Loading, securing, transporting, and/or depositing objects as well as systems, methods, and apparatuses for the same, including those that operate in automated or semi-automated fashion, are disclosed herein. In one embodiment, a mobile robotic platform is provided. The mobile robotic platform is designed to receive, transport, and deposit objects at desired destinations. In another embodiment, a flat transport surface, e.g., a pallet, is provided. The flat transport surface is designed to facilitate efficient loading, transport, and deposit of objects, e.g., between automated or semi-automated handling systems, in one aspect. In another embodiment, a system for handling objects is provided. The system is designed to support automated or semi-automated loading and/or unloading of objects, e.g., onto or from a mobile robotic platform, and may be implemented in a vehicle, in one aspect.

A method for controlling motion of a legged robot includes: determining, according to state data of the legged robot at a start moment in a preset period, a candidate landing point of each foot in the preset period; determining, according to the state data at the start moment and the candidate landing point of each foot, a first correlation between a centroid position change parameter, a step duty ratio, a candidate landing point, and a foot contact force; determining, under a constraint of a constraint condition set, a target centroid position change parameter, a target step duty ratio, and a target landing point satisfying the first correlation; and controlling, according to the target centroid position change parameter, the target step duty ratio, and the target landing point, motion of the legged robot in the preset period.

A method for controlling motion of a legged robot includes: determining, according to state data of the legged robot at a start moment in a preset period, a candidate landing point of each foot in the preset period; determining, according to the state data at the start moment and the candidate landing point of each foot, a first correlation between a centroid position change parameter, a step duty ratio, a candidate landing point, and a foot contact force; determining, under a constraint of a constraint condition set, a target centroid position change parameter, a target step duty ratio, and a target landing point satisfying the first correlation; and controlling, according to the target centroid position change parameter, the target step duty ratio, and the target landing point, motion of the legged robot in the preset period.

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.

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.

A gripper mechanism includes a pair of gripper jaws, a linear actuator, and a rocker bogey. The linear actuator drives a first gripper jaw to move relative to a second gripper jaw. Here, the linear actuator includes a screw shaft and a drive nut where the drive nut includes a protrusion having protrusion axis expending along a length of the protrusion. The protrusion axis is perpendicular to an actuation axis of the linear actuator along a length of the screw shaft. The rocker bogey is coupled to the drive nut at the protrusion to form a pivot point for the rocker bogey and to enable the rocker bogey to pivot about the protrusion axis when the linear actuator drives the first gripper jaw to move relative to the second gripper jaw.

A linear joint includes a motor assembly includes a rotating shaft for outputting motion; a transmission mechanism including a screw and a nut threadedly connected to the screw, the nut being coaxial with respect to and securely connected to the rotating shaft so as to be rotatable together with the rotating shaft; and a rod connected to a first end of the screw so as to move together with the screw along a lengthwise direction of the screw.

A linear joint includes a motor assembly includes a rotating shaft for outputting motion; a transmission mechanism including a screw and a nut threadedly connected to the screw, the nut being coaxial with respect to and securely connected to the rotating shaft so as to be rotatable together with the rotating shaft; and a rod connected to a first end of the screw so as to move together with the screw along a lengthwise direction of the screw.

The present invention relates to a method for learning parameters of a neural network for generating trajectories of an exoskeleton (1), the method comprising the implementation, by data processing means (11a) of a first server (10a), of steps of: (a) Learning parameters of a first neural network suitable for generating periodic elementary trajectories of the exoskeleton (1) each for a given walking of the exoskeleton (1) defined by a n-tuple of walking parameters, according to a first database for learning periodic trajectories for a set of possible walkings of the exoskeleton (1); (b) Learning, using parameters from the first neural network, parameters of a second neural network suitable for generating periodic elementary trajectories of the exoskeleton (1) and transitions from one periodic elementary trajectory of the exoskeleton (1) to another periodic elementary trajectory of the exoskeleton (1), according to a second learning database of periodic elementary trajectories and transitions for a set of possible walkings of the exoskeleton (1).

A robot includes a body, a first robotic arm physically coupled to the body, and a first discrete hydraulic system comprising a first plurality of hydraulic components. The first robotic arm includes a first end effector. The first hydraulic system is operable to control the first end effector. The first plurality of hydraulic components is integrated with the first robotic arm. In some implementations, the robot includes a second robotic arm physically coupled to the body, and a second discrete hydraulic system consisting of a second plurality of hydraulic components. The second robotic arm includes a second end effector. The second hydraulic system is operable to control the second end effector. The second plurality of hydraulic components are integrated with the second robotic arm. The second hydraulic system is hydraulically-isolated from the first hydraulic system.