X Development LLC

Adam Horton

Christopher Lynn Morey

David Youmans

Robotic vehicles and methods described herein relate to robot navigation, physical configuration, and obstacle avoidance. An example robotic vehicle includes a chassis and a sensor coupled to the chassis. Furthermore, the robotic vehicle includes a plurality of multi-wheels coupled to the chassis. As such, each multi-wheel is configured to rotate about a primary axis of rotation. Each multi-wheel includes a plurality of rotatable wheel elements and each rotatable wheel element is configured to rotate about a respective secondary axis of rotation. The robotic vehicle includes an actuator configured to extend or retract at least one rotatable wheel element such that a position of at least one rotatable wheel element is adjustable relative to the primary axis of rotation. Yet further, the robotic vehicle includes a motor configured to drive the rotatable wheel elements about their respective secondary axes of rotation and drive the respective multi-wheels about their primary axes.

Systems and methods for robots having an adjustable multi-wheel

Example implementations may relate to methods and systems to prevent damage in robots. In particular, a robotic system may include a particular component that is moveable along one or more degrees of freedom (DOFs) each providing a respective range of motion (ROM) of the particular component. This robotic system may detect movement of the particular component along a particular DOF and may responsively determine mechanical feedback characteristics that define, for each of one or more positions of the particular component along the respective ROM provided by the particular DOF, a force to be provided by at least one actuator coupled to the particular component. So during the movement, the robotic system may determine a particular position of the particular component along the respective ROM and, based on the particular position, the robotic system may direct an actuator to provide a force in accordance with the determined mechanical feedback characteristics.

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Oakland, CA, United States of America

Adam Horton