Embodiments of the present disclosure are directed to methods, computer program products, and computer systems of a robotic apparatus with robotic instructions replicating a food preparation recipe. In one embodiment, a robotic control platform, comprises one or more sensors; a mechanical robotic structure including one or more end effectors, and one or more robotic arms; an electronic library database of minimanipulations; a robotic planning module configured for real-time planning and adjustment based at least in part on the sensor data received from the one or more sensors in an electronic multi-stage process file, the electronic multi-stage process recipe file including a sequence of minimanipulations and associated timing data; a robotic interpreter module configured for reading the minimanipulation steps from the minimanipulation library and converting to a machine code; and a robotic execution module configured for executing the minimanipulation steps by the robotic platform to accomplish a functional result.

An extreme load creeper interface comprising a planar roller array wherein a plurality of extreme load rollers with parallel rotational axes are dispersed both laterally and longitudinally within the plane, so as to fractionalize a weight applied perpendicular to the plane, and thereby promote longitudinal motion of the roller array in a direction perpendicular to the plurality of roller rotational axes.

Provided is a robot which can improve accuracy of calibration of a rotation sensor for detecting a movement of an actuator included in the robot. The robot (1) includes a connection frame (63) that supports a rolling actuator (13). The connection frame (63) has a first attached portion (63g) attached to a rotation outputting section (12c) of an actuator (12) and a remaining portion (a first arm portion (63b), a supporting portion (63a), and a second arm portion (63c)) connected to the first attached portion (63g). A sensor rotation portion (16a) of a rotation sensor (16) is attached to the first attached portion (63g). The first attached portion (63g) and the rotation outputting section (12c) are rotatable over an angle greater than 360 degrees in a state in which the first attached portion (63g) is attached to the rotation outputting section (12c) and in which the remaining portion of the connection frame (63) is removed from the first attached portion (63g).

A robot step control method, a robot control apparatus, and a storage medium are provided. The method includes: determining an expected support force of two legs of a biped robot according to zero-moment point planning data and actual position data of the two legs at a current moment, and determining a current desired joint posture angle of ankle joints of the two legs and a desired joint position matching an actual leg support state using a compliance control algorithm based on an expected support force of the two legs, and centroid movement planning data, centroid actual movement data, step planning data and actual force data of the two legs at the current moment. In such manner, all-direction compliant controls can be performed on a desired leg pose condition according to the actual motion status of the biped robot, thereby improving the walking stability and terrain adaptability of the biped robot.

A robot step control method, a robot control apparatus, and a storage medium are provided. The method includes: determining an expected support force of two legs of a biped robot according to zero-moment point planning data and actual position data of the two legs at a current moment, and determining a current desired joint posture angle of ankle joints of the two legs and a desired joint position matching an actual leg support state using a compliance control algorithm based on an expected support force of the two legs, and centroid movement planning data, centroid actual movement data, step planning data and actual force data of the two legs at the current moment. In such manner, all-direction compliant controls can be performed on a desired leg pose condition according to the actual motion status of the biped robot, thereby improving the walking stability and terrain adaptability of the biped robot.

A multi-modal robot capable of legged and aerial locomotion includes a body structure including a plurality of legs, each leg having at least one joint; a plurality of thrusters connected to the body structure; and a plurality of actuators for controlled movement of the legs and thrusters. The plurality of actuators are embedded within composite housing structures in the body structure. The composite housing structures are formed by additive printing of composite material over components of the actuators. The composite housing structures are reinforced by layers of continuous carbon fiber material. A method of constructing an actuator for use in a multi-modal robot is also disclosed. Additionally, a computer-implemented method is disclosed to identify particular locations and sizes of components in multi-modal robots providing the lowest total cost of transport.

A vacuum suction wall-climbing robot including a body, a vacuum pump and at least four leg mechanisms is disclosed. Each leg mechanism includes a foot unit and a limb unit connecting the foot unit and the body. The foot unit includes a plurality of suction sets connected to the vacuum pump through a pipe. Each suction set includes a sucker able to create a vacuum state within a contact area through the operation of the vacuum pump, and a sheet valve arranged between the pipe and the sucker, which automatically closes the connection between the pipe and the sucker when the vacuum state between the sucker and the contact area becomes a non-vacuum state.

A vacuum suction wall-climbing robot including a body, a vacuum pump and at least four leg mechanisms is disclosed. Each leg mechanism includes a foot unit and a limb unit connecting the foot unit and the body. The foot unit includes a plurality of suction sets connected to the vacuum pump through a pipe. Each suction set includes a sucker able to create a vacuum state within a contact area through the operation of the vacuum pump, and a sheet valve arranged between the pipe and the sucker, which automatically closes the connection between the pipe and the sucker when the vacuum state between the sucker and the contact area becomes a non-vacuum state.

A pneumatic circuit for controlling the activation of a robot with inflatable chambers includes at least one ring oscillator formed from a plurality of valves connected in series to selectively admit fluid pressure to inflate and deflate the chambers. Sequential actuation of the valves induces sequential bending and rotation of combinations of the chambers to effect motion. A switching valve changes the actuation sequence of the oscillator valves to change the direction of motion.

A pneumatic circuit for controlling the activation of a robot with inflatable chambers includes at least one ring oscillator formed from a plurality of valves connected in series to selectively admit fluid pressure to inflate and deflate the chambers. Sequential actuation of the valves induces sequential bending and rotation of combinations of the chambers to effect motion. A switching valve changes the actuation sequence of the oscillator valves to change the direction of motion.