THEREOF FOR A ROBOT

INCORPORATION BY REFERENCE TO ANY PRIORITY APPLICATIONS

[0001] Any and all applications for which a foreign or domestic priority claim is identified in the Application Data Sheet or PCT Request as filed with the present application are hereby incorporated by reference under 37 CFR 1.57, and Rules 4.18 and 20.6. The present application claims priority to U.S. Provisional Patent Application No. 63/378,006, filed September 30, 2022, the disclosure of which is incorporated herein by reference in its entirety and for all purposes.

BACKGROUND

Field

[0002] The present disclosure relates to energy storage devices, and more particularly, to energy storage devices, designs and compartments for robotic applications.

Description of the Related Art

[0003] Electrochemical energy storage systems are widely used to provide power to electronic, electromechanical, electrochemical, and other useful devices. Lithium-ion batteries are one of the most common examples of electrochemical energy storage systems, and the prevalence of lithium-ion batteries is due to their higher energy density when compared to other electrochemical energy storage systems. During the last decade, the use of lithium- ion batteries has expanded from consumer electronics to other areas including the automotive and robotic industries. A lithium-ion battery consists of four main components: a cathode electrode, anode electrode, electrolyte, and separator, and at least some of the success of lithium-ion batteries may be attributed to the development of high-energy density electrodes.

[0004] Embodiments of the present disclosure and their advantages are best understood by referring to the detailed description that follows. It should be appreciated that like reference numerals are used to identify like elements illustrated in one or more of the figures, wherein showings therein are for purposes of illustrating embodiments of the present disclosure and not for purposes of limiting the same. SUMMARY

[0005] For purposes of summarizing the invention and the advantages achieved over the prior art, certain objects and advantages of the invention are described herein. Not all such objects or advantages may be achieved in any particular embodiment of the invention. Thus, for example, those skilled in the art will recognize that the invention may be embodied or carried out in a manner that achieves or optimizes one advantage or group of advantages as taught herein without necessarily achieving other objects or advantages as may be taught or suggested herein.

[0006] In one aspect, an energy storage device enclosure is disclosed. The energy storage device enclosure includes a protective covering; and a case comprising: a compartment; a pelvis attachment point; an arm attachment point; and a neck attachment point.

[0007] In another aspect, an energy storage device system is disclosed. The energy storage device system includes an energy storage device enclosure; and an energy storage device positioned within the compartment. In some embodiments, the energy storage device system further comprises energy storage device electronics.

[0008] In another aspect, a robot is disclosed. The robot includes an energy storage device enclosure or an energy storage device system; a leg system comprising a pelvis mounting point attached to the pelvis attachment point by a pelvis fastener; an arm system comprising an arm mounting point attached to the arm attachment point by an arm fastener; and a head system comprising a neck mounting point attached to the neck attachment point by a neck fastener.

[0009] In some embodiments, the pelvis mounting point is directly attached to the pelvis attachment point, wherein the arm mounting point is directly attached to the arm attachment point, and wherein the neck mounting point is directly attached to the neck attachment point. In some embodiments, at least one of the pelvis mounting point and the pelvis attachment point, the arm mounting point and the arm attachment point, and the neck mounting point and the neck attachment point comprises a spacer disposed therebetween. In some embodiments, the pelvis, arm and neck fasteners are each independently selected from the group consisting of a screw, a bolt, a nail, a rivet, an anchor, an adhesive, a snap, a heat stake, a weld, and combinations thereof. In some embodiments, the energy storage device enclosure is configured to substantially withstand bending moments from a payload of at least about 20 kg. wherein the energy storage device enclosure is configured to substantially withstand bending moments from a payload of at least about 20 kg.

[0010] In some embodiments, the energy storage device enclosure further comprises a computer attachment point.

[0011] In another aspect, an enclosure-computer system is disclosed. The enclosure-computer system includes an energy storage device enclosure; and a computer system comprising a computer mounting point attached to the computer attachment point by a computer fastener.

[0012] In some embodiments, the computer mounting point is directly attached to the computer attachment point. In some embodiments, a duct path is disposed between the energy storage device enclosure and the computer system. In some embodiments, the energy storage device enclosure further comprises a plurality of heat sink fins positioned within the duct path. In some embodiments, the computer system further comprises a computer heat sink positioned within the duct path. In some embodiments, the duct path further comprises outer duct walls. In some embodiments, the duct path further comprises inner duct walls. In some embodiments, the enclosure-computer system further comprises a fan positioned at an entrance of the duct path. In some embodiments, the enclosure-computer system further comprises an air flow vent positioned at an exit of the duct path. In some embodiments, a position of the air flow vent is selected from a side minor surface, a top minor surface and a combination thereof, of the enclosure-computer system.

[0013] In another aspect, a robot is disclosed. The robot includes an enclosurecomputer system; an energy storage device positioned within the compartment; and a leg system comprising a pelvis mounting point attached to the pelvis attachment point by a pelvis fastener.

[0014] These and other embodiments are described in greater detail below.

BRIEF DESCRIPTION OF THE DRAWINGS

[0015] FIG. 1 is a front perspective illustration of a robot comprising an energy storage device enclosure, according to some embodiments. [0016] FIG. 2 is a back perspective exploded illustration of an energy storage device system comprising an energy storage device enclosure, according to some embodiments.

[0017] FIG. 3A is a front perspective illustration of an energy storage device enclosure and attachment points, according to some embodiments.

[0018] FIG. 3B is a front perspective transparent illustration of the inside of an energy storage device enclosure, according to some embodiments.

[0019] FIG. 4A is a front perspective illustration of an energy storage device enclosure attaching to a leg system, according to some embodiments.

[0020] FIG. 4B is a front perspective illustration of an energy storage device enclosure attaching to arm systems, according to some embodiments.

[0021] FIG. 4C is a front perspective illustration of an energy storage device enclosure attaching to a head system, according to some embodiments.

[0022] FIG. 4D is front view illustration of a robot comprising an energy storage device enclosure, according to some embodiments.

[0023] FIG. 4E is side view illustration of a robot comprising an energy storage device enclosure, according to some embodiments.

[0024] FIG. 5A is a cross-sectional side view illustration of an enclosure-computer system, according to some embodiments.

[0025] FIG. 5B is a front perspective exploded illustration of an enclosurecomputer system, according to some embodiments.

[0026] FIG. 5C is a back perspective exploded illustration of an enclosurecomputer system, according to some embodiments.

[0027] FIG. 5D is a cross-sectional front view illustration of an enclosure-computer system, according to some embodiments.

[0028] FIG. 6A is a cross-sectional side view illustration of an enclosure-computer system, according to some embodiments.

[0029] FIG. 6B is a front perspective exploded illustration of an enclosurecomputer system, according to some embodiments.

[0030] FIG. 6C is a front perspective illustration of an enclosure-computer system, according to some embodiments. [0031] FIG. 7A is a front perspective illustration of a portion of a robot with side vents, according to some embodiments.

[0032] FIG. 7B is a front perspective illustration of a portion of a robot with a top vent, according to some embodiments.

DETAILED DESCRIPTION

[0033] Energy storage device enclosures, energy storage device systems and enclosure-computer systems are described herein. The energy storage device enclosure may not only hold the energy storage devices within its compartment, but also may form the torso of a robot such that the energy storage device enclosure structurally supports and transfers loads from body part elements of the robot (e.g., head, neck, arms, pelvis, legs) attached thereto. As such, the energy storage device enclosure may provide the energy storage device held within protection from mechanical abuse and thermal runaway, in addition to being structurally designed to handle loads from body parts of the robot and additional loads and load transfers.

[0034] In some additional aspects, the enclosure-computer systems formed from a computer system attached to the energy storage device enclosure may form a duct pathway therebetween, which may act as the primary cooling interface to simultaneously cool the energy storage devices and computer electronics.

[0035] One or more aspects of the present application relate to enhanced techniques for autonomous or semi-autonomous (collectively referred to herein as autonomous) operation of machinery, generally referred to robot or robotic machinery. In one or more embodiments, robots may be configured or optimized to conduct one or more tasks typically implemented through human effort. In some applications, a robot may be humanoid in appearance to physically resemble, at least in part, humans or human efforts. In other applications, a robot may not be constrained with features that are humanoid in appearance.

[0036] Thus, the robot may navigate about a real-world environment using visionbased sensor information. As may be appreciated, humans are capable of navigating within various environments and performing detailed tasks using vision and a deep understanding of their real-world surroundings. For example, humans are capable of rapidly identifying objects (e.g., walls, boxes, machinery, tools, etc.) and using these objects to inform navigation/locomotion (e.g., walking, running, avoiding collisions, etc.) and performing manipulation tasks (e.g., picking up objects, using machinery/tools, moving between defined locations, etc.). Such robots may utilize energy storage device orientations, designs, architectures and/or compartments that not only power the robot and its equipment, but which are configured to aid the robot in performing tasks.

[0037] While description related to a robot’s energy storage device orientation, design, architecture and/or compartment is included herein, as may be appreciated the techniques may be applied to other machinery. For example, the disclosure related to the energy storage device, energy storage device enclosure, energy storage device system and/or enclosure-computer system described herein may be used, in part, to in ground vehicles, aerial vehicles, and so on. Additionally, reference to robots may, in some embodiments, is not limited to any particular type of environment, such construction environments, factories, commercial facilities, home facilities, public areas, safety and protection environments, and the like.

[0038] FIG. 1 illustrates an example robot 100. The robot 100 may include one or more electric motors which cause movement of one or more actuators or manipulation joints. The electric motors may include, for example, induction motors, permanent magnet motors, and so on. The robot 100 is also depicted to include an energy storage device system 102, which is shown located within the chest 104 of the robot 100. The robot 100 is at least partially covered by an exterior shell 106. The energy storage device system 102 includes an energy storage device enclosure that holds at least one energy storage device. As shown in FIG. 1, the torso, arms, and neck of the robot 100 are mounted directly to the energy storage device enclosure of the energy storage device system 102. Energy storage devices can include one or more energy storage device (e.g., battery) packs, each comprising a multitude of energy storage devices that may be used to power the robot and its equipment (e.g., electric motors) as is known by those skilled in the art.

[0039] FIG. 2 illustrates an energy storage device system 200 that may be integrated into a robot, such as robot 100 of FIG. 1. The energy storage device system 200 includes a case 202 comprising a compartment 203, a vertically oriented energy storage device pack 204, and a protective covering 206. The vertically oriented energy storage device pack 204 includes a plurality of cells 208, cooling, electrical and/or strengthening elements 210, and an electronic element 212. The case 202 and the protective covering 206 taken together may be referred to as an energy storage device enclosure.

[0040] In some embodiments, both the anode and cathode of one or more of the plurality of cells 208 may be in electrical communication with the electronic element 212 through the same side or a single plane of the cell. By way of example, an exemplary type of storage cell and arrangement of storage cells that can be utilized in at least one embodiment is described in U.S. Provisional Application No. 63/366,454, entitled ENERGY STORAGE CELL and filed on June 15, 2022. Another exemplary type of storage cell and arrangement of storage cells that can be utilized in at least one embodiment is described in PCT Application No. PCT/US2021/051343, entitled ENERGY STORAGE CELL and filed on September 21, 2021. U.S. Provisional Application No. 63/366,454 and PCT Application No. PCT/US2021/051343 are incorporated by reference herein. Such an orientation may aid in decreasing manufacturing costs, minimizing space occupied by the energy storage device system, and/or aid in the venting and venting directing of gas. In some embodiments, the cooling and/or strengthening elements 210 may include channels and/or materials that aid in heat transfer from the energy storage device system 200. In some embodiments, the case 202 may include channels and/or materials that aid in heat transfer from the energy storage device system 200, such as fins and/or heat sinks.

[0041] FIG. 3 A depicts an energy storage device enclosure 300 that includes pelvis attachment points 302, arm attachment points 304, neck attachment points 306, computer attachment points 308. FIG. 3B depicts the inside compartment of the energy storage device enclosure 300, which includes a plurality of energy storage devices 310 and energy storage device electronics 312.

[0042] FIG. 4A depicts the energy storage device enclosure 300 attaching to a leg system 314. The leg system includes a pelvis 315, a pelvis mount 316 attached to the top end of the pelvis 315, pelvis mounting points 318 disposed on the top end of the pelvis mount 316, and legs 317A and 317B attached to the bottom end of the pelvis 315. The pelvis mounting points 318 are shown in FIG. 4A to be configured to attach to pelvis attachment points 302. The energy storage device enclosure is also shown with arm attachment spacers 320 disposed over the arm attachment points 304. [0043] FIG. 4B depicts the energy storage device enclosure 300 attached to leg system 314, and attaching to an arm system comprising a left arm 324A and a right arm 324B. Each arm 324 A and 324B includes arm mounting points 326 configured to attach through spacer attachment points 322 and to arm attachment points 304. FIG. 4C depicts the energy storage device enclosure 300 attached to arms 342A and 342B, and attaching to a head system 328. Head system 328 includes neck mounting points 330 configured to attach to neck attachment points 306.

[0044] FIG. 4D depicts a front view of a robot 340, wherein the leg system 314, arms 324A and 324B, and head system 328 are attached to the energy storage device enclosure 300. FIG. 4D depicts the robot 340 standing on leg system 314 with its arms 324A and 342B horizontally extended out from its side. FIG. 4E depicts a left side view of the robot 340 of FIG. 4D, wherein the robot 340 is standing on leg system 314 with its arms 324A and 342B horizontally extended forward.

[0045] In some embodiments, the energy storage device enclosure attaches to the pelvis system, arm system, head system, and/or leg system. In some embodiments, the energy storage device enclosure attaches directly to the pelvis system, arm system, head system, and/or leg system. In some embodiments, the energy storage device enclosure comprises one or more attachment points configured to attach directly or indirectly to other components or systems of the robot by the use of fasteners. In some embodiments, an attachment point is configured to attach directly the pelvis system, pelvis mount, arm system, arm mount, head system, heat mount, leg system, and/or leg mount. In some embodiments, an attachment point attached directly to a component or system of the robot includes a spacer disposed therebetween. In some embodiments, fasteners include screws, bolts, nail, rivet, anchors, adhesives (e.g., glues), snaps (e.g., plastic snaps), heat stakes (e.g., plastic heat stakes), welds, and combinations thereof.

[0046] In some embodiments, the pelvis of the robot is the root of the kinematic chain. In some embodiments, all or substantially all parts (e.g., head, neck, torso or energy storage device enclosure, pelvis, legs), attachment points and/or mounts in the kinematic chain are stiff as possible to reduce end-effector deflection and/or avoid exciting modal frequencies. In some embodiments, a pay load on the arms of the robot may result in shear force and bending moment applied to the torso or energy storage device enclosure. As such, in some embodiments, the torso or energy storage device enclosure provides structural support to withstand or substantially withstand bending moments from a payload of, of about, of at least, or of at least about, 0.5 kg, 1 kg, 2 kg, 5 kg, 10 kg, 20 kg, 30 kg, 40 kg, 50 kg, 75 kg, 100 kg, 150 kg or 200 kg, or any range of values therebetween.

[0047] FIG. 5A depicts a cross-sectional side view of enclosure-computer system 400 that includes an energy storage device enclosure 400A attached to a computer system 400B, whereby a duct path 402 is formed between the energy storage device enclosure 400A and computer system 400B. The computer system 400B includes a fan 404 that is adjacent to the energy storage device enclosure 400A and an entrance of the duct path 402 such that the fan 404 is configured to pass air through the duct path 402 following the air flow path 406. The energy storage device enclosure 400A includes heat sink fins 408 disposed within the duct path 402 and the computer system 400B includes a computer heat sink 410 disposed within the duct path 402, such that air following the air flow path 406 is configured to absorb heat from both a plurality of energy storage devices 412 within the energy storage device enclosure 400 A and the computer electronics 411 of the computer system 400B before exiting the enclosure-computer system 400.

[0048] FIGS. 5B and 5C depict the energy storage device enclosure 400A and the computer system 400B of the enclosure-computer system 400 of FIG. 5 A separated from each other. The surface of the energy storage device enclosure 400A configured to interface with the computer system 400B includes computer attachment points 415, a pair of heat sink fins 408, wherein the heat sink fins 408 begin at a bottom end of the energy storage device enclosure 400A and end at a top side end of the energy storage device enclosure 400A, and a pair of inner duct walls 414 that follow the path of the heat sink fins 408. The computer system 400B includes a pair of fans 404, computer heat sinks 410 and a computer covering 416. The computer covering 416 is configured to interface with the surface of the energy storage device enclosure 400A, and includes computer mounting points 417 and a pair of outer duct walls 418. The energy storage device enclosure 400A is configured to attach to the computer system 400B by attaching (e.g., with fasteners) the computer attachment points 415 with the computer mounting points 417 such that outer duct walls 418 of the computer covering 416 and the inner duct walls 414 of the energy storage device enclosure 400A form the duct path 402 of FIG. 5 A. FIG. 5C shows the energy storage device enclosure 400A without the protective covering (i.e., the case), whereby a plurality of energy storage devices 412 and energy storage device electronics 420 are disposed within the compartment.

[0049] FIG. 5D depicts a cross sectional front view of the enclosure-computer system 400, whereby the pair of fans 404, air flow paths 406, heat sink fins 408, computer heat sinks 410, inner duct walls 414, outer duct walls 418, computer covering 416 of FIGS. 5A-5C are shown.

[0050] FIG. 6A depicts a cross-sectional side view of enclosure-computer system 500 that includes an energy storage device enclosure 500A attached to a computer system 500B, whereby an enclosure duct path 522A and a computer duct path 522B are formed between the energy storage device enclosure 400A and computer system 400B. The computer system 500B includes a fan 508 that is adjacent to the energy storage device enclosure 500A and the entrances of the enclosure duct path 522A and computer duct path 522B such that the fan 508 is configured to pass air through the enclosure and computer duct paths 522A and 522B. The energy storage device enclosure includes heat sink fins disposed within the energy storage device enclosure 500A and the computer system 400B includes a computer heat sink 520 and heat distribution system 518 (e.g., vapor chamber and/or copper pad) disposed within the computer duct path 522B, such that the fan 508 flows air through the enclosure and computer duct paths 522A and 522B to absorb heat from both a plurality of energy storage devices 524 within the energy storage device enclosure 500A and the computer electronics 506 of the computer system 500B before exiting the top of the enclosure-computer system 500.

[0051] FIG. 6B depicts the energy storage device enclosure 500A and the computer system 500B of the enclosure-computer system 500 of FIG. 6A separated from each other, and FIG. 6C depicts the energy storage device enclosure 500A and the computer system 500B attached to form the enclosure-computer system 500. The surface of the energy storage device enclosure 500A configured to interface with the computer system 500B includes a pair of heat sink fins 502, wherein the heat sink fins 502 begin at a bottom end of the energy storage device enclosure 500A and end at a top end of the energy storage device enclosure 500A, and a pair of outer duct walls 504 that generally follow the path of the heat sink fins 502. The computer system 500B includes computer electronics 506, a pair of fans 508 and a computer covering 512. The computer covering 512 is configured to interface with the surface of the energy storage device enclosure 500A, and includes an air flow vent 510 at the top end of the computer system 500B. The energy storage device enclosure 500A is configured to attach to the computer system 500B such that outer duct walls 504 of the energy storage device enclosure 500A and the air flow vent 510 of the computer system 500B to form the enclosure duct path 522A and computer duct path 522B of FIG. 6A.

[0052] FIG 7A depicts a portion of a robot 600A, including an energy storage device enclosure 602A, a computer system 604A attached to the front of the energy storage device enclosure 602A, a pair of fans 606A attached to the computer system 604A, portions of the arms 610A attached to the energy storage device enclosure 602A, side air flow vents 608 A, and an exterior shell 612A substantially covering the robot 600A. The side air flow vents 608 A are configured to vent air pulled in by the fans 606A out the side of the robot 600A below the arms 610A. An example enclosure- computer system that may include such side air flow vents may be the enclosure-computer system 400 of FIGS. 5A-5D.

[0053] FIG 7B depicts a portion of a robot 600B, including an energy storage device enclosure 602B, a computer system 604B attached to the front of the energy storage device enclosure 602B, a pair of fans 606B attached to the computer system 604B, portions of the arms 610B attached to the energy storage device enclosure 602B, top air flow vent 608B, and an exterior shell 612B substantially covering the robot 600B. The top air flow vent 608B is configured to vent air pulled in by the fans 606B out the top back side of the robot 600B behind the head of the robot 600B. An example enclosure-computer system that may include such side air flow vents may be the enclosure-computer system 500 of FIGS. 6A-6C.

[0054] In some embodiments, the surface of the energy storage device enclosure configured to interface with the computer system is a major surface. In some embodiments, the surface of the energy storage device enclosure configured to interface with the computer system is a front or a back surface. For example, in some embodiments the surface is a front major surface of the energy storage device enclosure. In some embodiments, the surface of the computer system (e.g., computer covering) configured to interface with the energy storage device enclosure is a major surface. In some embodiments, the surface of the computer system (e.g., computer covering) configured to interface with the energy storage device enclosure is a major surface. For example, in some embodiments the surface (e.g., computer covering) is a back major surface of the computer system. [0055] In some embodiments, the robot includes 1, 2, 3, 4, 5 or 6 or more fans. In some embodiments, the robot includes 1, 2, 3, 4, 5 or 6 or more duct paths. In some embodiments, a duct path is vertically separated into an enclosure duct path and a computer duct path. In some embodiments, a duct path is not vertically separated. In some embodiments, the robot includes 1, 2, 3, 4, 5 or 6 or more vents. In some embodiments, the robot includes 1, 2, 3, 4, 5 or 6 or more heat sinks. In some embodiments, a duct path includes a plurality of heat sink fins (e.g., 2, 3, 4, 5, 6, 10, 15, 20, 25, 50, 75, or 100). In some embodiments, the fans and/or duct vents are positioned on a top, bottom, left, right, front and/or back position of the torso of the robot, enclosure-computer system and/or energy storage device enclosure, or any combinations thereof. In some embodiments, the fans and/or duct vents are positioned on or near a major surface or minor surface of the torso of the robot, enclosure-computer system and/or energy storage device enclosure, or any combinations thereof. In some embodiments, the duct path and/or length of the heat sink fins are substantially linear or are curved. In some embodiments, the inner and/or outer duct wall may be positioned on the energy storage device enclosure, the computer system (e.g., computer covering), or any combination thereof. In some embodiments, the enclosure-computer system does not include inner duct walls.

[0056] In some embodiments, the energy storage device enclosure attaches to the computer system. In some embodiments, the energy storage device enclosure attaches directly to the computer system. In some embodiments, the energy storage device enclosure comprises one or more attachment points configured to attach directly or indirectly to other components or systems of the robot by the use of fasteners. In some embodiments, an attachment point is configured to attach directly to the computer system. In some embodiments, an attachment point attached directly to the computer system of the robot includes a spacer disposed therebetween. In some embodiments, fasteners include screws, bolts, nail, rivet, anchors, glues, welds, snaps (e.g., plastic snaps), heat stakes (e.g., plastic heat stakes), and combinations thereof.

[0057] In some embodiments, the energy storage device system may serve to protect the energy storage device (e.g., from impacts, water and/or normal operation), serve as a structural support element (e.g., bear structural loads) of the robot torso and/or body, or combinations thereof. In some embodiments, the energy storage device system may serve as a structural support such that additional support structures (e.g., beams) may not be necessary and/or removed all together. As such, in some embodiments the energy storage device system may aid in cost and weight saving.

[0058] In some embodiments, the energy storage device enclosure, case and/or protective covering are configured to provide protect the energy storage device and/or the structural support. In some embodiments, the shape and/or orientation of the energy storage device, energy storage device enclosure, case and/or protective covering are configured to provide protect the energy storage device and/or the structural support. In some embodiments, the energy storage device enclosure is configured to act as the primary structural support of the robot torso and/or body. In some embodiments, the torso and/or body of the robot do not include additional primary structural components. In some embodiments, structural supports and/or primary structural supports provide protection from mechanical abuse, meet energy storage device safety requirements, provide structural support for mounting the pelvis, arms, head, main robot computer and/or other equipment directly to the energy storage device system or torso, and/or withstand and transfer dynamic loads from the upper body through the pelvis and legs to maintain balance and maximize stiffness for accurate positioning of the robot.

[0059] In some embodiments, the energy storage device system and/or enclosure is configured to provide thermal management of the robot computer system and/or energy storage device. In some embodiments, the energy storage device further includes a thermal management system. In some embodiments, an energy storage device system that includes a thermal management system leverages the thermal conductivity and structure of the energy storage device enclosure, reduces the physical volume of the package, speeds up assembly, reduces cost, reduces components, and/or improves product reliability.

[0060] In some embodiments, the energy storage device enclosure, case and/or protective covering comprise a material that provides structural support and/or enables thermal management of the energy storage device and/or computer systems. In some embodiments, the material includes a ceramic, a glass, aluminum, silver, copper, gold, silicon, tungsten, iron, carbon, alloys thereof (e.g., steel), and combinations thereof. In some embodiments, the material is aluminum.

[0061] In some embodiments, the electronic elements and/or computer electronics include a printed circuit board assembly (PCBA). In some embodiments, the electronic elements and/or computer electronics include a temperature monitoring element, a voltage monitoring element, a balancing element, a multi-level passive and active fusing, a power distribution bus (e.g., power distribution into multiple, individually controlled, monitored, and fusible busses), a power conversion bus (e.g., power conversion into a low voltage communications bus), a charge management element, a power distribution element, and combinations thereof. In some embodiments, the electronic element and/or computer electronic is absent of a power distribution controller. In some embodiments, the electronic element is configured to allow limbs, computer electronics (e.g., main robot computer system), and/or head to be electrically connected directly into the energy storage device. All of the processes described herein may be embodied in, and fully automated, via software code modules executed by a computing system that includes one or more computers or processors. The code modules may be stored in any type of non-transitory computer-readable medium or other computer storage device. Some or all the methods may be embodied in specialized computer hardware.

[0062] Many other variations than those described herein will be apparent from this disclosure. For example, depending on the embodiment, certain acts, events, or functions of any of the algorithms described herein can be performed in a different sequence or can be added, merged, or left out altogether (for example, not all described acts or events are necessary for the practice of the algorithms). Moreover, in certain embodiments, acts or events can be performed concurrently, for example, through multi-threaded processing, interrupt processing, or multiple processors or processor cores or on other parallel architectures, rather than sequentially. In addition, different tasks or processes can be performed by different machines and/or computing systems that can function together.

[0063] The various illustrative logical blocks, modules, and engines described in connection with the embodiments disclosed herein can be implemented or performed by a machine, such as a processing unit or processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A processor can be a microprocessor, but in the alternative, the processor can be a controller, microcontroller, or state machine, combinations of the same, or the like. A processor can include electrical circuitry configured to process computer-executable instructions. In another embodiment, a processor includes an FPGA or other programmable device that performs logic operations without processing computer-executable instructions. A processor can also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. Although described herein primarily with respect to digital technology, a processor may also include primarily analog components. For example, some or all of the signal processing algorithms described herein may be implemented in analog circuitry or mixed analog and digital circuitry. A computing environment can include any type of computer system, including, but not limited to, a computer system based on a microprocessor, a mainframe computer, a digital signal processor, a portable computing device, a device controller, or a computational engine within an appliance, to name a few.

[0064] Conditional language such as, among others, “can,” “could,” “might” or “may,” unless specifically stated otherwise, are understood within the context as used in general to convey that certain embodiments include, while other embodiments do not include, certain features, elements and/or steps. Thus, such conditional language is not generally intended to imply that features, elements and/or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements and/or steps are included or are to be performed in any particular embodiment.

[0065] Disjunctive language such as the phrase “at least one of X, Y, or Z,” unless specifically stated otherwise, is understood with the context as used in general to present that an item, term, etc. , may be either X, Y, or Z, or any combination thereof (for example, X, Y, and/or Z). Thus, such disjunctive language is not generally intended to, and should not, imply that certain embodiments require at least one of X, at least one of Y, or at least one of Z to each be present.

[0066] Any process descriptions, elements or blocks in the flow diagrams described herein and/or depicted in the attached figures should be understood as potentially representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or elements in the process. Alternate implementations are included within the scope of the embodiments described herein in which elements or functions may be deleted, executed out of order from that shown, or discussed, including substantially concurrently or in reverse order, depending on the functionality involved as would be understood by those skilled in the art.

[0067] Unless otherwise explicitly stated, articles such as “a” or “an” should generally be interpreted to include one or more described items. Accordingly, phrases such as “a device configured to” are intended to include one or more recited devices. Such one or more recited devices can also be collectively configured to carry out the stated recitations. For example, “a processor configured to carry out recitations A, B and C” can include a first processor configured to carry out recitation A working in conjunction with a second processor configured to carry out recitations B and C.

[0068] It should be emphasized that many variations and modifications may be made to the above-described embodiments, the elements of which are to be understood as being among other acceptable examples. All such modifications and variations are intended to be included herein within the scope of this disclosure.