Modular Robot System

Abstract

A robotic system includes a body including at least one attachment mechanism configured to removably couple a modular component to the body. The modular component includes at least one movable part operable to move relative to the body when the modular component is attached to the body. The system includes a communication interface coupled to the body and configured to be communicatively coupled to the modular component to receive information relating to the modular component and operation of the at least one movable part. The system includes a control system coupled to the body and the communication interface. The control system is configured to: in response to the modular component being attached to the body, receive the information from the modular component by way of the communication interface, and operate the at least one movable part of the modular component according to the information.

What is claimed is: 
     
         1 . A robotic system comprising:
 a body;   a power source coupled to the body;   a modular component comprising at least one moveable part;   a node coupled to the body and comprising:
 an attachment mechanism, the attachment mechanism configured to removably couple the modular component to the node; and 
 a connector configured to deliver power from the power source to the modular component to operate the modular component to rotate the at least one movable part relative to the body when the modular component is coupled to the node, the connector comprising:
 a cylindrical chamber configured to receive a corresponding cylindrical component of the modular component, whereby the modular component rotates about a longitudinal axis of the cylindrical chamber when the modular component is operated; and 
 an interface, wherein power is delivered to the modular component by way of the interface when the corresponding cylindrical component is received at the cylindrical chamber; and 
 
   a control system coupled to the body, the control system configured to:
 in response to the modular component being attached to the node, receive information from the modular component by way of the interface; and 
 deliver power through the interface to operate the modular component in part based on the received information. 
   
     
     
         2 . The robotic system of  claim 1 , wherein the power source comprises an electrical power source that provides electrical power for operating the modular component. 
     
     
         3 . The robotic system of  claim 1 , wherein:
 the cylindrical chamber includes a cylindrical inner wall; and   the interface is disposed along the cylindrical inner wall of the cylindrical chamber.   
     
     
         4 . The robotic system of  claim 1 , wherein:
 the received information includes an identity of the modular component; and   the control system controls operation of the modular component according to operating characteristics corresponding to the identity of the modular component.   
     
     
         5 . The robotic system of  claim 4 , wherein the received information includes the operating characteristics. 
     
     
         6 . The robotic system of  claim 4 , wherein the control system, based on the identity of the modular component, retrieves the operating characteristics from data storage in communication with the control system. 
     
     
         7 . The robotic system of  claim 1 , wherein the received information includes sensor information generated by one or more sensors disposed at the modular component, the sensor information related to operation of the modular component. 
     
     
         8 . The robotic system of  claim 1 , wherein the received information includes a measure of the power delivered to the modular component. 
     
     
         9 . The robotic system of  claim 1 , wherein the received information includes at least one of (a) kinematic information, (b) calibration data, (c) motion limits, or (d) strength limits relating to operation of the modular component. 
     
     
         10 . The robotic system of  claim 1 , wherein:
 the at least one movable part includes a leg operable to move the body relative to a surface or an arm operable to manipulate an object or carry a load; and   the control system is configured to deliver power to operate the leg or the arm, respectively according to the received information.   
     
     
         11 . The robotic system of  claim 1 , wherein the attachment mechanism includes a plurality of attachment mechanisms configured to removably couple a plurality of respective modular components to the node, the plurality of respective modular components comprising a plurality of respective moveable parts operable to move relative to the body when the plurality of respective modular components are attached to the body, and wherein the control system is configured to:
 in response to the plurality of respective modular components being removably coupled to the node, receive additional information from the plurality of respective modular components; and   operate the plurality of respective modular components relative to each other based on the additional information received from the plurality of respective modular components.   
     
     
         12 . A method comprising:
 engaging, by way of an attachment mechanism of a node of a robotic system, a modular component to the node, a power source coupled to a body of the robotic system;   coupling, by way of a connector of the node, the modular component to the node to deliver power from the power source to the modular component to operate the modular component to rotate at least one moveable part of the modular component relative to the body when the modular component is coupled to the node, the connector comprising:
 a cylindrical chamber that receives a corresponding cylindrical component of the modular component when the modular component is coupled to the node, whereby the modular component rotates about a longitudinal axis of the cylindrical chamber when the modular component is operated; and 
 an interface, wherein power is delivered to the modular component by way of the interface when the corresponding cylindrical component is received at the cylindrical chamber; 
   receiving information from the modular component by way of the interface when the modular component is coupled to the node; and   delivering power through the interlace to operate the modular component in part based on the received information.   
     
     
         13 . The method of  claim 12 , wherein the power source comprises an electrical power source that provides electrical power for operating the modular component. 
     
     
         14 . The method of  claim 12 , wherein:
 the cylindrical chamber includes a cylindrical inner wall; and   the interface is disposed along the cylindrical inner wall of the cylindrical chamber.   
     
     
         15 . The method of  claim 12 , wherein:
 the received information includes an identity of the modular component; and   operation of the modular component is controlled according to operating characteristics that correspond to the identity of the modular component.   
     
     
         16 . The method of  claim 15 , wherein the received information includes the operating characteristics. 
     
     
         17 . The method of  claim 15 , wherein the method further comprises, based on the identity of the modular component, retrieving the operating characteristics from data storage in communication with the robotic system. 
     
     
         18 . The method of  claim 12 , wherein the received information includes sensor information generated by one or more sensors disposed at the modular component, the sensor information related to operation of the modular component. 
     
     
         19 . The method of  claim 12 , wherein the received information includes a measure of the power delivered to the modular component. 
     
     
         20 . The method of  claim 12 , wherein the received information includes at least one of (a) kinematic information, (b) calibration data, (c) motion limits, or (d) strength limits relating to operation of the modular component. 
     
     
         21 . The method of  claim 12 , wherein:
 the at least one movable part includes a leg operable to move the body relative to a surface or an arm operable to manipulate an object or carry a load; and   delivering power to operate the modular component comprises delivering power to operate the leg or the arm, respectively according to the received information.   
     
     
         22 . The method of  claim 12 , wherein:
 engaging the modular component to the node comprises engaging, by way of a plurality of attachment mechanisms of the node, a plurality of respective modular components to the node, the plurality of respective modular components comprising a plurality of respective moveable parts operable to move relative to the body when the plurality of respective modular components are coupled to the node;   receiving additional information comprises receiving respective information from each modular component of the plurality of respective modular components coupled to the node; and   delivering power comprises delivering power to each modular component of the plurality of respective modular components coupled to the node to operate the respective plurality of modular components relative to one another based in pan on the received additional information.