A computer-implemented gait planning method includes: determining a pitch angle between a foot of the robot and a support surface where the robot stands; determining a support point on a sole of the foot according to the pitch angle; calculating an ankle-foot position vector according to the support point, wherein the ankle-foot position vector is a position vector from an ankle of the robot to a support point on a sole of the foot; calculating a magnitude of change of an ankle position according to the pitch angle and the ankle-foot position vector; and obtaining a compensated ankle position by compensating the ankle position according to the magnitude of change of the ankle position.

One variation of a method for monitoring growth of plants within a facility includes: aggregating global ambient data recorded by a suite of fixed sensors, arranged proximal a grow area within the facility, at a first frequency during a grow period; extracting interim outcomes of a set of plants, occupying a module in the grow area, from module-level images recorded by a mover at a second frequency less than the first frequency while interfacing with the module during the period of time; dispatching the mover to autonomously deliver the module to a transfer station; extracting interim outcomes of the set of plants from plant-level images recorded by the transfer station while sequentially transferring plants out of the module at the conclusion of the grow period; and deriving relationships between ambient conditions, interim outcomes, and final outcomes from a corpus of plant records associated with plants grown in the facility.

One variation of a method for monitoring growth of plants within a facility includes: aggregating global ambient data recorded by a suite of fixed sensors, arranged proximal a grow area within the facility, at a first frequency during a grow period; extracting intermediate outcomes of a set of plants, occupying a module in the grow area, from module-level images recorded by a mover at a second frequency less than the first frequency while interfacing with the module during the period of time; dispatching the mover to autonomously deliver the module to a transfer station; extracting intermediate outcomes of the set of plants from plant-level images recorded by the transfer station while sequentially transferring plants out of the module at the conclusion of the grow period; and deriving relationships between ambient conditions, intermediate outcomes, and final outcomes from a corpus of plant records associated with plants grown in the facility.

A mobile robot configured for vending consumable items. A system configured for vending consumable items comprising a mobile robot, a vending terminal, and a server communicating with each of the other two. A method for vending consumable items using a mobile robot. A method for on-demand consumable item delivery by a mobile robot.

A mobile robot is configured for vending consumable items. The robot includes a mobile base; a body comprising an item space; a plurality of support elements located in the item space and configured to support consumable items; an item sensor configured to detect presence of one or more consumable items supported by each of the support elements; and an insert configured to removably fit into the item space, and wherein the insert comprises the support elements and the item sensor. A method for vending consumable items uses the mobile robot.

An electronic device is provided. The electronic device includes at least one processor and a memory. The memory stores instructions that, when executed, cause the at least one processor to identify a task corresponding to a task execution instruction acquired by an input device of the electronic device, identify user information corresponding to the task, identify a target spot of the electronic device for executing the task, based on the task and the user information, with respect to a position of a user corresponding to the identified user information, and control a driving circuit of the electronic device to move the electronic device to the identified target spot.

A computerized system including multiple mobile robots, each mobile robot has a set of skills, multiple dock stations, each of the multiple dock stations is configured to dock one or more of the multiple mobile robots, an interface for receiving a mission to be executed by at least one of the multiple mobile robots, a processor communicating with the multiple mobile robots, said processor determines which of the multiple mobile robots is assigned to perform the mission based on a set of values that matches the mission.

A computer-implemented gait planning method includes: determining a pitch angle between a foot of the robot and a support surface where the robot stands; determining a support point on a sole of the foot according to the pitch angle; calculating an ankle-foot position vector according to the support point, wherein the ankle-foot position vector is a position vector from an ankle of the robot to a support point on a sole of the foot; calculating a magnitude of change of an ankle position according to the pitch angle and the ankle-foot position vector; and obtaining a compensated ankle position by compensating the ankle position according to the magnitude of change of the ankle position.

According to some aspects of the invention, auxiliary axis measurement systems for determining three-dimensional coordinates of an object are provided as shown and described herein. According to some aspects of the invention, methods for operating auxiliary axis measurement systems for determining three-dimensional coordinates of an object are provided as shown and described herein.

According to some aspects of the invention, auxiliary axis measurement systems for determining three-dimensional coordinates of an object are provided as shown and described herein. According to some aspects of the invention, methods for operating auxiliary axis measurement systems for determining three-dimensional coordinates of an object are provided as shown and described herein.