Provided is a mobile manipulator for performing a target motion, which includes a base unit configured to perform a positional shift and having a rail in some section thereof, and an arm unit including multi-joints and configured to perform a positional shift on the rail in consideration of a center of gravity when performing a target motion. The arm unit performs the target motion through adaptive neural network-based compensation control.

The present invention belongs to the field of medical rehabilitation training equipment, and particularly discloses a reversible mechanical arm gravitational torque balancing device, comprising a counterweight guide groove module, a counterweight, a mechanical arm joint, a rope, a guide pulley block, a counterweight disc, a mechanical arm joint link and a rack. The counterweight guide groove module is mounted on the rack; the counterweight has a lower end mounted on the counterweight guide groove module and an upper end connected to the rope, and the rope is wound on the counterweight disc after passing through the guide pulley block mounted on the rack; the mechanical arm joint is mounted on the rack and internally provided with a motor; the counterweight disc is mounted on an output shaft of the motor of the mechanical arm joint; and the mechanical arm joint link is also mounted on the output shaft of the motor of the mechanical arm joint and the gravity of the mechanical arm joint link produces a gravitational torque on the mechanical arm joint. The present invention can change the direction of the provided balance torque when the mechanical arm performs the morphological transformation, and features simple, rapid and labor-saving operation as well as reliable structure.

A method of operating a robot includes driving a robot to approach a reach point, extending a manipulator arm forward of the reach point, and maintaining a drive wheel and a center of mass of the robot rearward of the reach point by moving a counter-balance body relative to an inverted pendulum body while extending the manipulator arm forward of the reach point. The robot includes the inverted pendulum body, the counter-balance body deposed on the inverted pendulum body, the manipulator arm connected to the inverted pendulum body, at least one leg having a first end prismatically coupled to the inverted pendulum body, and the drive wheel rotatably coupled to a second end of the at least one leg.

A method of maneuvering a robot includes driving the robot across a surface and turning the robot by shifting a center of mass of the robot toward a turn direction, thereby leaning the robot into the turning direction. The robot includes an inverted pendulum body, a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one leg prismatically coupled to the inverted pendulum body, and a drive wheel rotatably coupled to the at least one leg. The inverted pendulum body has first and second end portions and defines a forward drive direction. The method also includes turning the robot by at least one of moving the counter-balance body relative to the inverted pendulum body or altering a height of the at least one leg with respect to the surface.

A method of operating a robot includes assuming a resting pose of the robot on a surface. The robot includes an inverted pendulum body, a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one arm connected to the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one leg prismatically coupled to the inverted pendulum body, and a drive wheel rotatably coupled to the at least one leg. The method also includes moving from the resting pose to a sitting pose by moving the counter-balance body relative to the inverted pendulum body away from the ground surface to position a center of mass of the robot substantially over the drive wheel. The method also includes moving from the sitting pose to a standing pose by altering a length of the at least one leg.

A robot includes an inverted pendulum body having first and second end portions, a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one leg having first and second ends, and a drive wheel rotatably coupled to the second end of the at least one leg. The first end of the at least one leg is prismatically coupled to the second end portion of the inverted pendulum body.

A robot includes a base, a first arm coupled to the base so as to be rotatable about a first rotation axis along a horizontal direction, a second arm includes the proximal end portion being coupled to the first arm so as to be rotatable about a second rotation axis, which is parallel to the first rotation axis, a first drive source including a first output shaft for outputting rotational force for rotationally driving the first arm, a second drive source including a second output shaft for outputting rotational force for rotationally driving the second arm, and a linkage mechanism that is coupled to a distal end side of the first arm via a plurality of links with a proximal end side of the first arm as a starting point and that transmits rotational force generated by the second drive source to the second arm, wherein when viewed from the vertical direction, the first rotation axis is located between the distal end portion of the second arm and at least one of a centroid G1 of the first drive source or a centroid G2 of the second drive source.

Implementations relate to a counterbalance mechanism including a force transformation mechanism that provides a drive ratio. In some implementations, a counterbalance apparatus includes a spring, a first tension element, a second tension element, a force transformation mechanism coupled to the spring by the first tension element and coupled to the second tension element, and a plurality of counterbalance pulleys coupled to the second tension element. At least one of the counterbalance pulleys is coupled to a load that is moveable with reference to a mechanical ground, and a force provided by the spring is modified in magnitude by the force transformation mechanism and is applied to the load via the second tension element. The force transformation mechanism includes a plurality of elements and the modification of the force is based on a drive ratio of the elements of the force transformation mechanism.

A mixed mode robot is provided having an autonomous mode, wherein the robot moves autonomously, and a manual mode, wherein the robot is passive and allows manual manipulation by a user. The mixed mode robot is wheeled and in an embodiment is powered by one or more direct drive motor while in the autonomous mode. One or more handholds are adapted for use by a user to move the robot when the robot is in the manual mode. A processor associated with the robot places the robot in a selected one of the autonomous mode and the manual mode, such that the robot is easily moved by a user when in the manual mode.

According to at least one embodiment, a gravity assist system comprises a plurality links and a means for holding at least one tool, wherein the plurality links are configured to permit a user to reposition the at least one tool within a work envelope.