Humanoid robotics system and methods

Abstract

Systems and methods related to construction, configuration, and utilization of humanoid robotic systems and aspects thereof are described. A system may include a mobile base, a spine structure, a body structure, and at least one robotic arm, each of which is movably configured to have significant human-scale capabilities in prescribed environments. The one or more robotic arms may be rotatably coupled to the body structure, which may be mechanically associated with the mobile base, which is preferably configured for holonomic or semi-holonomic motion through human scale travel pathways that are ADA compliant. Aspects of the one or more arms may be counterbalanced with one or more spring-based counterbalancing mechanisms which facilitate backdriveability and payload features.

1 . A humanoid robot, comprising:
 a. a mobile base;   b. a vertically extensible torso assembly movably coupled to the base;   c. one or more robot arms movably coupled to the torso assembly;   
       wherein each of the one or more robot arms may be suspended in a substantially neutral configuration versus affects of the acceleration of gravity by a spring-balanced gravity compensation mechanism that is not electronically actuated.