TITLE OF THE INVENTION

ROBOTIC SYSTEM AND METHODS OF USE Nathan D, Gettings

Adam M. Gettings

Taylor J, Penn

Edward J. Siler, 01

Andrew G. Stevens

Michael Schneider

Jon Appleby

Matthew Gawlowsii CROSS-REFERENCE TO RELATED APPLICATION {0001} This application claims priority to U.S. Provisional Application No. 61/586.238 filed 13 January 2012, which is incorporated by reference herein in its entirety. BACKGROUND

[0002} 1. Technical Field

10003) This invention relates generally to the robotics field, and more specifically to a new and useful robotic system in the robotics field. 10004 J 2. Summary of the Art

10005) Ground-based remote-controlled robotic systems exi st, for a number of purposes. Unmanned Ground Vehicles (UGV), such as Soldier UGVs (S ^' UGVs) are small remotely controlled robotic systems, often purposed for military use. The UGVs can provide remote surveillance images and sensed information. UGVs can be tele-operated in an area local to a controlling dismounted soldier, and be transported to the operational area with dismounted soldiers as stowage. The UGVs operate in rural and urban terrain, and often are needed to climb stairs, pass through doorways, operation in subterranean structures, and traverse nibble or other obstacles.

|0006| Domestic police, including Special Weapons and Tactics (SWA T) Teams, use UGVs for domestic policing, including performing "hard clears" or other high risk actions when human health or life might be at stake.

Le ine Bagade Han LLP Page 1 of 73 Θ007| Remote control (RC) vehicles are also used for civilian entertainment, such as remote control hobbyist cars and tanks. Such vehicles are often insufficiently robust for purposes other than racing or entert inment, and rarely have tooling or payloads to accomplish task other than mobility.

[OOOSj: Industrial robots are used to access hazardous or cramped areas for industrial purposes or scientific research. For example, remote-controlled industrial robots can be used to access and work i areas with extreme pressures, temperatures, radioactive radiation, high voltage, toxic gasses or a lack of breathable air.

[00091 All of the aforementioned robotic systems desire improved performance

characteristics, for example more stabilized mobility, self-cleaning tracks, increased torque delivery to the ground, reliable control and data collection transmission, and diraensionally small packaging for transport despite a potentially larger area occupied during mobility of the robot, SUMMARY OF THE IN VENTION

jOOI OJ A robotic system and method of using the same are disclosed. The robotic system can have one or more tracks that are driven by track drive pulleys. The track pulleys ca be driven by motor. The robotic system ca have track guides, track pulley caps, and flipper pulley caps. The robotic system ca have sidep!ates thai are larger (i.e., ca extend further) than the track inner diameter and the inner nubs on the tracks,

(0011 J The tracks can be flexible with or without rein forcing cabling . The track can be fed over the track drive pulleys. The track can resiliency expand and/or the pulley can resiliency contract when debris is introduced to the space between the track and the drive pulley. This can squeeze larger debris out of the track. Smaller debris can be carried through the track until the debris reaches the top (or bottom, depending on the direction of the pulley) of the drive pulley, causing the debris to fall out of the space between the track and the pulley and return to the environment. In the case that larger debris cannot be squeezed out from between the track and pulley, the flexible pulley ca deform and pass the debris through the space between the track and pulley, and the dump or release the debris when the debris reaches the top (or bottom, depending on the direction of the pulley ) of the pulley.

| ^" 0012J The track and or pulley can instead or in addition be rollers.

|0fll3] The sideplates and the pulley end caps can laterally retain the track, for example when the trapped debris causes the track to expand to the extent that the track would pop off of the

Levine Bagade Han LLP Page 2 of 73 pulley when turning in debris. The lateral ribs on the drive pulley cart be lcmg enough to engage the track ei ther directly; or though a layer of debris. The track can not dislodge from the pulley or rollers, for example even when performing zero turning radius maneuver under heavy load, in a dirty, debris-filled environment. The amount of allowable track expansion (stretching with debris) can be related to the extent to which the end caps and side plates extend beyond the inner diameter of the track as the track rotates around the drive pulleys and rollers, and to the protrusion distance of the drive pulley rib relative to the outer diameter of the dri ve pulley.

[0614J A robotic system that can have a self-cleaning track drive system is disclosed. The system can have a body, and the track drive system configured to move the body. The track. drive system can have a one pulley and a track. The puliey can be configured to form at least one pocket between the inner track surface and the outer pulley surface when a foreign object is introduced between the pulley and the track, and wherein the f reign object has a maximum width of greater than about 0.2cra.

[0015} The pulley can have a first radial rib, a second radial rib, and an outer wall The first l ength of the outer wall can span between the first radial rib and the second radi al rib. The first length of the outer wall can be configured to deform when the foreign object is between the first length and the track.

{0016) The track can have a modulus of elasticity from about 2,400 to about 5,600. The pulley can have a radial inner portion and a radially outer portion. The radially outer portion can be configured to deform at a greater rate than the radiall inner portion when a force is applied to an outside radial surface of the pulley,

[0017} The pulley can have one, two or more suppor structures. The support structure can have a structural cell having two angular walls and two radial walls. The pulley can have an axis of rotation and a radi ally outer surface. The support structure can be between the axi s of rotation and the radially outer surface of the pulley. At least one portion of the support structure can be configured to deform when a force is applied to the outside of the pulley, for example creating a pocket on the outside of the pul iey where the force is applied. The support structure can have a first outer angular wall a second angular wall, and a third inner angular wall. The second angular wall can be radially beyond the third inner angular wall. The second angular wail can be radially within the first outer angular wall

0OiS The pulley can have a radially outer wall (e.g., an "angular" wall forming a 360° rotation around the axis of rotation). At least one portion of the radiall outer wall can be

Levine Bagade Han LLP Page 3 of 73 configured to deform when a force is applied to the outside of the pulley, for example, forming a pocket on the outside of the pulley where the force is applied.

jOOI 9J The pulley and the track can be configured so that a foreign object introduced between the pul ley and the track is ejected by the force resulting from the resiliency of the pulley and the track. The pulley and the track can be configured so that a foreign object introduced between the pulley and the track can travel within the pocket between the pulley and the track around the circumference until the track and pulley diverge.

|002O! A method of using a robotic vehicle system comprising a chassis and a track drive system comprising a pulley and a track, is disclosed. The method can include driving the track with the pulley. The method can include recei ving a piece of material between the track and the pulley. The piece of material can be a loose piece of debris, for example, unattached to the track or the pulley . The piece of material can have a maximum width of greater tha abou t 0.2 era. The method can include mov ing the piece of material around the pulley to the location at which the track separates from the pulley. The method can include releasing the piece of material from between the track and the pulley.

(00211 The method of moving can include holding the piece of material between the track and the pulley. The method of holding can include resiliently deforming the track away from the pulley and against the piece of material. The method of receiving can include resiliently deforming the pulley. The pulley can include a first cell and a second cell adjacent to the first ceil. The first cell can be resiliently deformed away from the track and against the piece of material. The second cell can be iindeformed.

|0022) A robotic vehicle system that can have a body and a track drive system is disclosed. The track drive system can be configured t move the body. The track drive system can have a pulley, a pulley cap, and a track. The pulley cap can be attached to a side of the pulley facing away from the body. The diameter of the pulley cap can be equal to or greater than the diam eter of the el le .

[0023} The pulley cap can have a diameter less than the outer diameter of the track when the track is on the pulley. The pulley cap can have a. track interface. The track can have a pulley cap interface. The track interface can be configured to releasably engage the pulley cap interface. The pulley cap interface can have a nub extending from the inside of the track. The track interface can have a radial vane. The track can have a first retention element (e.g., inside nubs) extending from the inside surface of the track on a first lateral side of the track.

Levine Baaade Han LLP Page 4 of 73 The track cart have a second retention element extending from the inside surface of the track on a second lateral side of the track.

(0024J A robotic vehicle system that can ha ve a body and a track drive system configured to move the body is disclosed. The track drive system can have at least one pulley, a track, and a pulley cap, The track can have a first inner nub on at least one lateral side. The inner nub can be mated to an inner edge of the pulley cap. The inner nub can retains the track on the pulley. The body can retain the outside edge of the track on the pulley. The track can have a second inner nub on a second lateral side,

[0025] The system can have a track guide or retention structure on the body. The track guide structure can be mated to the outside edge of the second inner nub on the second lateral side. The track guide or retention structure can include vanes on the inside of the pulley. For example, a second wheel cap ca be on the chassis-side of the flipper or mobility device pulley, for example, to help keep the track guided.

[0026] The track can have a pocket along the inside surface of the track. The pulley can have one or more grooves, nubs or lateral rails extending radially outwardly from the pulley. The nubs or rails of the pulleys can interface with the pockets (e.g., depressions), for example, enabling the pulley to drive the track.

[0027] A robotic vehicle system that can have one or more torque-limited safety coupling for unfixing and rotating the mobility assistance devices or flippers with the chassis is disclosed. The robotic vehicle system can have a chassis, a mobility assistance component configured to propel the robotic vehicle system; and a release coupling. The release coupling can attach the chassis to the mobility assistance component. The mobility assistance component can be contractable with respect to the chassis when the release coupling is activated.

{O028| The release coupling can be configured to be activated by at least about a 30 Nm torque or at least about a 100 Nm torque applied to the mobility assistance device. The mobility assistance component can be rotatably contractable and rotatably expandable with respect to the chassis when the release coupling is activated.

[0029] The system can have a motor and a track on the mobility assistance component. The motor can be configured to drive the track around the mobility assistance component.

[0030] A method for using a robotic vehicle system comprising a chassis, a mobility assistance component, and a release coupling attaching the chassis to the mobility assistance component, is disclosed. Hie method can include activating the release coupling, and contracting the mobility assistance component toward the chassis afte activating the release

Leviiie Bagade Han LLP Page 5 of 73 coupling. Activating the release coupling can include applying at least about a 30 Ntn torque or at least about a 100 Nm torque to the mobility assistance device.

{0031] The contracting of the mobility assistance component can include rotating the mobility assistance component with respect to the chassis. The method can include expanding the mobility assistance component away from the chassis, Expanding the mobility assistance component can include rotating the mobility assistance component with respect to the chassis.

The method can include driving a track on the mobility assistance device.

[0032] Yet another method is disclosed of using a robotic vehicle system. The method can include delivering a force through a robotic vehicle system powertrain in the robotic vehicle system. The delivering of the force can inc lude generating a force, deliveri ng the force through a first shaft or axle to a first receiver, and delivering the force from the first receiver to a second receiver. The force can be generated with a force generation component (e.g.. a motor, engine) in the robotic vehicle system. The first shaft or axle can interface with the first recei ver, such as an inner wheel hub. The modulus of elasticity of the first shaft can be no more than about 1000% more and no less than about 90% less than the modulus of elasticity of the first receiver. The modulus of elasticity of the first recei er can be no more than about 1000% more and no less than about 90% less than the modulus of elasticity of the second recei ver.

{00331 i he first receiver can have a radially inner hub of a pulley. The method can include driving a track with the pulley. The force generation component can include an electric motor.

[0034) The method can include deli vering the force from the second recei ver to a third receiver. The modulus of elasticity of the second receiver is no more than about 1 00% more and no less than about 90% less than the modulus of elasticity of the third recei ver.

{0035] For example, the first receiver can be a harder (e.g., relative to the outer wheel and track) inner wheel of a pulley. The second receiver can be a medium-hardness (e.g., relative to the axle, inner wheel and track) outer wheel of the pulley. The third receiver can be a (e.g., relative to the wheel and axle) softer track.

{0036] The third receiver can have a radially outer wheel of a pulley. The method can include further comprising driving a track with the pulley. The third receiver can have a track on a radial outer surface of a pulley

Levine Baaade Han LLP Page 6 of 73 [0037] The first receiver can be concentric about, the first shaft. The second receiver can be concentric about the first receiver.

j0038| The surface area of contact between the first receiver and the second receiver can be greater than the surface area of contact between the shaft and the first receiver.

[0039) system for delivering a force through a powertrain is disclosed. The system can include a power generator (e.g., motor, engine), a shaft configured to deliver power from the power generator, a first receiver attached to the shaft, and a second receiver attached to the first receiver. The modulus of elasticity of the shaft can be greater than the modulus of elasticity of the first receiver. The modulus of elasticity of the first receiver can be greater than the modulus of elasticity of the second receiver.

[0040| i¾e system can have a third receiver attached to the second receiver. The modulus of elasticity of the second receiver can be greater than the modul us of elasticity of the third receiver.

[0041 A robotic system that can have a diraensionalty small footprint (i.e., area when viewed from above) in a contracted configuration and a dimenstonally larger footprint in an expanded configuration during mobility of the system is disclosed. The system can be collapsed or contracted for carrying or storage, and expanded for auto-mobility of the robotic system. The robotic system can contact and expand during uto-mobility.

[0042J The robotic vehicle system can have a body, a first mobility assistance device attached to the body, and a second mobility assistance device attached to the body. The first mobility assistance device can have a first configuration of a ready position (e.g., expanded away from the body or lengthened), and a second configuration of a stored position (e.g., contracted toward the body or shortened). The second mobility assistance device can have a first configuration of a ready position (e.g., expanded away from the body or lengthened), and a second configuration of a stored position (e.g., contracted toward the body or shortened). The mobility assistance devices can be flippers, rockets, or other locomotion devices. The mobility assistance devices can be moved into the ready position for motion, and can be moved into the stored position when not in the ready position.

{0043! The robotic vehicle system can have a body a first mobility assistance device attached to the body, and a second mobility assistance device attached to the body. The first mobility assistance device can have a first configuration extended from the body and a second

configuration contracted toward the body. The second mobility assistance device can have a first configuration extended away from the body and a second configuration contracted

Levme Bagade Han LLP Page 7 of 73 toward the body. The system can have an extended length whe the first, and second mobility assistance devices are in the first configurations. The system can have a contracted length when the first and second mobility assistance devices are in the second configurations.

{0044} The robotic vehicle system can have a third mobility assistance device attached to the body. The third mobility assistance device can have a first configuration extended from the body and a second configuration contracted toward the body. The robotic vehicle system can have a fourth mobility assistance device attached to the body. The fourth mobility assistance device ca have a first configuration extended from the body and a second configuration contracted toward the body. The extended length can be when the first, second, third and fourth mobility assistance devices are in the first configurations. The contracted length can be when the first, second, third, and fourth mobility assistance devices are in the second confi gurations .

{0045} The extended or expanded length can be equal to or greater than about 50% of the contracted length, or equal to or greater than about 60% of the contracted length.

[0046} A. method for using a robotic vehicle system having a body, a first mobility assistance device attached to the body, and a second mobility assistance device attached to the body is disclosed. The method can include configuring the robotic vehicle system in a contracted configuration having a contracted length. The method can include expanding the first mobility assistance device from a contracted configuration to an expanded configuration. The method can include expanding the second mobility assistance device from a contracted configuration to an expanded configuration. The robotic vehicle system can be in an expanded configuring having an expanded length following the expanding of the first, and second mobility assistance devices, and wherein the expanded configuration is greater than about 50% of the contracted length.

(00471 The robotic vehicle system can have a third mobility assistance device attached to the body, and a fourth mobility assistance device attached to the body. The method can include expanding the third mobility assistance device from a contracted configuration to an expanded configuration. The method can include expanding the fourth mobility assistance device from a contracted configuration to an expanded configuration. The robotic vehicle system can be in an expanded configuring having an expanded length following the expanding of the first, second, third and fourth mobility assistance devices.

[0048} A robotic vehicle system having a body and first mobility assistance device is disclosed. The body can have a body longitudinal axis. The first mobility assistance device

Levine Bagade Han LLP Page 8 of 73 can have a first mobilit assistance device longitudinal axis. The first mobility assistance device longitudinal axis can imersect the body longitudinal axis, The robotic vehicle system can have a second mobility assistance device having a second mobility assistance device longitudinal axis. The second mobility ¹ assistance device longitudinal axis can intersect the body longitudinal axis,

[0049} A robotic vehicle system having a body and pair of main tracks or mobili ty devices is disclosed. The main tracks can be angled (i.e., non-parallel) with respect to each other. The robotic vehicle system can have a drive sys tem for driving the pair of main tracks. The main tracks can be toe-in or toe-out with respect to each other. The toe-in or tow -out angle can be f om greater than about 0 degrees to about 90 degrees, for example about 10 degrees. The robotic system can have a first mobility assistance device attached to the body, and a second mobility assistance device attached to the body. The angle of the main tracks with respect to each other can be adjusted during use. The tracks can be toe-in for enhanced straight line stability and/or toe-out for enhanced turning sensitivity.

[0050} A. robotic system is disclosed that can have a body, a mobility assistance device, a drivetrain, and a release mechanism within the assembly of the mobility assistance device and the drivetrain. The mobility assistance device can be connected to the drivetrain. The drivetrain can actuate the mobility assistance device with respect to the body. The release mechanism can be configured to allow movement of the mobility assistance device without moving at least one element of the drivetrain. The drivetrain can include a motor, shaft and gearing to transmit power from the motor to drive a track on the mobility assistance device. The release mechanism can have a safety release coupling. The release mechanism can allow the mobility assistance device to move relative to the body. The release mechanism can actuate the mobility assistance device from a ready (e.g., expanded) to a stowed or stored (e.g. , contracted) position without moving all or part of the drivetrain.

(OOSl J A method for using a robot having a chassis and a drivetrain is disclosed. The method can include activating a release within a drivetrain connected to a mobility assistance device. Activating the release can include moving a mobility assistance device from a first position relative to the chassis to second position relative to the chassis. The first position can be a ready position from which the robot can be operated. The second position can be a stowed position from which the robot can be more easily stored than the ready position and/or still operated. Acti ating the release can include releasing a safety release coupling or

disengaging a clutch between the mobility assistance device and the drivetrain.

Leviiie Bagade Han LLP Page 9 of 73 [0052] Releasing the safety release coupling can include popping the coupling, for example by delivering an impact or impulse to the coupling (e.g., by dropping or throwing the robot to deliver the impulse through the mobility assistance devices and to the safety release coupling, Releasing the safety release coupling can include levering to release the coupling, activating a motor (e.g., a servo motor) a solenoid, or combinations thereof. The release of the safety release coupling can be actuated by a control, such as a button, switch, toggle, or

combinations thereof.

[0053] The method can include moving the mobility assistance device from a first position to a third position, a second position to a third position, or combinations thereof, BRIEF DESCRiPTIO OF THE FIGURES

[0054] Figures la and l b illustrate variations of the robotic system with the flippers in an extended configuration,

[0055] Figure 2 illustrates the robotic system of Figure 1 with the flippers in a retracted configuration.

[0056] Figure 3 illustrates a variation of the robotic system .

[0057] Figures 4a and 4b are left and righ side views, respectively, of a variation of the robotic system with the flippers in an extended configuration.

[0058] Figures 5a and 5b are top and bottom views, respectively, of a variation of the robotic system with the flippers in an extended configuration.

[0059] Figures 6a through 6h are top views of a variation of the robotic system with the fli pers in extended and retracted configurations, respectively.

(0060 J Figures 7a and 7b are side views of a variation of the robotic system with the flippers in retracted and extended configurations, respectively.

[0061] Figure 8 is a front perspective view of a variation of the robotic system.

[0062] Figures 9a and 9b are left and right side views, respectively of a variation of the robotic system.

[0063] Figures 10a and I Ob are top and bottom views, respectively, of a variation of the robotic system.

[0064] Figure 1 1 is a schematic representation of a variation of the robotic system,

[0065] Figure L2a is a side view of a variation of a chassis with exposed compartments.

[0066] Figures 12b and 13 are rear side and front side perspective views, respectively, of a variation of a partially assembled robotic system.

Levine Bagade Han LLP Page 10 of 73 [0067] Figure 14 illustrates a variation of the chassis frame,

f0068| Fi gures 15 through 20 are exploded views of varia tions of a partial assembly of the robotic system.

{0069} Figures 21 through 30 illustrate a variation of a method for assembling portions of the robotic system.

[0070} Figure 31 is a close-up view of a variation of the gears.

(0071 J Figure 32 illustrates a variatio of a portion of the robotic system including a first side plate.

[0072] Figure 33 illustrates a variation of a portion of the robotic system including a second side plate.

[0073 J Figure 34 is a close-up view of a variati n of the battery compartment,

[0074] Figures 35a through 35c illustrate a variation of using a door on the battery compartment.

[0075] Figure 36 is a schematic representation of a variation of a control module of the robotic system.

[0076] Figure 37 is a schematic representation of a variation of a power module of the robotic system.

[0077} Figure 38 is a front view of a variation of a remote user control module of the robotic system.

[0078} Figure 39 and 42 are rear perspective views. Figure 42 is also a partial see-through view, of a variation of the remote user control module of the robotic system with the rear pane! in open and closed configurations, respectively.

[0079} Figures 40 and 41 are front and front perspective views, respectively, of a variation of the remote user control module of the robotic system.

[0080] Figures 43a and 43b are close-up views of the top front and bottom rear, respectively, of a variation of the remote user control module.

[0081] Figure 44 illustrates a variation of the user control module.

[0082} Figure 45 is a schematic of a variation of the software stack architecture for the user control module.

[0083] Figures 46 and 47 are top and bottom views, respectively, of variations of payioad control module.

[0084} Figure 48 illustrates a variation of a method for attaching the payioad control module to the remainder of the robotic system.

Levine Bagade Han LLP Page 1 1 of 73 [0085] Figures 49 through 51 are front perspective, rear perspective, and side views, respectively, of ntegrated audio and video payioad modules.

[0086] Figure 52a illustrates a variation of the robotic system.

[0087] Figures 52b, 52c and 52d are close-up views of portions of Figure 52a.

[0088] Figure 53 is a close-up front perspecti ve view of a variation of a partially assembled robotic system.

[0089] Figure 54a is sectional view of a variation of a pulley end cap.

[0090] Figure 54b is a partia lly exploded view of a variatio of a flipper.

[0091] Figure 55 illustrates a variation of a camera payioad.

[0092] Figure 56 is a schema tic representation of a variation of a drive module of the robotic system.

[0093] Figure 57 is a schematic representation of a varia tion of a mobility assistance module of the robotic system.

[0094] Figure 58 is a schematic representation of a variation of a audio payioad module of the robotic system.

[0095] Figure 59 is a schematic representation of a variation of a video payioad module of the robotic system.

[0096] Figures 60 through 65 illustrate that the robotic system 10 can have one or more cooling devices. The cooling devices may thermally regulate the robotic system 10.

J0097] Figure 66 is a top see-through view of a variation of a robotic system.

[0098] Figure 67 is a side view of a variation of the robotic system shown without flipper assemblies for illustrative purposes.

[0099] Figures 68 through 70 are exploded views of variations of the flipper assemblies. {0100} Figures 71 through 74 are perspective views of farther arrangements of the mobility assistance devices of a variation of the robotic system.

DETAILED DESCRIPTION

[0101 Figures la and lb illustrate a mobile robotic system 10 that can be used for remotely transporting a payioad. The robotic system 10 can be configured to traverse terrain types including flats, stairs., rubble, water barriers, and to push open and pass through doors. The robotic system can be in an expanded configuration to extend the wheeibase and/or track base (i.e... the length from the distal termmal end of the longitudinally outennost wheel or track on

Leviiie Baaade Han LLP Page 1 a first longitudinal end of the system to a distal terminal end of the longitudinally outermost opposite wheel or track on a second longitudinal end of the system),

j0102| The robotic system 10 can have a chassis frame 101, The chassis frame 101 can have plates mounted to the chassis frame 101. The chassis frame 101 and plates can form a dust- proof, and/or water-proof body 20 or chassis 1.00. For example, the plates can form the entire outside surface, be sealed with gaskets and/or caulking and/or sealant, and have no ports or holes, or have holes or ports covered by dust-proof and/or waterproof filters. The chassis 100 or body 20 and the chassis frame 101 ca be identical , for example if the system 10 has no side plates or other additional body or chassis components on the chassis frame 101 ,

10103 J The body 20 can be water and/or dust permeable. The body 20 can have vents or holes, for example for cooling, sampling the environment (e.g., video, audio, chemical sensors, and or samplers), tool access, or combinations thereof.

[0104} The body 20 can contain one or more removable or permanently affixed payioads, such as cameras, video displays, microphones, speakers, transceivers (including receivers and/or transmitters), chemical sensors and samplers, weapons, or combinations thereof.

[0105] The body 20 can be attached to one or more mobility devices 200, The mobility devices 200 can be a track system, and/or be a set of one or more wheels, skis, skates, propellers, wings, sails, blades, balloons, floats, paddles, oars, flippers, turbines, propellers, corkscrews, winches, pressure tanks, rockets, a hover system or combinations thereof. Figure la illustrates that the body can have one, two or more mobility devices 200 located on each lateral side of the bod 20. Figure lb illustrates that the body 20 can have one or more mobility devices 200 located laterally within the bodv. The mobilitv devices 200 can be laterally central to the body 20.

{0106} The track system can have mobility device tracks 210 mounted onto mobility device track drive pulleys and a mobility device track guide. The mobility device track can be driven, as shown by arrows 30, by the mobility device track drive pulleys along the mobility device track guide. The mobility device track device pulleys can be actively powered by one or more motors, and optionally transmissions, in one direction or controllably reversible directions, and/or passively free-spinning, and/or attached to a full-time engaged, or engageahle and releasable clutch to prevent rotation in a first direction while allowing rotation in a second direction (e.g., to prevent backing up or sliding downhill, for example when carrying a payload or towing a load). The mobility device track 210 can engage with the ground surface and propel the system 1 .

Levine Bagade Han LLP Page 13 of 73 [0107} One or both of the mobility devices 200 can have a mobility device diimmy track. For example, the mobility device dummy track can be located where some or all of the mobility device track 210 would have been located. The mobility device diimmy track can be a single, plastic molding that has an appearance similar to the mobility device track 210, or a part of the mobility device track 210 that is not driven. The mobility device diimmy track can be not in contact with the ground surface. For example, the mobility device dummy track can not extend to the bottom of the mobility device 200, The mobility device dummy track can drag or slide along the ground surface when the system 10 is moved. The mobility device dummy track can be a chain cover that covers a drive chain for driving one or both flippers.

[0 08} The body 20 can be attached to one, two, three, four or more mobility assistance devices 300, such as flippers 301, wheels, skis, skates, propellers, wings, sails, blades.

balloons, floats, paddles, oars, flippers, turbines, propellers, corkscrews, winches, pressure tanks, rockets, a hover system, a floating device such as a foam or gas-inflated (e.g., air or carbon dioxide) bladder, or combinations thereof. The mobility assistance devices 300 can have a mobility assistance device track that can dri en, as shown by arrows 40, and guided by one or more mobility assistance device pulleys, and guided by a mobility assistance device track guide.

[0109} The flipper tracks can all be driven in the same direction. Any one, two, three, or four flipper tracks can be driven in a first direction while the remaining flipper tracks can be driven in a second direction, opposite to the first direction, locked in place (e.g., via a clutch or brake), allowed to slide freely along the mobility assistance device pulleys and mobility assistance track guide, or combinations thereof,

[0110} For example, the flipper tracks on a first lateral side of the body 20 can be driven in a first direction while the flipper tracks on the laterally opposite side of the body 20 can be driven in the second direction, opposite to the first direction, locked in place (e.g., via a ciutch or brake), allowed to slide freely along the mobility assistance device pulleys and mobility assistance track guide, or combinations thereof (e.g., to turn the body). The flipper tracks on a first lateral side of the body 20 can be driven in opposite directions to each other while the flipper tracks on the laterally opposite side of the body 20 can be driven in directi ons simi lar to or opposi te to the direction driven by either of the tracks on the first lateral side of the bod 20, locked in place (e.g., via a clutch or brake), allowed to slide freely along the mobility assistance device pulleys and mobility assistance track guide, or combinations thereof (e.g., to turn the body ).

Levine Bagade Han LLP Page 14 of 73 Oil 11 The flipper tracks on a first longitudinal side of the body 20 (e.g., the front or back) can he driven in a first direction while the flipper tracks on the longitudinally opposite side of the body 20 can be driven in the second direction, opposite to the first direction, locked in place (e.g., via a clutch or brake), allowed to slide freely along the mobility assistance device pulleys and mobility assistance track guide, or combinations thereof (e.g., to churn or rub the ground surface with the tracks). The flipper tracks on a first longitudinal side of the body 20 can be driven in opposite directions to each other (e.g., to churn or rub the ground surface with the tracks) while the flipper tracks on the second, longitudinally opposite side of the body 20 can be driven in directions similar to or opposite to the direction driven by either of the tracks on the first longitudinal side of the body 20, be locked in place (e.g., via a clutch or brake), allowed to slide freely along the mobility assistance device pulleys and mobility assistance track guide, or combinations thereof.

£0Η2| The flipper tracks on diametrically opposite sides of the body 20 can be driven in a first direction while the flipper tracks on the diametrically opposite side of the body 20 can be driven in the second direction, opposite to the first direction, locked in place (e.g., via a clutch or brake), allowed to slide freely along the mobility assistance device pulleys and mobility assistance track guide, or combinations thereof (e.g., to intentionally churn or rub the ground surface with the tracks). The flipper tracks on diametrically opposite sides of the body 20 can be driven in opposite directions to each other (e.g., to rotate the body 20) while the remaining flipper tracks (e.g.. those on the other diametrically opposite corners of the body 20) can be dxiven in directions similar to or opposite to the direction driven by either of the tracks on the first longitudinal side of the body 20, be locked in place (e.g., via a clutch or brake), allowed to slide freely along the mobility assistance device pulleys and mobility assistance track guide, or combinations thereof,

(01131 F ur flippers 301 can be located at the laterally and longitudinally opposite comers of the body or main track, as shown. Two flippers 301 can be at a single longitudinal end (e.g., front or back) of the body 200 with no flippers at the opposite longitudinal end. Two flippers 301 can be on a single lateral side of the body 20, with no flippers 301 on the opposi te lateral side. Two flippers 301 can be placed at diametrically opposite corners of the body 20 with the remaining corners having no flippers 3 1.

|0114| The driven mobility assistance device tracks can be driven in the same and/or opposite directions to the driven mobility device tracks. For example, all the driven in the same direction as the driven mobility device tracks. The mobility assistance device tracks on

Levine Bagade Han LLP Page 15 of 73 a first lateral side can be driven in the same first direction as the driven mobility device track on the first lateral side when the mobility device track and the mobility assistance device tracks on the second, opposite lateral side is driven in a second direction, opposite the first direction, for example to rotate the system 10 (e.g., without translating the system away from the current location of the system 30),

[01 15) When the flippers 301 are in an extended configuration, as shown in Figures la and lb, the longitudinal !y distal ends of the flippers 301 can extend past the longitudinally distal ends of the chassis, body 20 and/or the mobility device 200.

[0116J Figure 2 illustrates that the -mobility assistance devices can be longitudinally contracted or retracted toward the longitudinal center of the body 20. For example, the flippers 301 ca individually, in lateral, longitudinal, or diametrically opposite pairs, and or concurrently rotate, as shown by arrows 50, toward the longitudinal center of the body 20. The flippers 30! can be positioned to not exceed the top or bottom height of the body 20. For example, the flippers 301 ca be withi the side-view footprint of the body 20.

[0117) The robotic system can be in a retracted or contracted configuration to minimize the effective wheelbase and/or track base, for example for storage, carrying, maneuvering smaller clearances while driving the system 10, throwing the robotic system 10 (e.g., through window into an unsecure building or room), or combinations thereof.

[01 8) Figure 3 illustrates thai the mobility devices ca be skids or skis 202. The skis 202 can be low friction, smooth panels. The skis 202 can define a ski plane. The skis 202 can be coated with a low friction material, such as wax, polymer (e.g., PTFE, such as Teflon® from EI IXiPont de Nemours & Co.. Wilmington, DE), oil, another lubricant, or combinations thereof. The skis can be high friction, roughened panels. The skis 202 can be textured, having knurls, spikes, brads, vanes, fins, or combinations thereof extending outwardly from the plane of tire ski 202.

| 0 l 19} The skis 202 can have ski tips 204 that can extend from one or both of the

longitudinal ends of each ski 202. The ski tips 204 can extend longitudinally past the longitudinal terminus of the body 20. The ski tips 204 can be in plane with the skis 202 or curve, bend, or angle out of plane with the ski 202, For example, the ski tips 204 can curve toward the center of the body 20, as shown in Figure 3. The ski tips 204 can curve away from the center of the body 20.

[0120) Figures 4a and 4b illustrate that the robotic system can have a first, second, and third robotic system antennas 60a, 60b, and 60c. The antennas 60a. 60b, and 60c can be fixed to or

Levine Bagade Han LLP Page 16 of 73 removable from plugs on the top surface of the body 20, The antennas can be attached to electronic hardware in si de of the body 20. but exi t the body 20 through ports through panels on the top of the body 20. The antennas can be straight, as shown, carved, triangular, smart antenna arrays, springs, or combinations thereof. The antennas 60a, 60b, and 60c can extend from about 0 cm (0 in.) to about 1 m (3 ft.), more narrowly from about 2 cm (0.8 in. ) to about 60 cm (20 in.), for example about 20 cm (8 in.) up from the body 20. The antennas 60a, 60b and 60c ca be rigid, flexible, or combinations thereof

|0121 The antennas 60a, 60b, and 60c can recei ve and send signals for data and or power to and from a remote operator control module, a central operations command, a second robotic system, or combinations thereof One or more of the antennas 60a, 60b, and 60c can alternatively or additionally be a cord extending to the destination and/or source of the signal and/or power.

[0122} The antennas 60 can have a removable interface (e.g., BNC, TNC. SMA), for exarapie, for quick assembly and disasserabiy to the body 20. The antennas 60 can be located inside the body 20. For example, the body 20 and/or side plates ca be made of a materia! (e.g., plastic) that does not shield interna! antennas 60 from incoming RF signals and b!ock outgoing signals. The antennas 60 can be mounted on a flexible mount. The antennas 60 can be attached to the body 20 by or attic u!atab! or folding mounts. The flippers 301 can extend from the f om and back of the body 20. The bottoms of the flippers 301 can be substantial ly coplanar with the other flippers 301 and/or with the bottom surface of the body 20.

(0123J The body 20 can have one, two, or more mobility device tracks 210. The mobility device tracks 210 can be powered or driven to deliver force against the ground surface in contact with the bottom or top of the mobility device track 210.

{0124} Figures 5a and 10b illustrate that the mobility device tracks 210 can have mobility device track axes 209. The track axes 209 can be parallel with each other, or at positive or negative mobility track angles 208 with respect to each other. For example, the mobility device tracks 210 can have adjustable toe-in (i.e., a positive mobility track angle 208 or toe- out (i.e., a negative mobility track angle). The toe-in can add stability to the steering and straight line stability at low and high speeds. The mobility track angle can be from about - 10° to about -H0 ^D , for example about 0°. For toe-in configurations, the mobility track angle 208 can be from about 0.5° to about 10°, more narrowly from about 1 ° to about 5°, for example about 3°. The mobility track angle 208 can be adjustable, for example by adjusting

Levine Baaade Han LLP Page 1 ? of 73 an alignment bolt on one or both mobility devices 200 and/or by controlling servo motors or solenoids attached to one or both mobility devices 200.

j0125| The mobility device tracks 210 can have mobility device track outside nubs 21 1 (and 212, shown infra) and/or -mobility device track inside nubs 216 (217 and 218). The outside nubs 21 1 can be on the outside surface of the device tracks 210. The inside nubs 216 can be on the inside surface of the mobility device tracks 210. The inside nubs 216 (217 and 218) can, for example, retain the track 210 on the pulley 220, track guide and rollers. The outside nubs 211 (and 212) can, for example, increase the traction between the track 210 and the ground surface. The mobility device inside nubs 216 and/or mobility device outside nubs 21 ! can be studs, spikes, brads, cleats, anchors, rails, or combinations thereof. The inside nubs 216 and/or outside nubs 21 1 can be integral with and/or removably attached to the mobility device tracks 210,

10126} The inside nubs 236 and/or outside nubs 21 1 can be separated, individual nubs, as shown, and/or one or more rails extending along part or all of the length of the track. For example, the rail can have nublets extending toward (e.g., medially) or away from (e.g., laterally) the center of the width of the track. The inside nubs 216 (or 316) or nublets can hold the track 210 (or 310) on the pulleys 220 (or 320) and/or {rack guides and/or rollers, and/or extend into and engage with a track interface, such as the radially extending vanes 345, of the pulley caps 240 and 340. The inside nubs 216 (or 16) or nublets can mate, engage and disengage the radially extending vanes 345 as the pulley caps 240 and 340 rotate attached to and synchronized with the pulleys 220 (or 320) and the track 210 (or 310) moves along the pulleys 220 (or 320). Radially extending varies can be on the pulle 220 (or 320) to engage the inside nubs 216 (or 316).

{0127] The inside nub 216 and/or outside nubs 21 i can be spaced apart from the adjacent, respective, nubs 216 and/or 21 1 by from about 1 cm (0.4 in.) to about 5 cm (2 in.). For example, the outside nubs 21 1 can be spaced apart by about 42 mm (1.6 in.). Also for example, the inside nubs 216 can be spaced apart by about 1 mm (0.55 in.). The inside nubs 216 and or outside nubs 21 1 ca extend laterally across the part or all of the width of the mobility device track 21 . For example, the outside nubs 21 1 can be located in

longitudinally equal pairs with erne nub of each pair located on the lateral inside of the mobility device track and the other nub of the pair located on the lateral outside of the mobility device track 210, The outside nubs 21 1 can increase the tractio or friction between the tracks 21 and the ground surface adjacent to the tracks 21 .

Leviiie Bagade Han LLP Page 18 of 73 [0128] One, two, three, four or more of the flippers 310 can have mobility assistance device tracks 310. The mobility device tracks 3 0 can encompass the outer perimeter of the flippers along a vertical plane parallel with the plane of the flipper 301. The flippers 310 (e.g., the non-tracked flippers) can have no track, skids, skis, tires, or combinations thereof.

[0129] The mobility assistance device 300 can have a mobility assistance device pulley or flipper pulley 320. The flipper pulley 320 can receive power from a power source, such as a motor, and deliver it to the mobility assistance device track 310. The outer lateral side of the flipper pulley 320 can be attached to and covered by mobility assistance device pulley cap 340. The mobility assistance device pulley cap 340 can have one, two or more angular (e.g., about 360°) vanes and/or one or more (e.g., from, about 3 t about. 30. for example about 12) radial mobility assistance device vanes 342b and recessions.

[0130] The flipper 301 ca have a mobility assistance track guide 330. The flipper 301 can have a mobility assistance track guide arm 331. The mobility assistance track guide arm 331 can be vertically inside of or contained by the mobility assistance track guide 330. The mobility assistance track guide arm 33 lean be attached to and/or integral with and/or interference fit within the mobility assistance track guide 330.

[0131] The mobility assistance track, guide 330 and the mobility assistance track guide arm 331 can have angular and radial mobility assistance track guide vanes 350a and 350b, respectively, and recessions. The angular mobility assistance track guide vanes 350a can extend from a first terminal side of th mobility assistance track guide 330 or mobility assistance track guide arm 331, to a second terminal side of the mobility assistance track guide 330 or mobility assistance track guide arm 331 .

[0132] The flipper 301 can have roller wheel caps 336 (and 3 7), tor example attached to the lateral inside and outside of a roller wheel (shown infra). The roller wheel caps 337 can have a diameter larger than the roller wheel, for example interference fitting against, retaining and guiding the mobility assistance device track 3.10 on the flipper 310.

[0133} Figure 17 illustrates that the tracks 210 and 310 can have track large outer diameters 402a and track large inner diameters 402b, for example along the pulleys 220 and 320. The track large outer diameters 402a can be from about 5 cm to about 35 cm , for example, about Ϊ 5 cm .

[0134] The track large inner diameters 402b can be from about 4 cm to about 34 cm , for example, about 14 cm .

Leviiie Baaade Han LLP Page 19 of 73 0135| The mobility assistance device tracks 310 can have track small outer diameters 404a and track small inner diameters 404b, for example along the roller wheels 335. The track small outer diameters 404a can be f om about2 cm to about 20 cm , tor example, about 4 cm [0136} The track small inner diameters 404b can be from about 2 cm to about 19 cm _? for example, about 3 cm .

j0137| The track guide caps 337 and 336 cart have inner and outer track guide cap diameters 406a and 406b, respectively. The track guide cap diameters 406a and 406b can be from about 2.1 cm to about 1 ,1 cm , for example, about 3.5 cm .

10138) Figure 18 illustrates that the pulleys 220 and 320 can have pulley diameters 410. The puiiey diameters 410 can be from about 4 cm to about 34 cm , for example, about 14 cm . j0139| The pulley end caps, mobility device pulley caps 240 or mobilit assistance device pulley caps 340 can have puiiey cap diameters 412. The pulley cap diameters 412 can be from about 4.1 cm to about 34, 1 cm , for example, about 14.1 cm .

[0140} Figure 14 illustrates that the side plates 150 can have sideplate heights 414. The sideplate heights 414 can be from about 4.1 cm to about 34,1 cm , for example, about 14.1 cm .

[0141 } When the tracks 210 and/or 310 are in a cool or unexpanded state, the track large outer diameters 402a can be larger than the puiiey cap diameters 412 and sideplate heights 414, for example to mainta n contact between the track 210 and/or 310 and the ground surface. When the tracks 21 and/or 310 are in a. warm or expanded state, the track large inner diameters 402b can be smaller than the puiiey cap diameters 412 and sideplate heights 414, for example to laterally restrain the tracks 210 and/or 310 (e.g., by interference fitting) on the respective track guides and pulleys.

(01421 When the mobility assistance device tracks 310 are in a cool or thermally unexpanded state, the track small outer diameters 404a can be larger than the inner and outer track guide cap diameters 406a and 406b, for example to maintain contact between the mobility assistance device tracks 310 and the ground surface. When the mobility assistance device tracks 31 are in a warm or thermally expanded state, the track small inner diameters 404b can be less than the inner and outer track guide cap diameters 406a and 406b, for example to laterally restrain the mobility assistance device tracks 310 (e.g., by interference fitting) on the respective track guides and pulleys.

Leviiie Baaade Han LLP Page 20 of 73 [0143] The flipper 301 can have a modulus of elasticity at 73° F of from about 280,000 to about 420.000. The flippers 301 can be rigid enough to provide support for the mobility assistance tracks 310 between the axes of the roller wheel and the pulley. The flipper 301 ca transmit torque to effectively rotate the mobility assistance device. The flipper 301 can flex on impact, or while being twisted/torqued in ways other than about the axis of rotation of the device.

[0144] The pulley wheels 220, 221 , and 320 can have a modulus of elasticity at 73° F of f om about 8,000 to about 12,000. The tracks 210 and 310 can have a modulus of elasticity at 73° F of from about 2,400 to about 5,600. The antennas can have a modulus of elasticity at 73° F of from about. 1 ,000 to about 24,000.

[0145| The body 20 can have one or more side doors 70 on one or both sides, and/or front and/or back, and/or top and/or bottom. For example, the side door 70 can be between the top of the mobility device track 210 and the bottom of the mobility device track 21 . The side doors 70 can access the first, second, third or other compartments, Each side door 70 can access a single compartment or a single side door can access two, three or more

compartments.

[0146] The body 20 can have a side door latch 72. A first part of the side door latch 72 can be fixed to the side adjacent to the seam between the side door 70 and the side plate adj cent to the side door 72. A second part of the side door latch 72 can be fixed to the side door 70. The side door latch 72 can be unlatched opened or latched closed, fixing the door closed. The side door 72 can be locked and unlocked. For example, the side door 72 can be locked during operation of the system 10 and unlocked for cleaning, replacing pay loads,

maintenance or combinations thereof.

[0147] One (as shown) or both lateral sides, and/or one or both longitudinal ends, and/or the top and/or the bottom can have doors similar to the side door 70 with or without latches.

[0.148] The mobility assistance device track 310 can ha ve mobility assistance device track outside nubs 3 1 1 and/or mobility assistance device track inside nubs 316. The outside nubs 311 can be on the outside surface of the mobility assistance device tracks 31 . The inside nubs 336 can be on the inside surface of the mobility assistance device tracks 310. The inside nubs 3 16 and/or outside nubs 31 1 can be studs, spikes, brads, cleats, anchors, rails, or combinations thereof. The inside nubs 316 and or outside nubs 31 1 can be integral with and/or removably attached to the mobility assistance device tracks 310.

Levine Baaade Han LLP Page 21 of 73 [0149] The inside nubs 3 16 and/or outside nobs 31 1 can be spaced apart from the adjacen respective, nubs 316 and/or 311 by from about 1 cm (0.4 in.) to about 5 cm (2 in). For example, the inside nubs 316 ca be about 1 mm (0.55 in.) apart, and the outside nubs 31 1 can be about 42 mm (1 ,7 in.) apart. The inside nubs 316 and/or outside nubs 31 1 can extend laterally across the part or all of the width of the mobility assistance device track 3 !O. For example, the outside nubs can be located in longitudinal ly equal pairs with one nub of each pair located on the latera! inside of the mobility assistance device track 310 and the other nub of the pair located on the lateral outside of the mobility assistance device track 310. The outside nubs 316 can increase the traction or friction between the mobility assistance device tracks 3 J 0 and the ground surface adjacent to the tracks 310.

( 150) Figures 5a and 5b illustrate that the body 20 can have a first, second, and third compartment for holding removable pay loads. The first, second and third compartments ca be accessed through first, second and third interfaces, respectively. The first, second and third interfaces can be covered wit first, second and third interface covers 74, 76 and 176. respectively. The interface covers 74, 76 and 176 can be attached to the body 20 with cover attachment devices 80, such as screws, bolts, fast-release (e.g., cotter) pins, snaps, latches, or combinations thereof.

[0151] One, two or three of the interface covers 74, 76 and 176 can ha ve ventilation and/or sound openings 78, such as vents, pores, filters, holes grids, a screen-covered, fabric-covered and/or mesh-covered and/or grate-covered opening, or combinations thereof. The openings 78 can be waterproof and/or dust-proof. The robotic system 10 can have a speaker and/or microphone can be located inside of the openings 78. A ventilation fan, manifold or conduit can be located inside of the openings 78.

{0152} The body 20 can have an open or covered payioad bay 175. One or more payloads can be loaded into and permanently fixed or removably attached or detachable from to the payioad bay 175.

[0153} The body 20 can have one or more top body panels 80a on the top side of the body 20, one or more bottom body panels 82b on the bottom side of the body 20, one or more payioad bay body panels 82c, side front and rear body panels, and combinations thereof. The body panels can be reinforced and plated. For example, the body panels can be made from iron, steel, aluminum, titanium, plastic, ceramic, laminated glass, polycarbonate thermoplastic, crystal, carbon fiber layers, depleted uranium, buckypaper, aluminum foam, or composites or other combinations thereof.

Levine Baaade Han LLP Page 22 of 73 [0154] The body panels can be from about 2.5 mm (0,098 in.) to about 14 mm (0.55 in,) thick, for example with externa! and nternal ribs to provide support. The ribs also act as vanes to dissipate heat. The ribbed design can create a high-strength, lightweight chassis that. has extra surface area, compared with a rib-less body, tor example for dissipating heat,

[01551 The body panels can be theraially conductive and sink heat away from the motors and other heat- generating electric components. The body panels can have radiati e heat transfer vanes 86, for example, to dissipate heat, from the electric components into the environment outside of the body 20.

[01561 The mobility assistance devices 300 can have mobility assistance device pulley caps 340 attached to the lateral outside of the mobility assistance device pulleys that can drive the mobility assistance device tracks 31 . The mobility assistance device pulley caps 340 can have a rounded lateral outer surface, for example forming a mobility assistance device pulley end cap radius of curvature 84. The mobility assistance device pulley end cap radius of curvature 84 can be from about 10 cm (4 in.) to about 21 cm (8.3 in.), for example about 162 mm (6.38 in.). When the robotic system 10 is positioned or falls onto the side of the robotic system 10, the curvature of the mobility assistance device pulley end caps 340 can induce the robotic system to passively or actively (i.e., by activating the mobility assistance device 300) fall onto the top or bottom of the robotic system 10, for example enabling any of the tracks 210 and or 10 to contact the ground surface and propel the robotic system 10.

[0157] Figures 54a and 54b illustrate that the mobility assistance device pulley end caps 340 can include ribs 3401 for structural support, and a steel backing plate 3402 which can be from about 1 mm to about 2 mm thick. One or more dowel holes 3404 in the steel backing plate 3402 can permit one or more dowel pins 3403 to enter into or pass through the steel backing plate 3402. The dowel pins 3404 can be integral with and extend from, or press into the flipper arm 330, The dowel pins 3403 can be pressed into the pulley cap 340 to prevent rotation and to preserve rotational orientation of the flipper arm 330 and the wheel cap. The dowel pins 3403 can be cylindrical, or have an oval, square, triangular, pentagonal or hexagonal cross-section.

J 158] The chassis 100 can have a handle 178 extending from one or both of the longitudinal ends of the chassis 100, The handle 178 can be configured to form an ergonomic gap between the handle 178 and the chassis 100. The handle 178 can support the hanging weight of the robotic system 10 and a full complement of payloads and other components loaded onto the chassis 100. For example, the handle 178 and chassis 100 can support from about 2

Levine Bagade Han LLP Page 23 of 73 kg (5 lbs) to about 45 kg (100 lbs), more narrowly from about 5.4 kg ( 12 lbs.) to about 27 kg (60 lbs.), yet more narrowly from about 16 kg (35 lbs.) to about 23 kg (50 lbs.).

(01591 Figure 6a illustrates that the body 20 can have a body longitudinal axis 354. The mobility devices 200 can have mobility device longitudinal axes 356. The mobility

assistance devices 300 (e.g., flippers 301) can have mobility assistance device longitudinal axes 358.

(01601 The mobility assistance device longitudinal axes 358 can intersect the body

longitudinal axis at one or more mobility assistance device-body angles 360. The mobility assistance device longitudinal axes 358 can intersect the mobility device longitudinal axes 356 at one or snore mobility assistance device-mobility device angles 362.

(0161 j The mobility assistance device- body angles 360 and/or the mobility assistance device- mobility device angles 362 can be zero (e.g., parallel axes) or non-zero. The mobility assistance device-mobility device angles 362 can be from about 0° to about 180°, more narrowly from about 5° to about 15 ^l , for example about 10°. The mobility assistance device- body angles 360 can be from about 0° to about 180°, more narrowly from about 5° to about 15°, for example about 10°.

(0162J The flippers 301 can be vertically raised and lowered with respect to the body 20 and mobility devices 200, for example, to prevent the flippers from contacting the ground surface and to lift the mobility devices 200 so the drive forces from the mobility devices 200 do not conflict with the direction of the drive forces applied to the ground surface by the flippers 301. The flippers 301 and rnobi lily devices 200 can contact and apply a driving force to the ground surface concurrently, even when the mobility assistance device-mobility device angles 362 are not about 0 ^' °.

{0163} The robotic system 10 can have one, two, three, four or more steering rods 352 that can be attached to the flippers 301 . The steering rods 352 can be translatably powered and controlled by servo motors, solenoids, or combinations thereof. The steering rods 352 can extend laterally from the body 20. The steering rods 352 can translate laterally inward and outward, shown by arrows 364. The translation of the steering rods 352 can change the mobility assistance device-body angle 360 and the mobility assistance device-mobility device angles 362.

(0164J Each steering rod 352 can be synchronized or controlled independently. The mobility assistance device-body angles 360 can be adjusted to rotate or steer the robotic system 10.

Levine Baaade Han LLP Page 24 of 73 [0165] The drive axles 1.49 can extend laterally from the body 20, for example, about perpendicular to the body longitudinal axis 354. The drive axles 149 can he laterally extendable and retractable to position the flippers 301 away from the mobility devices 200 at the location of the drive axles 149. For example, the drive axles 149 can be positioned to position the flippers 301 flush with and adjacent to the mobility devices 200 at the location of the drive axles 149 with no substantial gap between the flippers 301 and the mobility devices 200.

[0166] The mobility assistance device-mobility body angles 360 and/or the mobility assistance device-mobility device angles 362 of the flippers 301 at a first longitudinal end of the robotic system 10 can be about the negative of mobility assistance device-mobilit body angles 360 and/or the mobility assistance device-mobility device angles 362 of the respective laterally corresponding flippers 3 1 at a second longitudinal end of the robotic sy stem 10.

[016?! Figure 6b illustrates that the mobility assistance device-mobility body angles 360 and/or the mobility assistance device-mobility device angles 362 of the flippers 301 at a first longitudinal end of the robotic system 10 can be about equal to the mobility assistance device-mobility body angles 360 and/or the mobility assistance device-mobility device angles 362 of the flippers 301 at a second longitudinal end of the robotic system 10,

0168} The flippers 301 can all be parallel. The steering rods 364 for all the flippers 301 can be synchronized and/or fixed to each other.

{01691 Figure 6c illustrates that the left lateral front flipper 301 can be parallel with the right lateral front flipper 301 , and the left lateral rear flipper 301 can be parallel with the right lateral rear flipper 301 , for example to actively steer the robotic system 301, but the front flippers 301 can be optionally fixed to be parallel or not parallel with the rear flippers 301. {0170} Figure 6d illustrates that the flippers 301 can be retracted or contracted, as shown by arrows. Some or all of the flippers 301 can have non-zero mobility assistance device- mobility body angles 360 and/or the mobility assistance device-mobility device angles 362 in a retracted or contracted configuration.

(0171 J Figure 6e illustrates that the flippers 301 at a first longitudinal end of the robotic system 10 can have mobility assistance device-mobility body angles 360 and/or the mobility assistance device-mobility device angles 362 of about 0° in a retracted or contracted configuration. The flippers 301 at the second longitudinal end of the robotic system 10 can have non-zero mobility assistance device-mobili y body angles 360 and/or the mobility assistance device-mobility device anales 362 in a retracted or contracted configuration., for

Levine Bagade Han LLP Page 25 of 73 example not interference fitting against the flippers 301 at the first longitudinal end and compacting into a laterally symmetric footprint (when viewed from the top or bottom).

j0172| Figure 6f illustrates that flippers 301 at first diametrically opposite corners of the robotic system 10 can have mobility assistance device-mobility body angles 360 and/or the mobility assistance device-mobi lity device angles 362 of about 0° in a retracted or contracted configuration. The flippers 30 ! at second diametrically opposite corners of the robotic system can have non-zero mobility assistance device-mobility body angles 360 and/or the mobility assistance device-mobility device angles 362 in a retracted or contracted

configuration, for example not interference fitting against the flippers 301 at the first

longitudinal end and compacting into a diagonally symmetric footprint (when viewed from the top or bottom).

j0173| Figure 6g illustrates that flippers 301 of the robotic system 10 can be laterally offset from one another. Any or all of the flipper 301 can extend up to approximately the length of the chassis 20 for the robotic system

[0174} Figure 6h illustrates that in a compacted, contracted or folded configuration, any or all of the fl ippers 301 can be equal length to the chassis 20, Any or all of the fl i ppers 301 can have proximal and distal (i.e., front and back) longitudinal termini at equal longitudinal positions to the proximal and distal (i.e., front and back) longitudinal termini of the chassis 20. The robotic system 10 can be carried in a backpack. The chassis length can be about 10 in. The flipper length can be from about 8 in. to about 10 in. Figure 7a illustrates that the mobility assistance devices 301 on a lateral side of the robotic system 10 can have

complimentary shapes in a contracted and/or retracted configuration. The shapes of the mobility assistance devices 301 can retract (e.g., rotated inward).

{0175} For example, each flipper 30! can have more than one roller wheel 335 to form each flipper 30 ! to not interference fit agai nst the other flippers 301 on the same lateral side of the robotic system 10 whe the ilippers 30.1 are in a retracted or contracted configuration, in an extended configuration or moving between different configurations.

(0176} Figure 7b illustrates that when the flipper 30! can be in an extended configuration, The flipper 30! at a first longitudinal end on a lateral side of the robotic system can contact the ground surface 372 along the substantially entire length of the flipper 301. The flipper 303 at a second longitudinal end on the same lateral side of the robotic system can contact the ground surface along about the entire length of the flipper 301 , or upon less than about the entire length of the flipper 301 , for example along about half of the length of the flipper 301 ,

Leviiie Bagade Han LLP Page 26 of 73 The flipper 301 can form a flipper rise 364. The flipper rise 364 can be the gap under a leading terminal end of the flipper 364. As the robotic system is moving in the directio of the flipper rise 364, obstacles can encounter the flipper initially in the flipper rise 364, under the flipper 301. The flipper can then be pressed upward as the flipper 301 contacts and is forced onto the obstacle,

[0177} Figures 8 through 10b illustrate that the robotic system 10 can have no mobility assistance devices, The mobility devices 200 can be the lateral termini of the robotic system 10.

[0178J The mobility devices 200 can have mobility device pulley end caps 240. Each mobility device pulley end cap 240 can have a mobility device pulley end cap radius of curvature 284. The mobility device pulley end cap radius of curvature 284 can be from about 10 cm (4 in.) to about 21 cm (8.3 in.), for example about 162 mm (6.38 in.}. When the robotic system 50 is positioned or falls onto the side of the robotic system 10. the curvature of the mobility device pulley end caps 240 can induce the robotic system 10 to passively or actively (i.e., by activating the mobility device 200} roll onto the top or bottom of the robotic system 10, for example enabling any of the tracks 210 to contac t the ground surface and propel the robotic system 10.

[0179} As shown in Figures 1 1 through 14, the robotic system 10 can include chassis 100 which can house a power supply 110, a control module 120, and a drive module 130 connected to at least one mobility device 200. As shown in Figures 1 through 20, the control module 120 can include a remote operator control unit 127. As shown in Figure 21 , the powe module can regulate and control the power to the control module 120, As shown in Figures 1 1 and 22, the drive module 130 can include at least one gearbox 132. at least one motor 134, and at least one motor controller 536. As shown in Figures 2 through 25 respectively, audio and video payloads may be attached to the robotic system 10. As also shown in Figures 1 1 and 23, the chassis 100 may house a mobility assistance module 140 connected to a mobility assistance device 300. As shown in Figures 17 and 18, the mobility assistance device 300 ca be at least one flipper. The flipper can resemble a piriba.1I machine flipper. The flipper can have a movable track 310. At least one flipper can be actuated, two flippers can be actuated, or any number of flippers may be automatically or manually actuated. As shown in Figures 26 through 29 the flippers may be actuated in a number of different positions depending on the application.

Leviiie Baaade Han LLP Page 27 of 73 [0180] Figures 12 through 16 illustrate that the chassis 100 can support all of the components of the robotic system 10.

[0181] Figure 12a illustrates that the chassis 100 can have component-receiving chassis rails 374, The coinponent-receivmg chassis rails 374 can extend inwardly from the wal ls of the chassis 100. The chassis 100 can be made with an extrusion process. Any or all of the compartments 1 3, 104 and 1 5 can have one or more rails 374.

[0182] The components can have component rails and'or grooves that can be configured to be slidably received by the rails 374. The chassis rails 374 can be separate elements from the chassis 100 and/or can be extruded profiles integral with the chassis iOO. The components can have snaps, clips, detents, other lockable configurations or features, or combinations thereof that can interface with the chassis rails 374. The components can be slid into the chassis 100 along one or more chassis rails 374, and locked, fixing the component against the chassis rail 374 and/or chassis wall. The components can be unlocked, detached from the chassis, and, for example, removed from the chassis 100. The components can be removed from the chassis 100 for maintenance, modification, specializing the robotic system, controlling weight, weight distribution, power usage, and combinations thereof

[0183] The chassis rails 374 can each have one or more rail legs 376 and rail arms 378. The rail leg 376 can extend perpendicularly from the chassis wall or compartment wall. The rail arm 378 can extend perpendicularly from the rail leg 376. For example, the rail arm 378 can extend from the end of the rail leg 376 that is farthest from the wall from which the rail leg 376 extends. The chassis rails 374 can be curved. For example, the chassis rails 374 can have an arc shape,

[01 4] The chassis rails 374 can be placed in pairs, such as a first chassis rail 374a and a second chassis rail 374b paired with the first chassis rail 374a. The first chassis rail 374a can be positioned in the opposite orientation as the corresponding second chassis rail 374b. A component can be configured to be slidably and/or Iockably recei ved by a first chassis rail 374a and the corresponding second chassis rail 374b.

[0185) The chassis 100 can protect components of the robotic system 10 which may include electronic components, motors, power supplies, payload components, mobility assistance de vices, and any other components of the robotic system 10, As shown in Figures 12b and 13, the chassis 100 can include a chassis frame 101.

[0 86] Figures 14 through 16 illustrate that at least one side plate 150 can be configured to close the chassis frame 101. The side plate 150 may partially close the chassis frame 101.

Levine Bagade Han LLP Page 28 of 73 [61871 Figures 12b and 13 illustrate that, the chassis frame 101 can be divided into a first and second compartment 103. 104. The chassis frame 101 can have a third compartment. The second compartment 104 can include the third compartment 105. However, the chassis frame 101 can include one, two, three, four, five, six or more compartments, arranged in any suitable configuratio for housing any number of modules and/or robotic system components.

[0188} For example, the actuator modules can be located close to the mobility devices to minimize material in the robot's design. The power source compartment can be located so that the power module can connect via a sHding-fit connector when the power source is placed in its compartment. Also, for the current configuration the power source (e.g., which can be relatively heavy) can be located close to the axis of rotation of the flippers that will be rotated to "self-right" the robotic system 10 when the robotic system 10 is upside down. This configuration ca have a center of gra vit close to the axis of rotation, which can help stability of the robotic system 10 for self-righting.

|Θ189| The chassis frame 101 can house about eight modules, for example, a control board, power board, front I/O board, audio board, two drive actuators, a flipper actuator, a safety coupling gear system, or combinations thereof. Electrical cabling can connect the modules. Gearing, axles, shafts and other mechanical components ca connect the modules. The chassis frame 101 can have a desiccant, for example for removing moisture. The chassis frame 101 can have a lubricant.

(0190} The body plates can be made from machined aluminum alloys, extruded, or die-cast. The body plates can ha ve ribs, for example, to increase strength and provide increased surface area. The ribs can be more prevalent around the high stress and/or high-heat areas of the body and plates, such as at connection points for fasteners, front, rear and top, bottom impact points, bearing journals, axes of rotation and mounting point for pay ads. The materials can be plated and/or hardened with anodizing, forging or heat-treating processes. {0191} The first compartment 103 of the chassis frame 101 can house and/or inc lude at least one drive module 130. The first compartment 103 of the chassis frame 101 can house and/or include a mobility assistance module 140. A second compartment 104 of the chassis frame 101 can house a power supply 1 10 and a control module 320. The second compartment 104 can house and/or include a third compartment 1 5 for housing a control module 120 separately from the power supply 1 1 ,

10192} Figures 12b and 13 illustrate that the chassis frame 10.1 can include at least one payload interface 171, 172, 173. The interfaces 171 , 172, 1.73 can be holes in the body 20.

Levine Bagade Han LLP Page 29 of 73 The interface 172 is shown open. A speaker grill 78 and microphone 181 can be attached to or be part of an audio module payload mounted to the chassis. The audio module pay load can be covered instead with a simple plate, such as show by interface 173. The interface 173 can also be expanded with an external actuator, device, sensor, or combinations thereof. The interfaces can be adapted to attach and/or connect payload modules. The payload moduies can be attached to the chassis frame 101 and/or payload connections 174 adapted to connect payload modules 170 a control module 120, power supply 1 10, or any other suitable robotic system component.

0193] The chassis 100 can have payload bay 175 that can hold payloads. The bay 175 can have one or more mounting points for attaching to payloads, and/or can carry payloads or gear loose (e.g., like a flat pickup truck bed with walls). The interface 1 0 can be removed and some variation added, so in that sense it can be a payload.

[ 194} Figure 14 illustrates that additional payload modules 1750 may be attached to the chassis frame 101 of the robotic system 10, and can use a rail or a nub or other mechanical feature 1 752 molded or attached to the chassis frame 101 , and the mechanical feature 1752 can be mated with a corresponding mechanical feature 1 51 in the payload module 1750, for example trough mated to a rail. For payloads designed for specific payload bay 175 on the robotic system 10, the mechanical features 1 751 , 1752 may be keyed, for example, to prevent attachment to a payload module 1750 in an incompatible position, which may damage electronics if a wrong connector is used, or may alter the balance of the robotic system 10. (0195] The chassis 100 can be made of metal, for example aluminum, titanium, copper, steel, iron, brass, sheet metal, or combinations thereof. The chassis 100 may be made of a non- metal material, such as carbon fiber, polycarbonate, concrete, metal foam, wood, a polymer, or combinations thereof. The chassis 100 can be manufactured via a machining process, extruded, molded, cast, stamped, carved, welded or combinations thereof.

{0196} Plastics described herein can be Deiri or other suitable polymers. The plastics can be machined, molded, extruded, shaped or combinations thereof

|0I97] Figure 15 illustrates that a chassis 1001 can include a solid watertight shell and a substructure for load-bearing. The chassis 1001 can be made from formed sheet metal. The substructure can be made entirely from sheet metal. The substructure sides 1002, 1003 can be formed of sheetraetai. The substructure top can be folded sheetmetal or can be completely or partially riveted or welded in place. The shell can have first and second shell sides 1004 and 1005, respectively. The shell sides 1004. 1005 can be attached to the substructure sides

Levine Bagade Han LLP Page 30 of 73 1002, 1003, The top cover can include an extra Up that can be inserted into a groove in side panels 1004, 1005 for sealing. The side panels 1004 and 1005 can be made from plastic. The chassis 1001 may include a heatsink cover 1009 on the back of the chassis to sea! around the motor heatsink 1258, The heatsink cover 1009 can be made from plastic. The heatsink cover 1009 can seal the edges of the cover on three edges per side.

[0198} Figure 16 illustrates that a welded chassis core 1010 can ha ve removable panels. The chassis core 1010 can be partially or fully made from seam welded sheet metal. The chassis core 1010 can be water-tight. Removable side panels 1.012, 1004, 1005 or top panels 101 1 may enable access to the center of the robotic system 1 . The cover may be welded on. The cover may not be removable in the field and/or during assembly. A face seal can be used t seal any side panels 1012, 1004, 1005 and top panels 101 1 , including plastic to sheet metal interfaces, however it may not be as reliable of a seal as the groove seal.

[0199} Figure 17 illustrates that a core chassis 1021 protected by a sliding cover 1022 can house the robotic system 10. The core chassis 1021 can be watertight or non-watertight. Ail electronics can be mounted in the core . Wires and cables can be routed inside the core precent to, concurrent, with, or subsequent to mounting the electronics in the core. A side plate can be attached to a rear drive system motor and/or at least one flipper system motor. A sliding cover 1021 can then be slid over the core chassis 1021. Each side plate 1004, 1005 can be attached with motors and tans affixed to the side plates 1 04, 1005, Wires can be routed to keep a groove seal between the edges of the chassis cover 1022 and the side plates 1004, 1005.

|O208j Figure 18 illustrates that a core chassis 1031 may have a shell. The shell can be plastic. The shell can include a bottom. The bottom can be plastic. The shell may or may not be attached to sides 1034, 035 and one or more top eover(s) or panel(s) 1032. The top panels 1032 can be sheet metal or plastic. The sides 1034 and 1035 can be plastic. The sides 1034, 1035 can be bonded along the keel line, for example to form a butt joint seal, A. gasket or an o-ring can be bonded along the keel line, for example to form a seal. The plastic can be clamped, screwed or adhered together to hold the seal tight. A single top panel can allow access to almost the full top of the system. The sides 1 34, 1035 can be sealed to the plastic using a face seal, which may include a wipe seal or an o-ring seal. The rear heatsink seal can be plastic to plastic. The core 1031 can support internal component mounts and rigidity. The top panel 1032 may be sealed to . The pay load connections can be watertight. The core 10 1 may include a heatsink cover 1009 on the back of the chassis 1001 to seal around a motor

Levine Bagade Han LLP Page 31 of 73 heatsink 1258. The heatsink cover 1009 can have a cover seal at the edges of the cover 1009, For example the heatsink cover 1009 can have a cover seal on 3 edges per side.

(0201 J Figure 19 illostrates that, the chassis can include a. core 1041. The chassis 1001 can be made entirely from plastic. The core can be plastic. The chassis 1001 can include structural panels 1042, 1043. The structural panels 1042 and 1043 can be made from sheet metal. The core 1041 can include stiffeners 1042, 1043, for example, on the side panels 1 04. 1 05, The stiffeners 1043 can be made f om sheet metal The motors can be mounted to the structural panels 1042, 1043. The motors can be mounted or not mounted to the sides 1004, 1005. The sides 1042, 1043 can be bolted to the core 1041. The sides can be made from sheet metal. The motors and other components requiring a rigid support, structure can be mounted to the. The electronics, for example, the power board, can run wiring outside the main plastic/sheetrnetal enclosure. The cable routing service can also be simpler. Side caps can cover the components. Seals can be plastic-to-plastic, o-rings, face seals, gaskets, or combinations thereof.

[0202} Figure 20 illustrates that a chassis 1051 can be include a cover plate or sheet metal skid plate 1052, a plastic skid-plate, or a cover or skid plate. The chassis 1051 can be made from injection molded plastic, or machined, cast, extruded, or combinations thereof. The chassis 1051 can be attached to an accessibility panel on the side, front, rear, top or bottom of the chassis 1051 in addition to or instead of the removable skid plate 1052. The accessibility panel can be made from sheet metal and/or plastic. The cover plate or skid plate 1052 can be sealed with a skid plate gasket to the inside of the chassis 1051. The skid plate gasket can prevent or minimize sand, water, liquids, and gasses from entering the chassis J 051.

(0203} Figure 21 illustrates that the right side can be attached, as shown by arrow S10, such as by fastening, to the core 1001. The use of right and left sides is prov ided for clarity.

however the right and left sides may be reversed in the assembly process. Each side may have more than one piece.

[0204} Figure 22 illustrates that a controller board . 202 can be attached to the core .1001. Attaching the controller board 1202 to the core 1.001 , can include attaching the controller board 1202 to a controller heatsink, and attaching the controller heatsink to the core 1001. The core 1001 can have a solid attachment wall. The solid attachment wall can be attached to or behind the controller board 1202, The solid attachment wall can be made from sheet metal. The solid attachment wall can be heatsink or heatpipe for the controller 1202.

Leviiie Baaade Han LLP Page 3 [0205] Figure 23 illustrates that second, third o more controller boards or daughter boards, for example a power controller board 1202, an audio/visual controller board 1203, a payload interface board 1204, or combinations thereof ^* can be attached to the sheet metal core 1001.

[0206] Figure 21 illustrates that the front shaft can be passed, as shown by arrow S20, through the right side and through the core !OOl . The skleplates can include bushings (e.g., iglide® plastic bushings from igus®, inc. of East Providence, Rl). The bushings can be about 15mm in di meter. The bushings can be pressed into the side.

[0207) Figure 24 illustrates that the power supply 1 1 can be inserted into the lateral side of the chassis, and the pay load control module 12S can be attached to the top of the partially assembled robotic system, as shown by respective arrows.

[0208) Figure 25 illustrates that the gear assembly can be slid, as shown by arrows S22, on the rear shaft after it has been placed in the side plate 150, for example, concurrent with the front shaft passing through the right side and the core i 001.

[0209} Figures 26 and 27 illustrate that the front shaft assembly, which can include a shaft or axle 149 and gear, such as a ring gear 1 9, can be slid, as shown by arrows S24, into the side plate 150, for example, concurrent with the front shaft passing through the right side and the core 1001. Sliding the front shaft assembly into the side plate can include attaching the motors to the side plate.

[0210] Figure 28 illustrates that sliding the front shaft assembly into the side plate 150 can include attaching, as shown by arrow S27, the gears to the -motors. Attaching gears to the motors can include inserting a motor shaft 2774 through a locating adapter plate 2770. The locating adapter plate 2770 can be made from steel. The motor shaft 2774 can be pressed into an adapter hub 2771 inside the gear 2772. The bub 2771 can include a D-shaped bub at the top of the shaft 2774, The hub 2771 can include a slip fit at the bottom of the shaft 2774. The gear 2772 can be attached to the motor shaft 2774 using an M3 set screw, a heat stake, or combinations thereof.

[0211 J Sliding the front shaft assembly into the side plate 150 can include applying lubricant to the gears. Applyi g lubrication to the gears can include applying at least one lubricant, such as grease or graphite, to the gearing system.

[0212] Figure 29 illustrates that sliding the front shaft assembly into the side plate 150 can include covering, as shown by arrow S29, the motor and shaft gears with a gear cover or gear housing 3441. Covering the motor and shaft gears with a gear cover can include placing a gear cover over the interlocking motor gears attached to the motors and the shaft gears

Le iiie Bagade Han LLP Page 33 of 73 attached to the front and rear shafts. The gear cover can protect the motor and shaft gears from debris. The gear cover can seal in lubricants previously applied to the motor and shaft gears.

1 _. 0213} The cover can be slid, as shown by arrow S30 (as shown in Figure 21 ), over the core 1001. Sliding the cover over the core 1001, can include sliding the cover over the core support. Sliding the cover over the core 1001, can include sealing the cover to the core 1001 , for example to make the chassis 100 watertight. The cover can be made from polymer, such as plastic.

[0214) The left side can be attached, as shown by arrow $40, to the core 1001. Attaching the left, side to the core 1001 can include attaching the side plate to the core support, and/or the cover. Attaching the left side to the core 1 01 can include sealing the left side to the core 1001 , for example to make the chassis 100 watertight. Attaching the left sick* to the core 1 01 can include attaching, as shown by arrow S42, a motor to the side plate.

[02 IS) The gear assembly can be slid, as shown by arrow S50. over the front shaft. Sliding the gear assembl over the front shaft can include securing the gear assembly to the front shaft. Sliding the gear assembly over the front shaft can be concurrent with sliding gears over the rear shafts of the robotic system 10. Sliding the gear assembly over the front shaft can be concurrent with attaching gears to the rear shafts. Sliding the gear assembly over the front shaft can include applying bearings, spacers, snap rings, and or washers to the gear assembly and/or the front shaft. Sliding the gear assembly over the front shaft can includ applying, as shown by arrow S58, lubrication to the gears, and covering, as shown by arrow $59, the gears with a gear cover.

10216) Methods of assembling any or all of the system described here can be performed in the sequence shown in the figures and/or described in the text herein or any permutation thereof.

{021?} Figure 30 illustrates that the side plate 150 can close the chassis frame 101 , for example to protect the internal components, and provide additional structural support. The side plate 150 can include a sealing device 1.51 , which can seal the space between the chassis frame 101 and the side plate 150.

[0218] Figure 29 illustrates that, the side plate can include a mated gear housing 34 1. The mated gear housing 3441 can protect and align the gears. During assembly and maintenance, the gears can be placed inside the gear housing 3441 , which ca be installed from the outside, and can be held in place by gear cover. The gear housing 3441 can contai lubricants for

Leviiie Bagade Han LLP Page 34 of 73 gears. The gear housing 3441 can be externally serviceable, for example additional lubricant can foe applied to the gears, while keeping the inside of the robotic system 10 clean and free of lubricants and possible gear chips or other contaminants. The gear housing 3441 can protect the gears from external contaminants such as sand, water, dust, or combinations thereof The gears can be heat staked to hubs.

[0219} Figure 31 illustrates tha positions of one or more of the gears 131 , 139 can be tracked and or measured by at least one potentiometer 3442. Two potentiometers 3442 can be used, For example, the two potentiometers 3442 can be rotated 90 to 180 degrees with respect to each other. Each potentiometer can output a potentiometer signal, for example a first potentiometer can output a first potentiometer signal and a second potentiometer can output a second potentiometer signal A processor can receive the combined first and second potentiometer signals. The process can use the first and second potentiometer signals to calculate the relative rotation of at least two gears with respect to each other. The

potentiometers can have equal to or less than about 360 degrees of usable motion, or more narrowly from about 300 degrees to about 340 degrees of usable motion. One or more potentiometers can measure finer measurements, feedback, redundancy, faster calculations, or combinations thereof.

[0220} The sealing device 1 51 can be a gasket seal made of an elastomer, such as silicon rubber, a wax paper gasket, foam, caulk, glue, any other suitable gasket or sealing device, or combinations thereof. The seal can be watertight and/or airtight, but ma provide any suitable level of sealing, to prevent pebbles, sand, dirt, silt or any other materia! as the chassis frame 101, but may alternatively be made of any suitable material. The side plate 150 can be fastened to the chassis frame 1 1 using at least one fastener, particles from getting inside the chassis 100. The side plate 150 can be made of the same for example at least one machine screw, rivet, latch, interlocking snap-together component, glue, any other suitable fastener, or combinations thereof. The fastener fastening the side plate 150 to the chassis frame 101 can be sealed using a sealing device, for example a standard silicon rubber o-ring washer for a machine screw, another sealing device or sealant, or combinations thereof.

[0221 J As shown in Figure 30, the side plate 150 can include an interface 152 to allow a drive module 130 to transfer mechanical energy out of the chassis 100 to a mobility device 200, The interface 152 can enable a mobility assistance module 140 to transfer mechanical energy out of the chassis 100 to a mobility assistance device 300.

Levine Baaade Han LLP Page 35 of 73 [0222] As shown m Figure 30„ the mechanical energy can be transferred from the drive module 130 to the mobility device 200 using a rotatable axle sleeve 153. but may

alternatively be an axle. The rotatable axle sleeve 153 can be a rotating sleeve surrounding a seal around an axle 149, allowing the seal to rotate while maintaining a watertight seal around an axle 149. The seal can occlude more than water, including other liquids, gases, dirt, debris, and any other external or internal contaminants. The inside of the rotatable axle sleeve 153 can include a pair of seals 155, 156, for example single lipped o-ring seals, at least one static seal, or combinations thereof. The seals 155, 156, can be made of neoprene, any suitable elastomer or sealing material, or combinations thereof. The space 157 in between the seals 155, 156 can be .filled with a lubricant, such as grease, graphite, oil. any other suitable lubricant, or combinations thereof. The watertight seal can retain a lubricant and provide a long service life. The rotatable axle sleeve 153 can be adapted to rotate with a ring gear 139 using at least one pin 154, attached in any suitable fashion, or combinations thereof. The rotatable axle sleeve 153 can include a bearing 158, for example to allow an axle 149 inside the rotatable axle sleeve 153 to rotate freely.

[0223] As shown in Figure 30, the rotatable axle sleeve 153 can be held in position In the side plate with a bearing 160. The rotatable axle sleeve 153 can be sealed using a sealing device 161 . The sealing device 1 1 can be a watertight double lipped o-ring seal., and a lubricant can be applied to the sealing device to provide a long service life. The seal can occlude more than water, including other liquids, gases, dirt, debris, and any other external or internal contaminants. The sealing device 161 can be made of neoprene. The sealing device 161 can be placed on the inside of a flanged divider 162 in the interface 152 of the side plate 150. The bearing 160 can be placed on the outside of the flanged divider 162 of the interface 152 of the side plate 150. The bearing 1 0 can be fastened in place using a fastener 159, for example a snap ring 1 59, but any suitable fastener may be used. The bearings 1 58, 160, can be a sealed ball bearing, for example a rugged sealed stainless steel ball bearing, but may alternatively be a shielded bearing, a ceramic bearing, a chrome plated steel ball bearing, a thrust bearing, a sleeve bearing, a radial bearing, or any other suitable bearing.

|0224| As shown in Figures 30 and 32 the side plate 150 can include an axle 169, for example a motorized axle or a dead axle, attached to a manually actuated mount 167. The manuall actuated mount 167 can enable the rotation of the axle 1 9 and be held in a fixed position with a pin 168. The pin 1 8 may be removed and the rotation of the axle 169 may be adjusted manually and locked into at least one specific position with a pin 1 8, but any

Feviiie Bagade Han LLP Page 36 of 73 suitable number of adjustable positions may be possible. The axle 169 ma be actuated by a mobility assistance module 140 or any other suitable driving mechanism. The axles 149, 169 can be keyed on the outer end, for example the key 163 can be he shaped, square, triangular, splined, other suitable shapes, or combinations thereof. The axles 149, 169 may be sp!ined, keyed, or combinations thereof. The outer ends of the axles 149, 169, outside the keying, can be threaded or adapted to fasten a mobility device 200 and/or a mobility assistance device 300 to the axle 149, 169.

|0225 The power supply 1 10 can provide power to the robotic system 10, The power supply 1 10 can be the BB2590 standard batten' manufactured by Bren-tro ics, but BB4590 standard battery, nuclear batteries, any other suitable battery, fuel cell, solar panel, power supply, or combinations thereof. The power supply 1 10 can be removable to allow repair, recharging, refueling, and/or replacement. As shown in Figures 12b , 13 and 33, the power supply 1 10 can be inserted into a second com partment 104 of the chassis frame 1 1, and connec ted to the control module 120 using a power supply connector 1 1 1 , for example via a standard BB2590 connector designed to interface with a single BB2590 standard battery, but .may alternatively interface with a BB45 0 standard battery, a fuel cell, a lithium battery, a rechargeable battery, a nuclear battery, an alkaline battery pack, solar panels, power cables, multiple BB2590 batteries, or any other suitable power source or combination of power sources. The connector 1 11 can form a watertight connection with the power supply 1 10, but may also occlude more than water, including other liquids, gases, dirt, debris, and any other external or interna! contaminants, The power supply 1 10 can be a BB2590 battery and can be inserted into the chassis 100 through a hole in the chassis side plate 150. The power suppl 1 10 can be secured in a second compartment 104 of the chassis frame 101 with a fastener, a door 1 15 closed with a draw latch 1 1 , a clamp, thumbscrew, or other suitable latch mechanism or fastener, or combinations thereof. A toolless and quick mechanism to enable the quick change of a power supply 1 10 can be used.

[0226} Figure 34 illustrates that a toolless mechanism can change the power supply 1 10. An eject lever 1 1 1 can eject the power supply 1 10 from battery compartment 2000. The eject lever 1 161 can manipulate a pushbar 1 163 along a guided path 1 164. The pushbar 1 163 can eject the power supply 1 10, such as the battery, from the battery compartment 2000. A piillbar 1 162 may be pulled, as shown by arrow. The pullbar 1 162 can be a flat aluminum sheetmetal ribbon or panel and can have right angle turns at distal and proximal ends. When

Levine Baaade Han LLP Page 37 of 73 the pullbar 1 162 is pulled, the pullbar 1 162 can in turn pull the power supply 1 10, such as the battery, out of the battery compartment 2000,

(0227J Figures 35a, 35b, and 35c illustrate that a toolless mechanism ca change the power supply 1 10. The battery compartment can be covered by the toolless .mechanism. The mechanism can include a drawbridge door 1 151.

[0228} Figure 35a illustrates that the drawbridge door 1 151 can be open and fully extended. (0229J Figure 35b illustrates that the drawbridge door 1 1 51 can be open and partially extended and partially folded.

[02301 Figure 35c illustrates that the drawbridge door 1 151 can be closed. The drawbridge door 1151 can include an internal door extension 1 152 and an external door extension 1153. The fastener 1 167 can attach the external door extension 1 153 to the internal door extension 1 152. The fastener 1 167 can hold the power supply 1 10, such as the battery, in place. The fastener 1167 can be a half- turn or quarter-turn D-ring, knob, hook, a keyed lock, or combinations thereof.

[0231 ) As shown in Figures 1 and 36, the control module 120 can be adapted to manage power output from the power supply 1 10, control the drive module 130, and/or control a mobility assistance module 140, pay load modules 170, or any other modules that may be attached to the robotic system 10. As shown in Figure 18, the control module 120 can include at least one microprocessor 121 , and a power module 122, In a further variation the control module 120 can include an operator control module 126, and may include at least one pay load control module 12 S .

[0232J The microprocessor 121 can manage and control input and output from the different modules within the control module. The microprocessor 121 can be a (reprogrammable microprocessor, an FPGA, an ASIC, a circuit, any other suitable control logic, or

combinations thereof The microprocessor 121 can be programmed with software logic to enable the robotic system 10 to run independent of any human operator, run a pre-configured program (e.g. secure the area, map the area, travel from point A to point B, collaborate with other robots), or any other suitable program. The microprocessor can be connected to a tilt sensor or tilt switch to detect if the robotic system 10 is inverted, and if the robotic system 1 is inverted, the microprocessor 121 may then execute a control program to flip the robotic system 10 to a non-inverted position and allow the robotic system 10 to resume normal operations.

Levine Baaade Han LLP Page 38 of 73 [0233] The power module 122 can monitor the output of the power supply 110, and reset or regulate the power supply 1 10 when the output is either above or below a desired threshold. The power supply 110 can be a BB2590 battery. The BB2590 battery can be a multi-purpose battery, and can have protection logic and/or circuitry that turns off the battery when a current output specification is exceeded. The control module 120 can enable a power supply 1 10, for example a BB2590 batter}', to conti ue providing normal currents after the high current protection has been triggered, enabling such a power supply to be used for applications using high currents (even momentarily), such as driving an electric motor, or when a vehicle or device using an electric motor becomes jammed, dropped or otherwise stressed. The BB2590 battery can be reset by dropping the current draw to below approximately 2 milliamps, and the BB2590 will again output current.

[0234] Figure 37 illustrates that the power module 122 can include a connection to the power supply 1 10, a delay circuit 92, a voltage monitor 93, a enable switch 94, and a current throughput switch 95. The power module 122 can have one cell protection circuit 1. and a charging circuit 96.

[0235] The power supply 1 10 can have two batteries. Each battery can be a group of four cells of the standard 882590 battery. The cell protection circuit 1 can preven t the group of cells with the highest voltage from charging the group of cells with the lowest voltage, which could trigger the protection circuitry of the BB2590 battery. The cell protection circuit 91 can be at least one diode, for example one diode per group of four cells, but may be any suitable circuit.

[0236] A delay circuit 92 functions to reduce and or turn off the current draw for a period of time, which enables a BB2590 to reset. The delay circuit 92 can be controlled by voltage monitor 93, which functions to monitor the voltage output from the power supply 1 10 and trigger a delay in the delay circuit 92 (for example, while a capacitor in the delay circuit 92 charges) to reset the power supply 1 10 when the power supply output drops below (or alternatively spikes above) a threshold. The delay circuit 92 can discharge (the charge from the capacitor) quickly and charge slowly, and can provide most of the delay while a capacitor charges. The power supply 110 can reset sometime after a capacitor in the delay circuit 92 has started recharging. The voltage monitor 93 can include a voltage divider, which can control an N-channei mosfet controlling a P-channel mosfet.

[0237} Figure 1 1 illustrates that the P-channel mosfet of the voltage monitor 93 can output Vcontrol, which can power the control module 120 and ma provide the voltage Vcontrol for

Leviiie Bagade Han LLP Page 39 of 73 the charging circuit 96. When the delay block is lowering the voltage across the voltage divider, the N-channel mosfet in the voltage monitor 93 turns off the P-channel mosfet, cutting off power to Vcontrol which can send a power off signal to a enable switch 94, cut off power to the control module 120, and may cut off power to the charging circuit 96, or combinations thereof For a hard reset, the power to Vcontrol and Vout can both be reset and/or cycled simultaneously.

(0238J The enable switch 94 can be an N-channel mosfet, a P-channel mosfet, any other suitable switch, or combinations thereof. The enable switch 94 can be connected to an N- channel mosfet of a current throughput switch 95, An N-channel mosfet of the current throughput switch 95 can control at least one P-channel mosfet, for example two P-channel roosfets as shown in Figure 21. Two P-channel mosfets, one per cell of a BB2590 battery, can be more power efficient than a single P-Channel mosfet, however, any suitable configuration of N-channel and P-channel mosfets, or any other switching mechanism and/or circuit may be used. The current throughput switch 95 can include a diode, or two diodes, for example one diode connected to each P-channel mosfet. The diodes in the current throughput switch can be high-powered schotkey diodes rated for 80-100 Amps, but can be any suitable diode. The current throughput switch 95 can include an enable signal, Vout enable, connected to a pin of the microprocessor 121 the control board 120, enabling the

microprocessor 121 to control the output of the N-channel and P-Channe! mosfets and thus turn the voltage Vout on and off using an enable signal

(0239J The power module 122 can include a charging circuit 96. The charging circuit 96 can include a P-channel mosfet controlled by an N-channel mosfet. Any suitable combination of N-Channel and P-channel mosfets, or any other suitable switching device may be used. The charging circuit 96 can be controlled by an enable signal Vcharge_e«able, can be connected to a pin on the microprocessor 121 on the control board 120. When the charging circuit 96 is enabled, the P-channel mosfet can allow current to flow through the resistor and the diode of the current throughput circuit 95, for example, to charge any capacitors connected to Vout, such as the capacitors of a motor controller, or an air compressor. However, capaci tors connected to Vout can be charged without the charging circuit 96; the charging circuit 96 can function to limit the max current that the capacitors can draw from the power supply 110, otherwise each time the capacitors are charged, the protection circuitry of the power supply 1 10 (for example a BB2590 battery) may be triggered.

Levine Baaade Han LLP Page 40 of 73 [0240] The power module 122 can operate as follows. The BB2590 is either inoperable, replaced, or has exceeded an output limit, is not outputting power and requires a low current draw below 2 milliamps to he reset. The voltage Vbat low ciu'rent is low and the delay circuit 92 turns off the enable switch 94 and can turn off ^" Vcontrol, power to the control hoard 320. The current throughput switch 95 and the charging circuit 96 can be not powered while the B 82590 battery is reset. Once the BB2590 batten' has been reset, the delay circuit 92 is no longer providing a delay as the capacitor is recharging or has been recharged, and the voltage monitor 93 provides power to the control module 120, and disables the enable switch 94, The microprocessor 121 of the control module 120 then can enable the charging circuit 96 t charge any capacitors connected t Vout (e.g. motor controller applications require large electrolytic capacitors), but this may not be necessary if the application does not require capacitor charging. The microprocessor 121 of the control module 120 can disable the charging c ircuit 96 after a appropriate amount of charging time, and enable the current throughput switch 95, enabling high current flow to Vout, The entire process takes approximately 0.33 seconds, and a fast reset is potentially unnoticeable to the operation of the robotic system 10, and not substantially ffect the operation of the robotic system 10 or the user experience.

[0241 } The power module 122 may include a charge storage unit, which can function to maintain power to the power module 122 and/or the microprocessor 121 if the power supply 1 10 is not supplying power. The charge storage unit may power the entire control module 120 while the power supply 1 10 is not supplying power. The charge storage unit can be at least one capacitor, at least one battery, an alternative power supply, any other suitable source of power, or combinations thereof.

{0242} Figures 36 and 38 illustrate that the operator control module 126 can receive user input to control the robotic system 10. The operator control module 126 can include a remote operator operator control unit (OCU) or remote operator control module 125, and may include at least one payload control module 128.

10243 J The operator control module 126 may enable the selection of a pre-configured control program (e.g. secure the area, map the area, travel from point A to point B, collaborate with other robots), which may or may not require additional user input, or any other suitable program. The operator control module ma include a switch to select between multiple programs. The switch may be a keypad, a selector dial, a firmware reprogramming, a

Levine Baaade Han LLP Page 41 of 73 sequence of button pressings, any other sui table device or method of selecting a program, or combinations thereof,

j0244| The operator control module 126 can be connected to a remote user control module 125, for example the operator control module 126 can be connected to at least one remote user control module 125 using at least one wireless link. The control circuitry may be distributed in any fashion across the remote user control module 125 and the operator control module 126, For example, the control circuits (e.g., microprocessors) can be on the operator control module 126, the robotic system 10, a payload attached to the robotic system 10, or combinations thereof. The processing can be split in any combination between the operator control module 126, the robotic system 10, a payload attached to the robotic system 10. For example, any of the operator control module 126, the robotic system 10, and a payload attached to the robotic system 10 can perform all, some or none of the processing required by the operator control module 126, the robotic system 0, and a payload attached to the robotic system 10.

[0245} The operator control module 125 can be adapted to receive user input using at least one user input device 124. The user input device 124 can be a directional joystick, but may additionally or alternatively include directional pads, trackballs, buttons, microphones (e.g., receiving input control signals via voice), mobile phone keypads, computer keyboards, a computer mouse, a iouchpad, any other suitable input device, or combinations thereof. The operator control module 125 can process user input with a microcontroller, for example a programmable interface controller (PIC), a simple input processing circuit, such as a button debouncing circuit, or combinations thereof. The control signals can be transmitted from the remote operator control module 125 to the operator control module 126 on the control board 120 of the robotic sy stem 10 using a transceiver. The transceiver can inc lude an FM transmitter, for example transmitting at approximately 440-480 MHz, but any suitable transmitter and/or transmission carrier frequency may be used, including a digital

transmission link, a wireless networking link, IEEE 1394 link, USB 1.0 2.0 3.0 link, any other suitable link, or combinations thereof. Hie transmitter can be connected to an antenna 123 tuned to the transmission carrier frequencies of approximately 440-480 MHz. The operator control module 126 can include a transceiver, for example having an FM receiver, and an antenna, connected to an antenna port 127 {shown in Figure 12b). The control data can flow from the remote operator control unit 125 to the operator control module 126, and/or flow from the operator control module 126 to the remote operator control unit 125.

Levine Bagade Han LLP Page 42 of 73 [6246} The remote operator control module 25 can he powered b a. iMH rechargeable battery, an AC adapter, a cigarette lighter adapter, a BB2590 battery, a solar cell, a»y other suitable power supply, or combinations thereof. The rechargeable battery can be recharged through a power port 1 11, which may charge the battery from a AC adapter, a cigarette lighter adapter, a BB2590 battery, a solar cell, any other suitable power supply, or combinations thereof.

(0247J The casing of the remote operator control module 125 can protect the components inside. The casing can be made of ABS (or another low moisture absorption polymer), aluminum, titanium, nylon, other metals or polymers, wood, carbon fiber, any other suitable materia!, or combinations thereof. The case can be sized such that the entire remote operator control module 125 will fit into a pair of standard tactical cargo pants (with the antennas removed - the antennas can be quickly detachable for storage). For example, the case can be about 280 mm by about 1 0 mm. The remote operator control module 125 can be small enough (e.g., about 300 mm by about 150 mm) that a user may control the robotic system 10 with one hand, for example enabling a soldier or a rescue worker to hold tools, weapons, or emergency supplies i their other hand.

[0248] Figures 39 through 41 illustrate that an upright OCU case for an operator control module 125 may be about 160 mm by 280 mm and 40mm deep. The antenna 123 can transmit and receive control data, audio data, visual data, or combinations thereof.

(0249J Figures 39 and 42 illustrate that the operator control module 125 may have a first removable radio control unit 1251. The first removable radio control unit 1251 may be removed and replaced with a second removable radio unit. The second removable radio unit can, for example, be identical to the first removable radio unit except for identification data, such as a serialized SIM card. The second removable radio unit can communicate on a different frequency or a different channel than the first removable radio unit. The second removable radio unit can include a different signal encryption, or a cable line unit that connects to the robotic system 10 and transfers data to and from the robotic system 10 using a copper wire or a fiber optic cable. The removable radio control unit 1251 can be removed by pulling on a wire handle. The wire handle can rotate outward from a snap tight location on the top of the operator control module 125, a gap 1252 between the rear of the operator control module 125 and the removable radio control unit 1251 , or a combination thereof, 10250) The operator control module 125 can include a utility loop 1253. The utility loop 1253 can be configured to hang the OCU case from a user's belt, vestneek lanyard, or

Levine Bagade Han LLP Page 43 of 73 otherwise affix to a person or support structure. The operator control module 125 can include a recharging port 1254. The recharging port 1254 can connect to a power source external to the operator control module 125 to charge the internal battery, or connect an additional battery to power the operator control -module 125. The recharging port 1254 can be an 1P67 power connector with a dust cap.

[0251 } The operator control module 125 may include a data interface 1255. The data interface 1255 can enable the operator control module 125 to control 1 another device and expand functionality of the operator co trol module 25. The data interface 1255 may enable the operator control module 125 to act as a slave device to another system, such as a laptop computer. The data interface 1255 can include at least one wired or wireless interface, such as USB, IEEE 1394, eSata, bhietooth, WiFi, GPRS, GSM, GPS or combinations thereof. For example, the data interface 1255 can be a USB type A receptable with a dust boot. One or more data interfaces 1255 can be housed inside the OCU case. The data interfaces can be connected to the OCU board.

[0252} The operator control module 1.25 can include a cooling system, which can include a fan 1257, a motor heatsink 1258, or some combination thereof. The fan 1257 can also be a blower or other circulation device, and can circulate air across the heatsink. For example, the blower can be an IP55 rated blower. The OCU case can include an air intake 1259 that can allow the fan to take in colder air and remove warmer air.

[0253} The operator control unit 125 can have an openable and/or removable rear panel 1256 or blower cover that can be opened and closed, as shown by arrow. The panel 1256 can cover the fan 1257, motor heatsink 1258 and other components of the control unit 125.

10254) The operator control unit 125 can have an OTS COM express module 2001. The operator control unit 125 can have one, two or more OCU power supplies, for example OCU battery packs 2002. The operator control unit 125 can have one, two or more desiccants, such as desiccant bags 2003. The operator control unit 125 can have a custom molded gasket 2004 between the front housing panel and the rear housing panel. The OCU 125 can have a fluid-tight or waterproof volume inside of the OCT ⁾ .

| 255] Figures 40 and 41 illustrate that the operator control unit 125 can have a control panel 24 below the display interface 1 9 (e.g., a 5.7 in. touchscreen and LCD). The control panel 24 can have a pay load toggle 2005 that can be configured to control the payload., for example turning the payload on and off.

Leviiie Baaade Han LLP Page 44 of 73 [0256] The control panel 24 can have a driving joystick 2006 that, can be configured to control the direction and speed of the robotic system. The control panel 24 can have a light button 2007 that can be configured to control the light or lights on the robotic system. The control pane! 24 can have a menu button 2008 that can be configured to reverse to a prior screen in the operating system for the operator control unit 125. The control panel 24 can have a payload joystick 2009 that ca be configured to control the pay load, for example controlling direction of the payload, such as direction or a pan-tilt camera in the payload or of a robotic arm i the payload. The control panel 24 can have a driving toggle 201.0 that ca be configured to control the robotic system, for example by turning the driving joystick 2006 on and off or toggling the driving joystick between the robotic system and payload or multiple robotic systems. The control panel 24 can have a microphone button 201 1 that can be configured to control the microphone 2013, for example toggling between transmitting and receiving modes for the operator control unit 125.

|Θ257| The operator control unit 125 can have a front housing 2012 (e.g., injection molded polycarbonate) and a rear housing. The operator control unit 125 can have a microphone 2013 (e.g., an 1 P67 microphone). The operator control unit 125 can have a rear-facing or front-facing light. 2014 (e.g., a powered LED). The operator control unit 125 can have a volume toggle 2015 configured to increase or decrease the acoustic volume of the speaker 189 (e.g., a IP65 speaker) or the gain for the microphone 2013.

j 258| Figures 43a and 43b illustrate that cameras may be added to the operator control module 125. Figure 43a illustrates that an operator feeing camera 1260 can be included in the operato control module 125, and can be oriented to face the operator or user of the operator control module 125. Figure X49B illustrates that a general purpose camera 1261 can be in the operator control module 125. The general purpose camera 1261 can enable the operator of the operator control module 125 to capture images while operating a robotic system using the operator control module 125. The operator facing camera 1260 and the general purpose camera 126 ! can include a flash or other ί Domination device. The operator facing and genera! purpose cameras 1260, 1261 can be 5 megapixel cameras.

| 259] Figure 44 illustrates that the operator control module 125 can include input/output devices. For example, the operator control module 125 can have at least one display interface or touchscreen 1250 L The operator control module 25 can include at least one analog joystick 12502 and or at least one analog button. The touchscreen 12501 can be used to display video feeds, or software applications. The touchscreen 12501 can display virtual

Levine Bagade Flan LLP Page 45 of 73 buttons for controlling the robotic system 10, robotic system pay loads, communicating between other robot controllers, coraraunicatin with other communications devices (such as laptop computers, cell phones, satellite phones, space stations, websites, computer networks, or combinations thereof). The touchscreen 12501 can he an LED screen or an OLED screen.

[0260} The operator control module 125 can be powered by an ARM processor such as an ARM 9 processor or other ARM or custom designed processor.

(0261 J Figure 45 illostrates that the software stack of the operator control module 125 can include a base operating system 1251 1. The base operating system 1251 1 can be adapted for security, optimized for communications, optimized for business specific tasks. The base operating system 1251 1 may include hypervisor functionality. For example, the base operating system 1251 1 can have multiple operating system images running on top of or inside the base operating system 1251 1 while the base operating system 1251 1 shares the hardware resources. For example the base operating system 1251 1 can be a hypervisor for at least one image of the Android Operating system 12512, the Avatar Operating System 12513, and any other suitable operating system such as Windows Mobile, iOS, Linux, Windows, MacOS V Ware, or combinations thereof. Additional applications such as an Android application and an Avatar application 12514, i 2515, respectively, can execute on top of the Android Operating System and Avatar Operating System 12512, 12513, respectively. The applications 12514 and 12515 can be downloaded from an networked application store, such as the Android app store, the Chrome app store, il ^' unes, or combinations thereof. Such applications 12514 and 12515 can interface with data collection software, databases, image processing software, targeting or image recognition software, peer to peer communication software, collaboration software or combinations thereof. As shown in Figures 12b and 13, a payload module 1 70 can include an interface 175 to the control module 120, to enable the control module 120 and/or the operator control unit 126 of the control module 120 to control the devices in the payload module 170. As shown in Figures 36, 38, 58 and 59, the operator control module 126 can include at least one payload control module 128 which can control and transmit data to and/or from any payload modules 1 70 attached to any payload interfaces 171 , 172. 173. The payload control circuitry may be distributed in any fashion across the remote user control module 125, the payload control module 128, and the operator control module 326,

10262} The payload could have one of more processors, or no processors. The circuitry for an external payload could either be in that payload, or in the compartments. Al l of the

Levine Bagade Han LLP Page 46 of 73 circuitry of the payload control module 128 could be contained within the robotic system 2, All of the circuitry of the payload control module 128 could be in the payload 170, or the robot system 10 could include a separate microprocessor 121 and the payload 170 could include a separate microprocessor and the two processors can be configured to communicate data and control signals with each other. A separate antenna could enable a microprocessor within a payload to communicate directly with an operator control module 126 or a remote operator control module 125. All of the processing can be handled by microprocessors on the robotic system 10, on processors on the remote control 125, on processors on a

modide/payload added to the robotic system 10, or the processing can be split up and handled between any of those locat ions in an y amount.

j0263j Figures 46 and 47 illustrate that a first payload control module 128 can be configured to be removed from the system 10 and replaced (e.g., swapped out) with a second payload control module. For example the second payload control module can have encryption or indentifying data that can match the encryption or identifying data in the radio or

communications component of the corresponding operator control module 125. The robotic system 10 can communicate with the operator control module 125 with encryption or identifying data, for example for use during situations or for regulatory areas where certain frequencies of communication or methods of communication are a ttempted to be jammed, eavesdropped on, banned by regulation, or combinations thereof.

[0264] Figure 47 illustrates that the housing 1282 for the payload control module 128 can be made of a ca st Aluminum. The housing 1282 can be a box. The housing 1282 can be a closed shape. The housing 1282 can ha e a cap 1283. The cap 1283 can be made from sheet metal, aluminum, plastic, or combinations thereof. The payload module 128 can interface with a payload interface 171, using a connector 1284. A watertight payload seal 1285 can be between the payload module 128 and the payload interface 171. The watertight seal 1285 can be an o-ring seal An antenna ϊ 286 can be used, and can be removable from the system 10. The first antenna 1286 can be replaceable with a second antenna. A heatsink 1287 can be integrated with or separately attached to the housing 1282. The payload control module 128 can interface to the robotic system 10 using a PCl-Express payload interface, USB, Firewire, eSata payload interface, or combinations thereof. Chassis connectors 1288, 1289 can be used to attach the payload control module 128 to the robotic system 10. The chassis connectors 1288, 1289 can be thumbscrews. The payload control module 128 can be temporarily or

Levine Baaade Han LLP Page 47 of 73 permanently affixed to the robotic system 10, for example, using welding, rivets, glue, magnets, temporary or permanent fasteners, or combinations thereof,

(0265J Figure 48 illustrates that, a payload control module 128 can be inserted m a payload interface 173. The payload interface 173 can be located in the rear of the chassis frame 101 . The payload interface 373 can include a handle 1288 for pulling and/or ejecting the payload control module 128 from the alternate payload interface 173, and carrying the payload control module 128,

{0266J A video payload 1 0 can enable a remote user to view visual information on the remote operator control module 125, The video payload 1 0 can have a payload camera 1 2 that, can detect visible light, infrared (IR) radiation, ultraviolet (UV) radiation, or

combinations thereof. The visual information can be anything within the visible, and/or IR and/or UV range of the payload camera 1 2 of the video payload 1 0 in the robotic system 30. status information from the robotic system 10, including video feeds, audio feeds.

position, remaining battery life, system temperature, or any other suitable information, or combinations thereof. The remote operator control module 125 can include an antenna 1 6, a video receiver 197, and display interface 199 for displaying data received from a video payload 190. The payload control module 128 can include an antenna 195 connected to an antenna port 129 (shown in Figures 12b and 13) connected to a video transmitter 194. The payload control module 128 can include conditioning circuitry 193 for the payload camera 192.

(026 J An audio payload I SO can enable a remote user to communicate with two-way audio communication from the remote operator control module 125 to anyone or anything within audible range of the audio payload 180 of robotic system 1 . The remote operator control module 125 can include a microphone 188 and speaker 189 for capturing audio to send to an audio payload 180 and playing back audio received from an audio payload 180. The remote operator control module 125 can include an audio transceiver 186 and an antenna 1 9. The payload control module 128 can include and antenna 187, an audio transceiver 385, conditioning circuitry 183, a microphone 181 , and speaker 183. As shown in Figures 12b and 1 the robotic system can include at least one payload interface 171, 172, and 173. A payload interface 171, 1 2, 173 can be attached to the chassis frame 101, and/or the side plate 150 of the chassis 100. The payload interfaces 171 , 1 2, 173 can function as accessibility panels for service, maintenance, and inspection. When the payload interfaces 17 L 172, 173 are not in use or are in use; they can be covered with, respectively, the first, second and third interface

Levine Bagade Han LLP Page 48 of 73 covers 74, 76 and 176, The interface covers 74, 76 and l 76 can be made of aluminum sheet. metal a polymer with low raoisiure absorption properties such as ABS, or a clear raaterial such as pol carbonate, crystal or combinations thereof. A cover 74, 76 or 176 and/or a payload 170 can be attached to a payload interface 171 , 172, 173 using machine screws, or any suitable fastener. The space between the cover 74, 76 and 176 and/or a payload 170 and payload interfaces 171 , 172, 173 can be sealed using a sealing device 177. Except for the size and shape, the sealing device 177 can be identical to the sealing device 151 as described above. The payload interfaces 171 , 172, 173 may include connections 174 to the controller module 120.

10268) Figures 12b and 13 illustrate that a payload module may be attached to the chassis 100. The payload can be a flat, "pickup track style" cargo bed 170, for example including a carrying handle 178. One or more carrying handles 1 8 may be located cm the bottom, side, or top of the chassis frame 100. The carrying handles 178 can act as a roll bar. Supplies, tools, documents other suitable item to be placed in the robotic system 10 for transport, or combinations thereof can be placed in and/or secured to the cargo bed payload 170.

[0269] Figures 12b and 13 illustrate that the payload interface 172 can house an audio payload 180. The audio payload 180 can be slid i from the top and fastened to the body frame. Figured 5a, 8 and 10a illustrate that the audio payload I SO can be attached to the top of the system 10. The outside of the audio payload 1 SO ca have a speaker grill, round microphone hole, antenn mount, and combinations thereof. The speaker can be recessed in the frame. The audio payload I SO can transmit and/or receive audio. As shown in Figure 58, the audio payload 180 can include at least one microphone 181, 188, at least one speaker 1 2, 189 conditioning circuitry 183, and an audio transmission link 184.

{0270} The microphone 18L 188 functions as a transducer to convert audio signals into electronic signals. The microphone 181. 188 can be an electret microphone, laser microphone (e.g., for sound vibrations from smoke or fog in the air), a piezoelectric microphone, gel microphone, diaphragm microphone, a vibration detection microphone {e.g., a diaphragm microphone, a stethoscope, a gel/liquid sensor microphone (e.g. , placed on the trachea to detect vocal vibrations) which can be touched to a metal or concrete surface, such as stairways, rails, or roads and detect vibrations and/or sounds), a parabolic microphone, a shotgun microphone, any other suitable microphone, or combinations thereof. The microphones 181 may be the same or a di fferent type of microphone than the microphone 1 8. The microphone 181 , 188 can be waterproof,

Levine Bagade Han LLP Page 49 of 73 [0271 J The speaker 182, 189 can function as a transducer to output audio signals received from the audio transmission link. The speaker 182, ! 89 can be sealed and waterproof. The speaker 182, 189 may be replaced or bypassed with a headphone jack to output to

headphones, audio recording, other suitable audio output, or combinations thereof.

[0272} The conditioning circuitry 183 can function to amplify and/or filter the audio signals. The signal recei ed from the microphone 181 can be amplified before being transmitted by the audio transmission link 184. The signal output to the speaker 182, 189 can be passed through a pre-amplifier, and then a speaker amplifier before being output by the speaker 182, 189. The conditioning circuitry i S3 can be integrated into the audio payload module 180. The conditioning circuitry 183 may be integrated in the operator control unit 126. and/or in the control module 120.

(0273J The audio transmission link 184 can transmit the audio signal received from the microphone 181 to an operator control unit 126, and transmit audio received from a microphone at the operator control unit 126 to the speaker 182 in the audio payload module 1.80. The audio transmission link 184 can be a wireless transmission link, a wired

transmission link, any other suitable transmission link, or combinations thereof The audio transmission link 184 can be an analog FM transmission link, a digital transmissio link, wireless networking link, IEEE 1394 link, USB 1.0 2,0 3.0 link, any other suitable link, or combinations thereof. The audio transmission link 184 can include at least one audio transmitter and one audio receiver, for example two audio transceivers 185, 186, and antennas 187. The audio transmission link 184 can be integrated in the audio payload module 180 of the robotic system, integrated in the control module 120. or combinations thereo The antenna 187 can be mounted on the audio payload module 180 The antenna 187 can be attached to a control module antenna port 127. 129. The audio transmission link 184 is not present, and the audio is recorded for later retrieval and playback.

{0274} The audio transceiver 1.85, 186 can transmit the audio data using approximately a 433 MHz carrier frequency. The antennas 187 can be rugged and coated in rubber. The antennas 187 can be optimized to transmit and receive data o an approximately 433 MHz carrier, and/or transmit and receive data in any suitable frequency range.

(0275J The data transmissions between the audio payload 180 and the user controller 125 may interfere with the transmission of control signals between the user controller 125 and the control module 120 due to the near overlap of carrier frequency ranges for control data and audio data. The control data may be considered to be of higher importance than the audio

Levine Bagade Han LLP Page 50 of 73 data transmitted between the remote user controller 125 and the audio payload I SO, but alternatively the audio data may be of higher importance (for example on a surveillance mission, where the robot system is primarily stationary and listening). To avoid interference, a time division multiplexing scheme can be used, the simplest example being a half duplex communication mode; for example, the robotic system can turn off the audio data

transmission partially or completely while the robot system 10 is receiving control data and/or in motion, thus removing any possibility of interference between the audio data transmission and the control signals for the robot system. The control data may be partially or completely disabled while the audio data is transmitted. Additional multiplexing schemes may be used to prevent or reduce interference between control signal transmissions, audio data transmissions, video data transmissions, other pa vioad data transmissions, and other (possibly external) sources of interference.

[0276} Figure 13 and 59 illustrate that the payload interface 171 can house a video payload module 1 0 that can include the payload camera 192, a lighting system 191 , conditioning circuitry 193, a video transmission link 1 8, and a display 199. The payload interface 1 71 can be protected with a. clearpanel cover i 76, and sealed, with a. sealing device 177 to seal the payload interface 171 and make the payload interface 171 waterproof and/or dustproof, while simultaneously allowing a video payload to capture video. The panel cover 176 can be made from polycarbonate, crystal, or combinations thereof. The payload interface 1 71 may be uncovered, protected by shuttering, covering with mesh, covering with crystal, or combinations thereof.

{0277} Figures 49 and 50 illustrate that the audio payload module 180 can be integral with the video payload module 190. The panel cover 176 can be sealed into the chassis 1001 using a sealing device 177, sealing screws 1770, 1771 , or combinations thereof The sealing device 177 can be an o-ring, The sealing screws 770, 1 771 can be o-rmg sealed screws. The speakers 182, and/or the microphone 181 can be attached one or more glues and/or fasteners, such as an epoxy. The speakers 182 can emit, a volume of up to about . The speakers 182 can be located behind the panel cover 176, For example sound emitted by the speakers 182 may need to pass through the panel cover 176 before being broadcast to the environment outside of the system 10.

10278} Figure 51 illustrates that the payload camera 1 2 can be attached to brackets 1772, 1.773. The payload camera 1 2 ca be moved or shifted back. Moving the payload camera 192 back can improve airflow, enable electonics heatsinks for electronics, such as an LED

Levine Bagade Flan LLP Page 51 of 73 lighting system, on the board. The payload camera 1 2 can be positioned about 6mm from the front of the cover 176.

(0279J Figure 52a and 53 illustrate that a bezel cover 1760 can be attached to the front or rear of the system 10. The beze l cover 1760 can include audio holes or perforations 1780 positioned i front of and in unobstruc ted fluid or audio communication with the speakers 1761 , microphones 1762, or combinations thereof. The bezel cover 1760 can have, perforations positioned directly in front of sensors or transducers in or on the sy stem 10 such as cameras 1763, lights 1764, lasers, infrared lights, displays, chemical sensors, pressure sensors, scanning laser sensors, sweeping laser light (e.g. for face scanning, room scanning, fingerprint scanning, footprint scanning or combinations thereof), other, or combinations thereof

j0280| Figure 53 illustrates that the bezel cover 1760 can be attached to one, two or more wire guard bumpers 1765, 1 766. The bezel cover 1760 can be attached to a transparent, translucent or opaque bladder filled with a fluid such as a gas, for example air , or a liquid such as water, an electromagnet, a polymer bumper, or combinations thereof. The wire guard bumpers 1765, 1 766 can be bent or twisted. For example, the wire guard bumpers can protect the bezel cover 1760 from impacts with external objects, and reduce or remove interference and obstructions from input/output devices on the robotic system 10 (e.g., minimizing the debris that enters the perforations 1780).

j 281 J The bezel cover 1760 can include a display screen. The display screen can be an LED or an QLED screen, E NK screen or any other suitable screen. The display screen can display images and/or text and/or virtual faces. For example, the display screen can display a red cross symbol when delivering medical supplies, and/or display the face of the operator such that a subject the robotic system encounters can possibly recognize the operator. The display screen can be used for video chatting, for example between the payload camera 192 and display screen on the bezel cover 1760, and the remote operator control module .125. The video cha tting capabilities can be integra ted with video cha t products such as Skype or Apple FaeeTime,

(02821 The lighting 1 1 of the video payload module 190 can be both visible and infrared light, for example visible and infrared Light Emitting Diodes (LEDs), any suitable LEDs, any incandescent., fluorescent, phosphorescent (glow in the dark), chemical, combustion, laser, or other light source, or combinations thereof. The lighting 1 1 can be controlled via the microprocessor 121 of the control module 120, controlled by an additional microprocessor, or

Leviiie Bagade Han LLP Page 52 of 73 combinations thereof. The microprocessor 121 of the control module 120 can generates on, off, or variable dimming level signals for the lighting system 1 ! , The control signals for the lighting 1 1 m y be transmitted from the operator control unit 126 to the microprocessor 121. The lighting 1 1 may be automatically turned on and off by the microprocessor 121 in response to ambient light levels detected by an ambient light sensor.

[0283} The payload camera 1 2 can capture image data. The payload camera 192 can be one, two or more cameras, for example an analog video camera capable of detecting both infrared and visible light, a digital video camera, a still camera, a film camera, a forward looking infrared (FLIR) camera, any other suitable camera, or combinations thereof The payload camera 1 2 can be adapted to feed a video signal into conditioning circuitry 1 3. (0284} The conditioning circuitry 1 3 can provide signal processing and/ or signal switching. and/or filtering to the video signal. The conditioning circuitry 193 can include video feed switching and/or video feed overlay functionality, for example the conditioning circuitry 593 can have a video feed overlay chip that can be configured to switch and/or overlay video feed. The video feed overlay functions to combine display text and/or images in an overlay in the video feed signal, for example identifying the camera view, identifying the video feed, displaying battery life, sensor output data, positioning data, or any other suitable application. The conditioning circuitry 1 3 can include a video feed switch, which can be controlled by the microprocessor 121 of the main control module 120. The conditioning circuitry 1 3 may include filtering or amp lifying circuitry to i mprove the qua lity of the video feed. The conditioning circuitry 1 3 can be integrated in the payload module, but may alternatively be integrated in the operator control unit 126. o anywhere in the control module 120.

i _. 0285| The vide transmission link 1 8 can transmit the video signal to an operator control unit 126. The video transmission link 1 8 can be a wireless transmission link, a wired transmission link, other suitable transmission link, or combinations thereof. The video tra.osniiss.ion link 1 8 can include a video transmitter 1 4, antennas 1 5 196, and a video receiver 197. The video transmission link 198 can be integrated in the control module 120 of the robotic system, and can be integrated in the payload module 190. The video transmission link 198 can be an analog FM transmission link, a digital transmission link, wireless networking link, IEEE 1394 link, USB 1.0 2.0 3.0 link, other suitable link or combinations thereof.

10286} The video feed may be recorded and/or transmitted via a video transmission link. The video transmitter 194 can convert a video sianal into a communications sianal and transmit

Levine Bagade Han LLP Page 53 of 73 the communications signal to a video receiver 1 7 using an antenna 195, The video receiver 197 can receive a communications signal from the video transmitter 194 via an antenna 1 6, and convert the communications signal into a video feed and output the video feed to a display 1 9.

[0287} The antennas 1 5, 1 6 can be adapted to receive signals i the 900-1 100 MHz range. The antennas 195, 196 can be coated with rubber and ruggedized The antennas can be rubber duck antennas. The antennas can be shear resistant. The antennas can be joined to the body 20 at a hinged or otherwise articulatable mount. The antenna 195 for the video transmitter 1 4 can be connected to one of the antenna ports 127, 129 as shown in Figures 12b and 13, |0288| The display 199 can display the video feed from the payload camera 1 2 and any overlaid information that may foe included in the video feed from the conditioning circuitry 193. The display can be an LCD screen, an LED screen, an OLED screen, a TFT screen, other suitable screen, or combinations thereof.

{0289} The transmission frequencies of the video data, audio data, and control data can be approximately 900-1 100 MHz, 433 MHZ, and 480 MHz, respectively. These ranges for the three separate data channels can minimize or prevent interference. The video signal can be transmitted at a high enough frequency to sustain a high data rate and avoid any interference with the audio and control signals. In certain operating conditions, the control data and the audio data may interfere with each other. The control module 120 can turn off the audio payload 180 while control signals can be received in the user control module 126.

{029OJ Payload modules may include one, two or more sensors, input and/or output devices, tools, equipment and/or supplies including still cameras, film based cameras, forward looking infrared cameras, boom cameras, fisheye cameras, pan-tilt-zoom camera systems, light intensity sensors, electromagnetic radiation sensors, sound recorders, laser range finders, navigation systems. Global Positioning System (GPS) sensors, depth sensors, pressure sensors, radiation sensors, chemical sensors, pathological sensors, biological sensors, lire extinguishers, chemical decontamination systems, medical equipment, medical supplies, food supplies, water supplies, construction supplies, defibrillators, lethal and non-lethal weapons or munitions, e!ectroshock weapons (e.g., lasers by Taser International. Inc. of Seottsdale, Arizona), explosive disrnptors, robotic arms, equipment carriers, equipment actuators, spike strip launchers, caltrop droppers, precision turret systems, robotic hooks, actuated pokers, pressurized blowers, compressed gas (e.g., air, carbon dioxide, nitrogen) , blower fans, vacuum devices, additional batteries, hiometrie devices, or combinations thereof, Payloads

Levine Bagade Han LLP Page 54 of 73 ma include door opening devices (e.g., battering rams, prybars, doorknob interlaces, lockpicking systems), marsupials, marsupial water vessels, IJGV's or UAV's. toys,

construction equipment, farming equipment, high voltage repair equipment, personal assistance devices, a 3-dimension camera, information transmission systems (e.g., RF modules with additional antennas), radio signal disrupters such as signal jammers or shape charges, x-ray visualization systems, manipulator arms, 360-degree cameras, offloaded processors for data processing (e.g., to supplement the processors) on board the such as video processing and/or used for tiered processing, data storage such as hard dri ves or flash memory, or combinations thereof.

102911 Figure 55 illustrates that a camera payload 1920 can have the payload camera 192. The camera payload 1 20 can have actuators attached to the payload camera 192 that can be configured to pan and tilt the payload camera 192. The payload camera 192 can be configured to zoom in and out, for example with a motorized, adjustable lens. The camera payload 1920 can have a payload base 1 26 attached to a payload cage 1 24 having a rollbar 19.25. The payload base 1 26 can be .removably attached to the remainder of the system 10, such as to the chassis 1001 , via at least one module attachment element, such as module attachment screws 1927, at each comer of the payload base 1926. The payload cage 1924 and/or the rollbar 1 25 and/or the payload base 1927 can encircle the payload camera 1 2. {0292) The camera payload 1920 can have a bubble dome 1921. The bubble dome 1921 can have a solid panel of plastic. The bubble done 1 21 can be attached to the payload cage 1 24, such as to the rollbar 1 25, and/or to the base 1 26. The bubble dome 1 20 and the payload cage 1924 and/or the payload base 1 26 can enclose the payload camera 192, The bubble dome 1 21 and/or the payload cage 1924 and/or the payload base 1926 can protect the mechanical circuitry and the payload camera 1 2 from contaminants such as dust, sand, and liquids. The contaminants can impair the visibi lity, or scratch a lens of the payload camera 1 2, and/or impair the range of motion of the payload camera 1 2, The rollbar 1 22 can protect the bubble dome 1 21 from damage from impactsor trauma, such as scratches and cracks,

| 293] The payload camera 192 can be a full color camera. The camera payload 1920 can pan the payload camera 1 2, such as by rotating the payload camera 192 laterally, as shown by arrow 1928, The payload camera 1 2 can be rotated laterally from a fixed, unrotatable configuration to an unrestricted, repeatable 360° rotation (i.e., rotating over 360° with no maximum), more narrowl less than or equal to about 360 degrees, yet more narrowly less

Leviiie Bagade Han LLP Page 55 of 73 than or equal to about. 180°, The camera payload 1 20 can tilt he payload camera 1 2, such as by rotating the payload camera 1 2 vertically, as shown by arrow 1929. The payload camera can be rotated vertically from a fixed, unrotatable configuration to an unrestricted, repeatable 360° rotation (i.e., rotating over 360° with no maximum), more narrowly equal to or greater than about 180 degrees. The payload camera 192 can have a digital zoom of approximately 100x~ 120x.

(0294J Figures 1 1 and 56 illustrate that the drive module 130 can be configured to deliver mechanical energy to the mobility device 200. The drive module 130 can be mechanically linked to the mobility device 200, For example, the drive module 130 can be linked to the mobility device 200 using a pinion 131 adapted to rotate a ring gear 155. and the ring gear 155 can be adapted to rotate a rotatable axle sleeve 153 connected to a mobility device 200. (0295J Figure 56 illustrates that the driv module 130 can include at least one gearbox 1 32, at least one motor 134, and at least one motor controller 136. As shown in Figure 22, the drive module 130 can include a cooling device 138. The drive module 130 can be located near the center of the chassis frame 101 , for example in an inner wall of a chassis frame compartment 103, which improves stability. The chassis 101 can be made of a heat absorbing material, such as a metal , the drive module 130 can be i contac t or close proximi ty with a wal l of the chassis frame 101 , which can allow the chassis frame 101 to provide passive cooling

functionality, functioning as a heat sink and transferring heat away from the drive module 130. Additional passive cooling may be integrated into the drive module mount, either on the drive module 130 or in the chassis frame 101.

I0296J The motor controller 136 functions to provide power and control signals to the motor 1 4. The motor controller 136 can be adapted to receive power from a power supply 1 10 and control signals from a control module 120. in an alternative variation, the motor controller 136 may also be adapted to control a cooling system 138. The motor controller 136 can be a brushless motor controller, for example a brushless motor controller with a digital control interface, an open loop (or non-feedback) motor controller or combinations thereof.

{0297) The motor 134 functions to provide mechanical power to the gearbox 132. The motor 1 4 can be adapted to receive control signals and power from the motor controller 136. The motor 134 can be an elec tric motor, a fuel powered engine, or combinations thereof The motor 1 4 can be a brushless motor., for example a brushless motor with Hall effect sensors, an open loop controlled motor, a brushless motor, or combinations thereof. The Hall effect

Leviiie Baaade Han LLP Page 56 of 73 sensors can provide good low speed control and are more energy efficient, the open loop mode (without using hail effect sensors) requires more power.

(02 8J The gearbox 132 can adapt the mechanical output of the motor 134 to a higher or lower output for the mobility device 200, The gearbox 132 can be an interchangeable gearbox, and may be adjusted for different mobility devices (e.g. different sized wheels), different power/torque requirements, or combinations thereof. The gearbox 1 2 can be connected to a pinion 131 adapted to rotate other gears connected to a mobility device 200, and or be connected to a mobility device 200 directly.

[029 J The drive -module 130 can include a cooling device 138. The cooling device 138 may regulate the temperature of components within the chassis 100. For example, the cooling device 138 can regulate the temperature of the components in the drive module 130. The cooling device 138 can be a cooling fan, for example an electric cooling fan, a heatsink, a water-cooling system, a refrigeration system, or combinations thereof. At least one cooling fan can be mounted on the motor, such that the airflow generated can flow over and around the motor to regulate the temperature and provide targeted cooling. Fans may also provide general system cooling, and/or cooling to other elements in the chassis 100.

j0300| Figures 60 and -61 , illustrate that the system 1 can have a front intake port 1386a, a side or rear chassis heatsink 1382, and at least one exhaust fan 1381. The exhaust fan 1381 can have one or more top, side, bottom or rear exhaust vents or ports 1388a, 1388b, 1388c, and 1388d, respectively. The exhaust fan 1381 can force convection over the side or rear heatsink 1382. For example, the exhaust ta 1381 can pump, blow or draw a fluid (e.g., ambient air when the system 10 is on ground, and ambient water when the system 10 is in water) through the front intake port 1386a, through an internal or external cooling channel 1393 and across vanes or fins 1384 of the side or rear chassis heatsink 1382. Heated air around the chassis heatsink i 382 can be expelled through the top exhaust vent 1388a, as shown in FigureX2, and/or expelled through at least one side exhaust vent 1388b, as shown in Figure X3.

(0301 J Figure 62 illustrates that the system 10 can have a bottom intake port 1386c on the bottom of the system 10, a top intake pon 1386a on the top of the robotic system 10, side or rear intake ports on the side or rear of the system 10, or combinations thereof A fluid circulation device such as the exhaust fan 1381 can draw, as shown by arrows, an ambient fluid, such as ambient air or water, into the bottom intake port 1386c, across the chassis heatsink 1 82. and expel the heated air out the top or the bottom of the robotic system 10

Le ine Bagade Han LLP Page 5? of 73 (e.g., through the top exhaust, port 1388c. The exhaust tan 1381 can he reversed, and the air can be drawn in through the top exhaust port 1388c and exhausted through the bottom intake port 1386b.

1 _. 0302} Figure 63 illustrates that the rear chassis heatsink 1382 can he used to dissipate heat from inside of the chassis 1001. The exhaust fan 1381 can be attached to the outside of the rear chassis heatsink 1382. The ambient fluid can passively or actively (e.g., when blown by the fan) pass over vanes o the heatsink 1382,

[0303J Figure 64 illustrates that a side chassis heatsink 1 82 can conduct heat from inside the chassis 1001 to outside the chassis 1001. The exhaust fan 1381 can be attached to the outside of the side chassis heatsink 1382 to force the fluid of the enviroment through the side chassis heatsink 1382, Figure 65 illustrates that a reservoir 1383 can hold a liquid or gas, for example water. The reservoir 1383 can evaporate the liquid or gas through an exhaust vent or port 3388 as heat is absorbed by the contents of the reservoir 1383. The reservoir 3388 can have one or more reservoir vents, for example, configured to vent pressurized vapor and/or pressurized hot gas. The system 10 with the reservoir 1383 can have or be absent of exhaust fans 1381 , or filters.

[0304J Figure 66 illustrates that the system 1.0 can have one or more internal or external heat pipes 1390 having cool ends 1391 and hot ends 1392. The heat pipes 1390 can contain gas or liquid such as water, alcohol or combinations thereof. The heat pipes 1390 can be fabricated from aluminum, copper, steel, iron, ceramic, or combinations thereof. live cool ends ί 391 can be attached to the chassis 1001 , one or more chassis heatsinks 1382, motor heatsinks 1258, The hot ends 1392 can be attached to the control module 120, including the microprocessors 121 and the control board, and power modules 1 2, the power board, the drive module 130 including the gearboxes 132, motors 134, and motor controllers 136, power supply 1 10 including the batteries, or combinations thereof. The heat pipes 1390 can pipe or transfer heat from the hot ends .1392 at specific devices or areas in the robotic system 1.0 which can be sensitive to ambient operating temperatures - e.g., from the control module 120, microprocessors 321 , control board, power modules 322, power board, drive module 130, gearboxes 132, motors 134, motor controllers 136, power supply 3 10. and batteries, combinations thereof - to the coo! ends 1391 - e.g., to the chassis 1001 , chassis or motor heatsinks 1382 or 1258, or combinations thereof, for example to cool the hot ends 1392 and the elements located at the hot ends 1392. The exhaust fans 3381 may draw other gasses. As described herein, the exhaust fans 1381 can be combined with or substitute with or for

Levine Baaade Han LLP Page 58 of 73 pumps,reservoirs, pressurized cartridges, flow generating devices for water or other liquids or gasses, or combinations thereof.

j0305| Figure 67 illustrates that the chassis 100 can have a waterproof connector 1385, The waterproof connector 1385 can connect to the exhaust fan 1381. The exhaust fan 1381 can be located on the outside of the chassis 100. The waterproof connector 1385 can deliver and recei ve power and control signals to and from the exhaust fan 1 81 and the power board and or control boards i 20 inside the chassis 100 of the robotic system 10.

{O306J Figure 52d illustrates that a rear chassis heatsink 13S8d and/or exhaust fan 1381 can be mounted on the rear of the robotic system 10. A rear heatsink cover 1389a can be attached to the rear end of the chassis 100. The rear chassis heatsink 13S8d and/or exhaust fan 1381 can be covered and protected with a rear heatsink cover 1388.

j0307| Figure 52c illustrates that a side chassis heatsink 1388b and /or exhaust fan 1381 mounted on a side of the robotic system 10 can be covered with a side heatsink cover 1389b. The rear and side heatsink covers 1389a and 1389b can align, support and protect the exhaust fan 1381 and the chassis heatsink 1388 and fan attachments from damage. The rear and side heatsink covers 1389a and 1389b can be removably attached to the chassis 100. For example, the heatsink covers 1389 , chassis heatsinks 1388 and exhaust fans 1381 can be cleaned, repaired and replaced.

{0308) A mobili ty assistance module 140 can transfer mechanical energy to a mobil ity assistance device 300. As shown in Figure 57. the mobility assistance module 140 can include a motor controller 146, a motor 144, a safety coupling 143, a gearbo 142, or combinations thereof.

10309) Except as noted herein, the motor controller 146, the motor 144 and the gearbox 142 can be identical to the motor controller 136, the motor 1 4, and the gearbox 132 of the drive module 130. The gearbox 142 can be attached to a pinion 141 , and the pinion 141 is adapted to rotate a ring gear 14.2 adapted to rotate an axle 149.

[0310} The safety coupling 1 3, functions to decouple the axle shaft 149 from the actuation of the motor 144 in the event of an impact or shock, to the mobility assistance device 300. As shown in Figures 68 and 69, the mobility assistance device 300 can be a flipper 301, and the flipper 301 may be popped, as shown by arrow 400 in Figure 28, for example with a. torque from about 15 Nm (1 ib.-ft.) to about 145 Nm ( 07 Ib.-ft), more narrowly from about 30 Nm (22 Ib.-ft.) to about 125 Nm (92.2 Ib.-ft.), for example about 100 him (74 Ib.-ft. ) or about 30 Nm (22 Ib.-ft.) of torque at the axis of rotation.. The flipper 301 can be popped, slammed,

Levine Bagade Han LLP Page 59 of 73 or hit against a hard surface or object in order to cause the safety coupling to decouple and allow the flippers to be folded into a compact configuration for storage. The safety coupling 143 can be a ball detent, a torque lim er, an override coupling, any other decouplabie mechanism, or combinations thereof. The safety coupling 143 can include an actuator to automatic-re-engage functionality; an actuated and/or manual re-engage function, which may use a solenoid actuator to re-engage the safety coupling 143, or combinations thereof.

(0311 J The device can have a clutch, or no clutch, in mechanical communication between the engine and the axles 149 and/or 169. A continuous amount of force can be required to fold the flipper into a storage configuration (e.g., with a clutch), or a single sharp impact can cause a release of the axle 149 from the actuation of the motor 1 4 (e.g., with a safety coupling). The manually actuated and electronically actuated mobility assistance devices can disconnect the mobilit device to go from a ready position to a stowed position, using a mechanical release (such as a pin or a bail detent, brake or clutch, tensioner). This can remove the need for position feedback and autonomous rotation to a stowed position. . The release can be electronically activated. The release may be activated by motion, impact, impulse, the press of a button, pulling a le ver, actuation by a motor, or any combination thereof. The sensitivity of the activations can be adjusted, as can the n umber of ac tivations needed to release.

[0312] As shown in Figure 1 1 , the mobility device 200 can enable the robotic system 10 to move in the environment, which may include land, air, water, underground, underwater, outer space, asteroids, comets, other planets, other galaxies and moons. As shown in Figures 15 and 16, the mobility device 200 can be a track 210 driven by at least one track drive pulley 220 and guided by at least one track guide 230. The mobility device 200 may be a set of wheels, skis, skates, propellers, wings, sails, blades, balloons, floats, paddles, oars, flippers, corkscrews, winches, pressure tanks, rockets, a hover system, the tracks described above, or combinations thereof.

[0313] As shown in Figures 32 and 33, the mobility device 200 can include two track drive pulleys 220, 221 and at least one-track guide 230 for each track 210. The robotic system 10 can include two mobility devices 200, for example two tracks 210, one on each side of the chassis 100, or a single track 210. The mobility device 200 can include a drive pulley track cap 240.

[0314] The track 21 can link together the motion of the track drive pulleys 220, 221. The track may provide great mobility over a wide variety of terrains. The tracks can be replaced with wheels alone. The track 210 can be made of a polymer, for example a Thermo Plastic

Levine Bagade Han LLP Page 60 of 73 Urethane (TPU), other polymers, elastomers, metal mesh, carbon fibe based materials, metal links, metal-handed rubber, leather, or combinations thereof.

(0315] The track 210 can be manufactured using at feast one fixed length of injection molded track and then bonding the ends of at least one length together using a solvent, to create a continuous track 210 at a low cost. Solvents may be used for bonding polymer track bands or any other polymer suitable for manufacturing track bands. Bonding the track bands may include using glue, a fastener such as a staple, rivet, or snap, or using a thermal process to melt the ends of at least one band together. The track 210 can be molded as a single piece of continuous connected track,

10316) The track 210 can be molded with multiple layers. An inner material can be used with a mold to produce a base layer of the track 210 and an outermaterial can be overmolded to produce an outer layer integrated with the outer surface of the base layer. The base layer of the track 210 can be a different color than the outer layer of the track 210. When the outer layer wears, the color of the base layer can show through to the outside of the track 210. The visibility of the color of the base layer can be a wear indi ca tor for the track 210. The expected remaining life of the track 210, and/or when it is time to replace the track 210 can be indicated by the amount of color of the base layer visible. The base layer can incl ude the cleats either molded into or attached to the track. The wear leveling can be tapered, such that as an area wears more, the color variation between the base layer and the outer layer increases,

(03! ?J As shown in Figures 32 and 33, the outside of the track band 210 can include outside nubs 211 , 212, The outside nubs 21 1 and 212 can increase traction a a variet of surfaces, for example when the system 10 climbs over obstacles. The outside nubs 21 1, 212 can be substantially the width of the track, arranged perpendicular to motion vector of the track 210. The outside nubs can be any suitable width, and arranged in any suitable track pattern. The outside nubs 21 1 , 212 can be uniformly or non-unifomiiy spaced on the track band 210.

[0318} The track 210 may be modified or adapted for special purposes instead of the regularly spaced outside nubs. The track 210 can have application-enhancing elements such as suction cups for climbing wails, spikes to improve traction on ice, or any other suitable modification or addition to the track 210 for any other suitable purpose, or combinations thereof.

10319) Figures 32 and 69 illustrate that the inside of the track 210 can include inside nubs 216, 217. 218 that can keep the track 210 aligned on the track drive pulleys 220, 221 and the

Leviiie Bagade Han LLP Page 61 of 73 track guide 230. The outside edge of the inside nubs 216, 217, 218 can be rounded from the outer edge of the track 210 toward the inside of the track 210. The outside edge of the inside nubs 216, 217, 218 can be squares, triangles, cylinders, or any other suitable shape. The inside nubs 216, 217, 218 can be uniformly or non-uniformly spaced around the inside edge of the track 210.

[0320} Figure 68 illustrates that the inside nubs 216, 21 7, 218 can be spaced a fixed distance from the outer edge of the track 210 along an axis perpendicular to the motion vector of the track 210. The spacing between inside nubs 21.6, 217, 21.8 along an axis perpendicular to the motion vector of the track 210 can be the width of the track drive pulley 220, and the track guide 230. The inside of the track 210 can include a depression 213. The depression 213 can increase the grip of ridges 214 on a track drive pulley 220. The instdes of the track 210 can have a smooth area 215, for example ha ving no depressions 213. The inside of the tracks can be entirely smooth, have repeated depressions along the entire length, or combinations thereof.

[0321 ) The track drive pulley 220 can turn the track 210. At least one track drive pulley 220 on the track 210 can be adapted to be actuated by a rotatable axle sleeve 153 through a hole in the side plate 150 of the chassis 100 connected to the dri e module 130 either directly or through a series of gears inside the chassis 1 OO.The track drive pulley can have nubs which can interface with di vots on the inside of the track . The track drive pulley can be configured to grab the track and/or keep the track aligned on the track drive pulleys.

j 322| Figure 32 illustrates that the pins 154 can be used to mechanically link or fix the rotatable axle sleeve 153 and the track drive pulley 220, 221 , but other interfaces, techniques or parts may be used to mechanically link the rotatable axle sleeve 153 and the track drive pulley 220, 221. For example, glue, fastener, clips, or combinations thereof can be used to link the rotatable axle sleeve 153 and the track drive pulley 220. 221.

|0323} The track drive pulley 220 can be assembled from two components, an inner wheel hub 222, 223, and an outer wheel 224, 225. The track drive pulley 220 may be manufactured as a single, integrated component, or assembled from any number of components. The inner wheel hub 222. 223 can be made of nylon, other polymers, metal, carbon fiber, concrete, cardboard, wood, any other suitable material, or combinations thereof. The outer wheel 224, 225 can be made from TPU, Santoprene, other polymers, elastomer, or elastomer/polymer blend, metal, or combinations thereof. The inner wheel hub 222, 223 can be manufactured using a molding process, machined, cast, extruded, stamped., any other suitable method of

Leviiie Bagade Han LLP Pag 62 of 73 manufacture, or combinations thereof. The outer wheel 224, 225 can be manufactured using an injection molding process, machined, cast, extruded, stamped, or combinations thereof, (0324J Torquing a softer polymer with an axle made of a harder material such as a metal, may tear the polymer at higher torque levels. The combination of a metal rotatahle ax le sleeve 1 53 (or a metal axle 149) adapted to rotate a rigid polymer inner wheel hub 222, 223 attached to a polymer (e.g., a polymer softer tha the rigid polymer inner wheel hub) outer wheel hob 224, 225, can enable a high torque mechanical output to be distributed to a softer polymer outer wheel with shock and/or impact absorption, and improve durability at the interface between the metal and polymer. For example, the modulus of elasticity of the inner wheel hubs 222 and 223 can be about 280,000 to 420,000. The modulus of elasticity of the outer wheel hubs 224 and 225 can be about 8,000 to 20,000. The modulus of elasticity of the axles 149, 169 can be about 800,000 to 8,000,000. The ratio of the modulus of elasticity of the inner wheel hub 222 and 223 to the axle 149, 169 can be from about 0,5 to about 100, more narrowly from about 1 to about 29, yet more narrowly from about 1.9 to about 1 1 , for example about 10. The ratio of the modulus of elasticity of the outer wheel hub 224 and 225 to the inner wheel hub 222 and 223 can be from about 0.5 to about 100, more narrowly from about 1 to about 50, yet more narrowly from about 1.9 to about 11 , for example about 10. The surface area of contact between the axle and the inner wheel hubs 222 and 223 can be greater than or less than the surface area of contact between the inner wheel hubs 222 and 223 and the outer wheel hubs 224 and 225. The inner wheel hubs 222. 223 can interface with the outer wheel hubs 224, 225 by overmolding, Overmolding can include making the inner wheel hubs 222, 223 of an inner wheel hub material, making the outer wheel hub from an outer wheel hub material, where the inner wheel hub material is harder than the outer wheel hub material, and wherein the outer wheel hub is overmolded onto the inner wheel hub. (03251 The inner wheel hub 222, 223 can be assembled from two components fastened together. The components of the inner wheel hub 222, 223 can be wheel hub plates 222, 223 fastened together with self tapping screws, nuts and bolts, interlocking snaps, ri vets, glue, any other suitable fastener, or combinations thereof,

[0326] Figures 68 and 69 illustrate that the wheel hub plates 222. 223 can be fastened together in such a manner that they interlock (forming an interlocking hub) around a portion of the outer wheel 224, 225, such that the inner wheel 222, 223, and the outer wheel 224, 225 can rotate together.

Levine Baaade Han LLP Page 63 of 73 [6327} Figures 32 and 69 illustrate that. one of the wheel hub plates 223 can include a keyed interface, for example a hex-shaped keyed imerface, adapted to rotate a shaft connected to a mobility assistance device 300, The other inner wheel hub plate 222 can include a bearing to interface between an axle 149 and the inside of the track drive pulley 220, The inner wheel hub plate 222 can include an interface 226 for the rotating axle sleeve !53.The inner wheel hub plate can be connected to the rotating axle sleeve 153 using pi s 154, a connectio to an axle 149, any other suitable actuator, or combinations thereof. The inner wheel hub plate 222 can include a ball bearing 21 located between the center of the inner wheel hub plate 222 and the axle 149,

10328) Figures 5 and 6 illustrate that the outer wheel 224, 225 can include at least one tier of supporting members arranged radially or substantially radially, from the inner wheel hub 222, 223 to the outer rim of the outer wheel 224, 225. The outer wheel 224, 225 can include 2 tiers of supporting members arranged radially, where the first tier of supporting members 222 connects the inner wheel hub 222, 223 to an intermediate rim, and the second tier of supporting members connects the intermediate rim with the outer rim of the outer wheel 224, 225. The supporting members can be spaced evenly around the outer wheel 224, 225, or be spaced unevenly or in any suitable fashion. The supporting members can be of the same or substantially similar thickness to the outer rim of the outer wheel 224, 225, and/or any suitable thickness. Each outer wheel 224, 225 can have one, two, three or more tiers of supporting members 221, 222. The supporting members (e.g., two or three) can reduce the weight, material and cost of the outer wheel 224, 225 of the track drive pulley 220, 221 and increase flexibility and shock absorption, while creating larger spaces within the outer wheel 224, 225 to improve the tolerance of the track dr i ve pulley 220, 221 to foreign objects such as rocks, grass, twigs, which may get caught in the spaces between the supporting members of the outer wheel 224, 225, and improve the ability of the track drive pulley 220. 221 to fle if a foreign object (e.g., a pebble and/or a twig) is introduced in between the outer wheel 224, 225 of a track drive pulley 220, 221 and the track 2 0. When a foreign object is caught between the track 210 and the track drive pulley 220, 221 , the pressure from both the outer wheel 224. 225 of the track drive pulley 220, 221 flexing and the track 210 flexing and pressing on the foreign object between the track 210 and the outer wheel 224, 225 can be large enough to squeeze and throw the foreign object out from between the track 210 and the outer wheel 224, 225 of the track drive pulley 220, 221 and can be a self-cleaning

functionality for the track 210, which can reduce or eliminate the need for manual track

Levine Bagade Han LLP Page 64 of 73 cleaning and a track cleaning system. The track and/or track drive pulley or other elements can be made from a non-reinforced TPU, TPE or Santroprene flexible material, as well as other rubbers or flexible thermoplastics,

{0329} The self-cleaning function can allow the tracks 210 to be run looser against the track drive pulleys 220. 221.The tension of the track (which may vary with temperature) can be evaluated relative to the track's position with respect to the wheel cap. The outside edge of the track at the most contracted state of the track (i.e., highest tension) can be outside the radius of the wheel cap (e.g., to prevent the wheel cap from rolling against the ground instead of the track rolling against the ground) , for example including the nubs on the track. At the expanded state of the track; (i.e.. lowest tension), the cap and sideplare body can be no larger than the inside of the track (e.g., enough to hold the track on the track drive pulley)] The track 210 can have a track tension from about 0.4 N (0.1 Ib _f ) to about 534 (120 lbs). The outer wheel 224. 225 can include at least one ridge 214. The ridge 21 can interface with the depression 213 in the track 210 and improve traction of the track drive pulley 220 on the tack 210. The ridge 214 can be substantially uniformly spaced around the outer wheel 224, 225, and parallel to the axis of rotation of the outer wheel 224, 225, but any suitable pattern of ridges may be used. The ridge 214 can be ma ted to at least one depression 213 in the track 210, but may alternatively be any suitable shape.

{0330) During extreme operating conditions or rough terrain, for example, one or more tracks 210 may be dislodged from or thrown off the track drive pulleys 220, the track drive pulley 220. The track guide 230 can keep the track 210 aligned on the track drive pulley 220 and realign the track 210, for example, i f the track 210 is off of the track drive pulley 220 or the track's alignment with the track drive pulley 220 is maladjusted. The track guide 230 can be attached to the side plate 150 of the chassis 300. for example the track guide 230 can be mounted on the side plate 150 with machine screws, fastened to the side plate 150 with rivets, glue, interlocking parts or other suitable fastener, or combinations thereof. The track guide 230 may be integrated into the side plate 1 50 as a single piece for manufacture. The track guide 230 may be fused with the side plate 150. The track guide 230 can guide the track 210 as the track 210 passes above and/or below the track guide 230. The track guide 230 can guide the track 210 as the track 210 passes above and/or below the track guide 230. The track guide 230 can be made of lubricated nylon, another polymers, metal, carbon fiber, concrete, cardboard, wood, any other suitable material, or combinations thereof. The track

Leviiie Baaade Han LLP Page 65 of 73 guide 230 can be injection molded, cast, extruded, machined, stamped, cut, any other suitable method of manufacture, or combinations thereof

(0331 J Figures 30 and 33 illustrate that the side plate 150 of the chassis 1 0 can assist the track guide 230 or act independent ly in maintaining the alignment of the track 210 on the track drive pulleys 220, The side plate 150 can be slightly larger than the inside diameter of the track 210 when the track 210 can be stretched over the track guide 230 and the robot drive pulleys 220. The flanging of the side plate 150 relative the track 210 can interference fit against the track 210 prevent the track 210 from being thrown or otherwise moved onto the chassis 100 and, for example, getting stuck between the drive pulleys 220 and the chasses 100. The side plate 150 can be slightly larger than the inside diameter of the track; 210, and smaller than the outside diameter of the track 210. The sideplate can protrude from about 1 mm (0.04 in.) to about 2 mm (0.08 in.) beyond the inside diameter of the track. The sideplate 150 can provide additional track guidance. The robotic system 1 may operate while inverted.

[0332} Figures 11, 62 through 65, 68 and 69 illustrate that the mobility assistance device 300 can assist the robotic system 10 in particular situations and/or special terrain, for example climbing over objects, climbing up stairs, or navigating snow. The mobility assistance device 300 can be at least one flipper 301 for each mobility device 200, and may alternatively or additively have one or more skis, skates, propellers, wings, sails, blades, balloons, floats, paddles, oars, flippers, corkscrews, winches, pressure tanks, rockets, a hover system, other suitable mobility assisiance device, or combinations thereof.

| ^" 333J Figures 68 and 69 illustrate that a flipper 301 can include a track 310, a flipper pulley 320, a track guide 330, and a pulley cap 340.

{0334} The track 310 of the flipper 30 can be identical to the track 210 of the mobility device 200. The same materials and manufacturing processes can be used for the track 210 and the track 3.10 (e.g., which can improve manuiacturabiiity scalability and lower cost). The track 3 10 on the flipper 301 can be shorter than the track 210 of the mobility device 200. (0335} The flipper pulley 320 of the flipper 3 1 can be identical to the track drive pulley 220 of the mobility device 200. For example, the flipper pulley 320 can have an outer wheel 324 and inner wheel hub 323.

{0336} Figures 68 and 69 illustrate that the flipper 301 can include one flipper pulley 320. The flipper 3 1 can include additional pulleys. The flipper pulley 320 can be adapted to rotate in tandem with the track dri ve pulley 220. The flipper track 310 can move

Levine Bagade Fian LLP Page 66 of 73 simultaneously with the track 210 of the mobility device 200, The outside flipper track nubs 31 1 can be identical to the outside m in track nubs 21 1. The flipper pulley 320 and the track drive pulley can be linked via a rotatable axle sleeve 328. One end of the rotatable axle sleeve 328 can be inserted in a mated interface (e.g., a hex interface as shown m Figures 68 and 69) of the inner wheel hub 323 of the flipper pulley 320. The ball bearing 319 and inner wheel hub plate 322 can be identical to the ball bearing 219 and the inner wheel hub plate 222, respectively. The other end of the rotatable axle sleeve 328 can be inserted in a mated interface of the inner wheel hub 223 of the track drive pulley 220. The rotatable axle sleeve 328 can rotate about the axle 149for example with lubrication, a ball bearing, or other suitable bearing, or combinations thereof. The rotatable axle sleeve 328 can be molded from a rigid polymer or machined from aluminum, alternatively be nylon, polymer, metal, other suitable material, or combinations thereof.

[0337} Figures 68 and 69 illustrate that the flipper track guide 330 can keep the flipper track 310 centered on the flipper pulley 320 and realign the track 310 if the alignment is maladjusted. The track guide 330 can be made of lubricated nylon, other polymers, metal, carbon fiber, concrete, cardboard, wood, any other suitable material, or combinations thereof. The track 310 can slide over the track guide 330. The track guide 330 can be lubricated, as shown The track guide 330 can be injection molded, cast, extruded, machined, stamped, cut, any other suitable method of manufacture, or combinations thereof. The flipper track guide 330 can include additional support structures to improve the strength and shock absorbing capabilities of the Dipper track guide, for example a reinforced ribbing pattern machined or molded along the internal wall of the flipper track guide 330, any suitable support structure, or combinations thereof. The flipper track guide 330 can be attached to at least one track guide arm 331 , for example two track guide arms 3 1, and 332.

(03381 The track guide arms 331 , 332 can be made of nylon, other polymers, metal, any other suitable material, or combinations thereof. The track guide arms 331 , 332, can be reinforced with a ribbing pattern or any other suitable reinforcement structure along their length, which can improve strength and enable lighter weight, flexibility, torque and shock absorption of the track guide amis 331 , 332. One of the track guide arms 331 can be attached to the rotatable axle sleeve 328. The rotatable axle sleeve 328 can rotate inside of a ball bearing 329 located inside the track guide arm 331 . The ball bearing 329 can be held in place inside the track guide arm 331 by a snap ring 32? in groove in the rotatable axle sleeve 328.

Leviiie Baaade Han LLP Page 67 of 73 [0339] Figure 70 illustrates thai the flipper assembly can have an outer composite cover 3331 and an inner composite frame 3332. The outer composite cover 3331 and the inner composite frame 3332 can each be single, integral, umbody structures. For example, the outer composite cover 3331 can be made from the pulley cap 3400 integrated with the track guide arm 3320, track guide 3301. and the roller wheel cap 3370. The inner composite frame 3332 can be made ίτοπι the track guide arm 3310 integrated with the track guide 3302 and roller wheel cap 3360. The inner composite frame 3331 can be integrated with the outer composite cover 3332. The composite frame 3331 and/or composite cover 3332 can be made by molding, stamping, cutting, printtmg, or combinations thereof, from a single piece of material..

[0340! Figures 68 and 69 illustrate that the mobility assistance device 300 can include a pulley cap 340. The pulley cap 340 can hold the second track guide ami 332 in place and rotate the guide arm 332 about the axle 149 when the axle 149 rotates the pulley cap 340, thus actuating the entire flipper 301. The pulley cap 340 can assist the track guide 330 and the flipper pulley 320 in keeping the track 3.10 aligned on the flipper pulley 320.

[0341] Figures 30, 32, 3, 68,and 69 illustrate that the keyed inside 346 of the axle cap 341 can be mated to the keying 163 of the axle 149, such that the axle cap 341 can rotate wi th the axle 149, and the pulley cap 340 can be keyed to interface and rotate with the axle cap 341. A hex, square, or triangular keying shape can be used for the keying of the inside 346 of the axle cap 341. The outside of the hex cap 341 can he keyed to fit into a keyed interface in a pulley cap 340. The pulley cap 340 can include a gap 344 having dimensions to hold the second track guide arm 332 in place, for example the pulley cap 340 can include a keying on the inside edge 343 of the pulley cap 349 mated to keying 347 on the second track guide arm 332 such that when the pulley cap 340 rotates, the track guide a m 332 also rotates. which actuates the flipper 301 when the mobility assistance module 140 rotates the axle 149. The gap 344 can be from about 10 mm (0.4 in.) to about 60.ram (2.4 in.), for example about 38 mm (1.5 in.). The pulley cap 340 can be fastened to the axle 149 using a nut 348 over the threaded end of the axle 149. The outward facing portion of the pulley cap 340, can be convex, or alternatively a set of convex ridges arranged radially outward from the center of the pulley cap, such that if the robot system 10, were somehow positioned on a side, the convexity will cause the robotic system 1 to roll to either side and allow the tracks 310 to contact a surface and regain mobility. The pulley cap 340 can be made of nylon, but may alternatively be made of other polymers., metal, carbon fiber, concrete, cardboard, wood, or

Leviiie Bagade Han LLP Page 68 of 73 any other suitable material. The pulley cap 340 can be manufactured using a machining process, injection molded, cast, extruded, stamped, any other suitable method of manufacture, or combinations thereof,

[0342 J The inside edge 343 of the pulley cap 340 ca be mated with the rounded edge of the inside nubs 336 of the track 310, for example, to guide the alignment of the track 210, and prevent the inside nubs 316 from carrying foreign objects in between the track 310 and the flipper pulley 320. The pulley cap 340 can have ribs, vanes, fins, or combinations thereof that can mate with the nubs on the track.

[0343J The actuation granularity of the flipper m ay be timed by changing the gearbox 142 in the drive assistance module 140. The mobility assistance module 140 ca be adapted to rotate the flipper 301 more than 360°. about 360° (i.e., a revolution), or less than 360° (e.g., less than an entire revolution), for example about 345°. The rotation of the flipper 301 can be limited by the control software, and/or electronically, and /or mechanically limited, for example by a shear pin.

[0344} The mobility assistance module 140 can be omitted from the device. The position of some or all of the flippers can be manually actuated by removing a pin 168 i manually actuated mount 167, manually actuating the axles 169. and replacing the pin 168. The flipper positions ma be selected using a multiple, discrete position interface with a ball detent or friction clamp design, any other suitable fastening device or method, or combinations thereof. (0345} The flipper track 310 can be guided b a roller wheel 335. The roller wheel 335 can be capped on each side by roller wheel caps 336, 337 any or each of which can be attached to the track guide arms 332 and 331 respectively, and adapted to enable the roller wheel 335 to rotate freely. As shown in Figures 17 and 18, the inner edge 339 of the track guide cap can be mated to the inside nubs 316 of the flipper track 310. The track guide caps or roller wheel caps 336 and 337 can be made of nylon, another polymer, a metal, or combinations thereof.

[0346} Figure 71 illustrates that the flippers 301 can be retracted, contracted, or rotationally folded, as shown by arrows 50, into a compact shape, for example for storage or carrying. The robotic system 10 can have a compact length 36S of about 43 cm (17 hi.).

J 347J The flippers 301 at one or both ends of the system 10 can have a safety release coupling that can release the flippers 301 so the flippers 301 can be rotated, as shown by arrow 50, with respect to the body 20, The safety release couplings can have mechanical, electro-mechanical, magnetic couplings, or combinations thereof. The safety release couplings can have detents and/or ball bearings. The safety releasing coupling can release

Levine Bagade Han LLP Page 69 of 73 the flippers 301 when the torque, as shown by arrow 400 in Figure 28, applied to the flippers 301 exceeds from about 15 Nm (1 1 lb-it) to about 145 Nm (107 lb- ft. ), more narrowly from about 30 Nm (22 Ib-ft) to about 125 Nm (92.2 lb-ft), for example about 100 Nm (74 lb-ft) of torque at the axis of rotation. For example, the system 10 can be dropped or slammed against the ground or a wall to release the flippers 301 so the flippers 301 can rotate freely with respect to the body 20.

(0348J As shown in Figure 72, both flippers 301 can be extended, as shown by arrows 50, to achieve the maximum length of the device. The extended length 370 of the robotic system 10 with both flippers 30 i extended can be equal to or more than about 69 cm (27 in.). For example, the robotic system 10 can be equal to or greater than about 40%, 50%, 60%, 80%. 100%, 150% or 1 5% longer from the contracted configuration to the expanded

configurations of the robotic system 1 .

[0349} Figures 6e and of illustrate that if the length of the mobility assistance devices 300 is long enough, the robotic system 10 can be equal to or greater than about 200% longer from the contracted configuration to the expanded configurations of the robotic system 10. The extended length of both flippers 301 can enable the robotic system 10 to climb stairs.

|0350 Figure 273iJlustraies that at least one or a pair of the (e.g., front) flippers 301 may be rotated, as shown by arrows 50, to a higher angle to enable the robotic system 10, for example to climb an obstacle while the other (e.g., rear) flippers may be folded or extended. (0351 J Figure 74 illustrates that the robotic system 10, ma be elevated off of a surface 372 when both flippers 301 are rotated to point down. This functionality may be useful for navigating terrains with pressure sensitive or hostile conditions, such as chemical spills, minefields, or any other hazardous terrain, or to raise the chassis of the system 10 above the surface, such as when passing through water obstacles (e.g., ponds, puddles, moats, streams, rivers).

{03S2J As a person skilled in the art will recognize from the previous detailed description and from the figures and claims, modifications and changes can be made to the variations of the in vention without departing from the scope of this invention defined in the following claims. More than one range or example of quantities can be provided for a characteristic as alternative contemplated ranges and examples. Elements, characteristics and configurations of the various variations of the disclosure can be combined with one another and/or used in plural when described in singular or used in plural when described singularly.

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