on the platform. The mobility controller generates propulsion control signals for controlling speed of the modular mobility base and steering control signals for navigation of the modular mobility base. The propulsion system is connected to the platform and responsive to the propulsion control signal. The steering system is connected to the mobile base platform and is responsive to the steering control signal to cause changes to directional movement of the modular mobility base. The sensors are disposed on the platform provide feedback sensor data to the mobility controller about a condition of the modular mobility base.

A detachable modular mobile autonomy module (MAM) for a modular autonomous bot apparatus includes a housing with latching points, an autonomous controller, location circuitry, external sensors monitoring an environment external to the MAM and providing sensor data to the controller, multi-element light panels on the housing driven by the controller; and a modular component power and data bus. The bus has a bottom side modular component electronics interface disposed on the housing that mates to a corresponding interface on another proximately-attached modular component of the bot. The MAM receives sensor data from the external sensors, receives outside sensor data from additional sensors disposed on a mobility unit of the bot, generates steering and propulsion control output signals based on location data from the location circuitry, external sensor data, mobility unit sensor data, and destination information data maintained by the controller, and generates transport and delivery information for the light panels.

A modular autonomous cart assembly for transporting an item being shipped is described with a sensor-equipped mobility base that carries the item(s), a modular cart handle, a sensor-equipped modular mobile cart autonomy control module detachably attached to the modular handle, all sharing a modular common power and data transport bus. The autonomous controller of the modular control module is programmatically adapted operative to establish a secure connection to a wireless mobile courier node, locate the courier node and the cart assembly, receive sensor data from the base and control module sensors, generate steering and propulsion control commands using the locations and sensor data and send them to a controller on the mobility base so that the assembly can autonomously track and follow the current location of the courier node as the courier node moves and while maintaining a predetermined follow distance from the current location of the courier node.

Methods and systems are described that use multiple node-enabled autonomous transport vehicles on a single logistics operation having multiple legs performed by different transport vehicles with enhanced transfer of the item being shipped between such vehicles. A first or primary master node on a first node-enabled autonomous transport vehicle detects a signal from the second master node on a second transport vehicle, navigates to the second transport vehicle based on the detected signal and its direction, and may dock in a transfer configuration. At least one item (or a container with an item) is transferred as payload from the first to the second vehicle using one or more object manipulation systems on respective ones of the first and second transport vehicles. The second vehicle then detects a signal from another node, and navigates to that node as another leg in the multi-leg operation.

Methods are described that perform dispatched store-to-consumer logistics operations for an ordered item using a modular autonomous bot apparatus assembly and a dispatch server. A dispatch command is received from the dispatch server. The different modular components of the bot assembly are verified to be compatible with the dispatched operation and the ordered item is received in a payload area of a modular cargo storage system. The bot assembly autonomously moves from an origin location to a destination location and notifies the delivery recipient of the approach delivery. When delivery recipient authentication input is received that correlates to the authentication information, selective access is provided to the ordered item within the cargo storage system at the destination location. The bot apparatus monitors unloading, and autonomously moves back to the origin location after the ordered item is detected as removed from the cargo storage system.

A method for controlling a robot to perform a task, for which the robot is redundant, includes specifying an adjustment of first and second axes of at least one pair of two movement axes of the robot based on a specified operating mode such that both axes can be adjusted and adjustment of the first axis is prioritized over the second axis if a first operating mode is specified. Adjustment of the second axis is prioritized over the first axis if a second operating mode is specified. Additionally or alternatively, adjustment of at least one selected movement axis is specified based on a specified operating mode such that this axis can be adjusted or is blocked independently of the task if a reduced operating mode is specified, and can be adjusted for the purpose of performing this task if an operating mode differing from this reduced operating mode is specified.

A modular multiple mobility base assembly apparatus is described for transporting an item being shipped having a base adapter plate and two cooperating and coordinating modular mobility bases that are each coupled to the bottom of the base adapter plate and collectively support the base adapter plate. One of the modular mobility bases operations a master autonomous mobile vehicle, while the other operates as a slave autonomous mobile vehicle that receives propulsion and steering control signals from the master while providing feedback sensor data to the master for use in coordinated and cooperative movement of the assembly apparatus. Each of the modular mobility bases also including respective wireless transceivers through which at least the control signals and sensor data are provided between mobility base units.

Methods are described that perform a dispatched inventory operation related to an inventory item within a modular autonomous bot apparatus assembly and a dispatch server. modular mobile autonomy control module (MAM) receives an inventory dispatch command from the dispatch server and a modular cargo storage system (CSS) receives the inventory item at an inventory hub location. The MAM autonomously causes the assembly to then move to a remote business facility as a destination location, receive authentication input from an authorized delivery recipient, coordinates with the CSS to provide selective access to the inventory item, detects when the inventory item has been removed from within the CSS, and autonomously causes the assembly to move on a return route back to the inventory hub location after removal of the inventory item.