Patent Publication Number: US-2021170583-A1

Title: Mobile manipulation in human environments

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application claims the benefit of and priority to U.S. Provisional patent Application No. 62/977,643, filed on Feb. 17, 2020 and entitled “A MOBILE MANIPULATION SYSTEM FOR WORK IN HUMAN ENVIRONMENTS,” and to U.S. Provisional Patent Application No. 62/944,891, filed on Dec. 6, 2019 and entitled “METHOD FOR ACTUATING A TELESCOPING MECHANISM FOR A ROBOT”. The entire contents of each of which are hereby expressly incorporated by reference herein. 
    
    
     BACKGROUND 
     Robots can be configured to perform objective tasks in human environments. However, assistive robots interacting in human environments typically have complex mechanical designs, are too large and heavy to be practically fielded in everyday home settings, have limited ability to safely interact with people, and are expensive to purchase and maintain. Robots configured to perform useful work in human environments under autonomous or remote operative control can further increase design complexity and costs. As a result, such robots may be financially unattainable for users who need to rely on assistive devices in everyday activities. In addition, traditional assistive robots can have limited reach and manipulation capabilities relative to important tasks in human environments. Accordingly, there is a need for simple, compact, and safe assistive robotic systems capable of operating autonomously or via remote teleoperation to perform tasks efficiently and safely for humans. 
     SUMMARY 
     Traditional assistive mobile manipulator robotic systems can include a wheeled base, one or more dexterous robot arms, and a suite of sensors, such as a 3D camera and/or a light detection and ranging (Lidar) sensor. The kinematic design of dexterous robot arms is typically derived from industrial automation applications and can include a series of five to seven revolute joints located between a proximal shoulder joint and a distal wrist joint. As such, the actuator for each joint must be strong enough to support its distal joints against gravity and dynamic loads. This leads to an amplifying effect where the distal joints, in order to be strong enough to support a moderate payload at the wrist, become large, heavy, and unsafe. When such a heavy arm is deployed in a mobile robot, the mobile robot base must now increase its footprint and mass sufficiently to ensure stability against tipping. This in turn can limit the reachable workspace of the robot, as a long arm that extends beyond the base footprint can cause tipping. In addition, the bulky nature of these dexterous arms can cause them to obscure the sensors&#39; view of the environment, limiting the robot&#39;s ability to accomplish objective tasks. 
     The mobile manipulation system described herein can sense interaction forces, which may be inadvertent, imparted on the system from the environment in which it is deployed. The reduced footprint design and efficient mechanical configuration of components make the mobile manipulation system lightweight, compact, and easily transportable. A number of safety features of the mobile manipulation system ensure injury-free operation when operating in proximity of humans. The mobile manipulation system sensors can reliably sense the environment in which the system is operating independent of sensor position, orientation, field of view, lighting conditions, or obstructions which can typically limit the usefulness of collected sensor data. The sensors of the mobile manipulation system can further enable more human-like dialog or interaction due to their placement atop the mast within the head assembly. The mobile manipulation system described herein can access a larger range of distance using a horizontally and vertically articulating telescopic structure compared to traditional assistive robots. 
     The manipulator tool, coupled to the telescopic structure can grasp or otherwise interact with a larger variety of objects or environments without requiring complex articulating joints, mechanical linkages, or manipulation accessories programmed to operate with complex motion planning algorithms. The slender profile of the mobile manipulation system can enable the system to self-localize more easily, for example localizing a position of the telescopic structure and manipulator tool can improve actuation time and control command generation when performing a task. The slender design of the mobile manipulation system can also allow sensor data to be collected over a larger amount of space in a given environment. 
     As a result of these features and benefits, the mobile manipulation system described here can provide more robust performance completing everyday tasks in human environments. 
     In general, a mobile manipulation system is provided. In one embodiment, the mobile manipulation system can include a mobile base assembly including a first computing device, and at least two drive wheels. The at least two drive wheels can include a first drive wheel coupled to a first actuator and a second drive wheel coupled to a second actuator. The mobile base assembly can also include a first sensor. The mobile manipulation system can also include an actuation assembly including a first chain cartridge. The first chain cartridge can include a drive chain engageably coupled to a drive mechanism of a third actuator. The drive chain can include a first plurality of inter-connected links conveying at least one first cable within a first interior space of each of the first plurality of inter-connected links. The actuation system can also include a telescopic structure including a plurality of segments configured to extend and retract telescopically with respect to one another and conveying the drive chain therein. A first end of the drive chain can couple to a distal segment of the plurality of segments. The mobile manipulation system can also include a mast attached to the mobile base assembly. The actuation assembly can translate vertically along the mast. The mobile manipulation system can further include a head assembly atop the mast and including a first collection of sensors. The mobile manipulation system can also include a manipulation payload coupled to the distal segment of the plurality of segments. 
     In another embodiment, the actuation assembly can includes a fourth actuator in the mobile base assembly and a second chain cartridge in the mobile base assembly. The second chain cartridge can include a drag chain including a second plurality of inter-connected links conveying at least one second cable within a second interior space of each of the second plurality of interconnected links. The actuation assembly can also include a lift carriage coupling the telescopic arm to the mast. The lift carriage can be coupled to the fourth actuator via a lift carriage drive element. 
     In another embodiment, one or more of the first actuator, the second actuator, the third actuator or the fourth actuator can include a stepper motor coupled to a controller. In another embodiment, the controller can be configured to receive an input signal from a current sensor or to control a winding current supplied to the stepper motor. In another embodiment, the controller can be configured to receive an input signal from a position sensor and/or to control a rotor position of the stepper motor. 
     In another embodiment, the lift carriage can include a first portion including a first plurality of rollers and a second portion including a second plurality of rollers. The first portion of the lift carriage and the second portion of the lift carriage can be detachably coupled to one another and can enclose a portion of the mast. 
     In another embodiment, the first plurality of rollers and the second plurality of rollers can each include roller elements, thrust bearings on opposite sides of the roller elements, and metal support shafts extending through the roller elements. A first end of a metal support shaft can be received within the first portion of the lift carriage and a second end of the metal support shaft can be received within the second portion of the lift carriage. 
     In another embodiment, the lift carriage can include an internal guide integrally configured within the lift carriage. The internal guide can including a receiving portion coupled to a distal link of the second plurality of inter-connected links. The lift carriage can include a hole through which the at least one second cable passes. 
     In another embodiment, the mast can include a channel within the mast. The channel can convey the drag chain and the lift carriage drive element within the mast as the lift carriage and the telescopic structure translate vertically on the mast. 
     In another embodiment, the head assembly can include a plate coupled to the mast, a pair of threaded posts coupled to the plate, and a pulley coupled to the pair of threaded posts. The pulley can receive the lift carriage drive element. 
     In another embodiment, at least one sensor of the first collection of sensors can be coupled to the head assembly via a support structure configured to position the at least one sensor of the first collection of sensors in an inferior position relative to the support structure. 
     In another embodiment, the head assembly can include a user interface button, a fifth actuator configured to rotate the head assembly in a horizontal motion relative to a surface on which the mobile manipulation system is located, and a sixth actuator configured to rotate the head assembly in a vertical motion relative to the surface on which the mobile manipulation system is located. 
     In another embodiment, the first sensor can include a laser rangefinder, a camera, or a sonar sensor. In another embodiment, the first collection of sensors can include at least one of a microphone array, a speaker, a depth finder, a camera, or a laser rangefinder. In another embodiment, the actuation assembly can include one or more USB ports, and one or more threaded inserts for attaching additional sensors to the actuation assembly. In another embodiment, at least one of the mobile base assembly, the actuation assembly, the manipulation payload, or the manipulator tool can include at least one fiducial tag. In another embodiment, the mast can include a surface material including a reflection-reducing material and/or a non-stick material with a low coefficient of friction. In another embodiment, the mast can include one or more passages configured to convey at least one third cable to the head assembly. 
     In another embodiment, the manipulation payload can include a seventh actuator, a payload drive mechanism, and a manipulator tool coupled to the payload drive mechanism. The manipulator tool can be actuated via the seventh actuator. In another embodiment, the manipulation payload can be positioned in an offset configuration relative to the distal segment of the plurality of segments. In another embodiment, the manipulator tool can actuate in a plurality of motions relative to a surface on which the mobile manipulation system is located. The plurality of motions can include a yaw motion, a pitch motion, a roll motion, a roll-pitch-roll motion, and a roll-pitch-yaw motion. In another embodiment, the yaw motion can cause the manipulator tool to move within a footprint of the mobile base assembly. 
     In another embodiment, the manipulator tool can include a gripping tool. The gripping tool can include a gripping end and an attachment end. The gripping end can include a pair of tips. Each tip can be coupled to an interior spring arm and to an external spring arm. The attachment end can include a pull-block coupled to an interior spring arm pair and to a winding spool. The winding spool can be coupled to an eighth actuator in the gripping tool via a winding element. 
     In another embodiment, the mobile base assembly can include a first removable shell and the actuation assembly can include a second removable shell and a third removable shell. 
     In another embodiment, the first computing device can include a data processor, a memory storing non-transitory computer-executable instructions, and a communication interface configured to receive control commands from a second computing device. The control commands can be executed by the data processor to cause the data processor to control the mobile manipulation system to perform an objective task associated with control commands. 
     In another embodiment, the second computing device can be located remotely from the first computing device and can include a display and a graphical user interface within the display. The graphical user interface can be configured to provide a visual field of view of an environment in which the mobile manipulation system is located. The visual field of view can be generated from sensor data obtained from the first sensor and/or the first collection of sensors. 
     In another embodiment, the control commands can be generated by a user interacting with the graphical user interface without direct observation of the environment in which the mobile manipulation system is located. 
     Non-transitory computer program products (i.e., physically embodied computer program products) are also described that store instructions, which when executed by one or more data processors of one or more computing systems, causes at least one data processor to perform operations and methods described herein. Similarly, computer systems are also described that may include one or more data processors and memory coupled to the one or more data processors. The memory may temporarily or permanently store instructions that cause at least one processor to perform one or more of the operations described herein. In addition, methods can be implemented by one or more data processors either within a single computing system or distributed among two or more computing systems. Such computing systems can be connected and can exchange data and/or commands or other instructions or the like via one or more connections, including a connection over a network (e.g. the Internet, a wireless wide area network, a local area network, a wide area network, a wired network, or the like), via a direct connection between one or more of the multiple computing systems, etc. 
     The details of one or more variations of the subject matter described herein are set forth in the accompanying drawings and the description below. Other features and advantages of the subject matter described herein will be apparent from the description and drawings, and from the claims. 
    
    
     
       DESCRIPTION OF DRAWINGS 
       These and other features will be more readily understood from the following detailed description taken in conjunction with the accompanying drawings, in which: 
         FIG. 1  is a diagram illustrating an exemplary embodiment of a mobile manipulation system as described herein; 
         FIG. 2  is a diagram illustrating an exemplary embodiment of a mobile base assembly and an actuation assembly of the mobile manipulation system as described herein; 
         FIG. 3  is a diagram illustrating an exemplary embodiment of the actuation assembly of the mobile manipulation system as described herein; 
         FIG. 4  is a diagram illustrating another exemplary embodiment of the actuation assembly of the mobile manipulation system as described herein; 
         FIG. 5  is a diagram illustrating another exemplary embodiment of the mobile base assembly of the mobile manipulation system as described herein; 
         FIG. 6  is a diagram illustrating another exemplary embodiment of the actuation assembly of the mobile manipulation system as described herein; 
         FIG. 7  is a diagram illustrating another exemplary embodiment of the actuation assembly of the mobile manipulation system including a lift carriage as described herein; 
         FIG. 8  is a diagram illustrating another exemplary embodiment of the chain cartridge of the actuation assembly of the mobile manipulation system as described herein; 
         FIG. 9  is a diagram illustrating an exemplary embodiment of the lift carriage of mobile manipulation system as described herein; 
         FIG. 10  is a diagram illustrating another exemplary embodiment of the lift carriage of the mobile manipulation system as described herein; 
         FIGS. 11A-11B  are diagrams illustrating exemplary embodiments of one or more rollers of the lift carriage as described herein; 
         FIG. 12  is a diagram illustrating an exemplary embodiment of a channel of the mast of the mobile manipulation system as described herein; 
         FIG. 13  is a diagram illustrating an exemplary embodiment of the lift carriage enclosing a portion of the mast of the mobile manipulation system as described herein; 
         FIG. 14  is a diagram illustrating an exemplary embodiment of a head assembly of the mobile manipulations system as described herein; 
         FIG. 15  is a diagram illustrating another exemplary embodiment of the head assembly of the mobile manipulation system as described herein; 
         FIG. 16  is a diagram illustrating another exemplary embodiment of the head assembly of the mobile manipulation system as described herein; 
         FIG. 17  is a diagram illustrating another exemplary embodiment of the actuation assembly of the mobile manipulation system as described herein; 
         FIG. 18  is a diagram illustrating an exemplary embodiment of one or more fiducial tags of the mobile manipulation system as described herein; 
         FIG. 19  is a diagram illustrating an exemplary embodiment of one or more surface materials of the mast of the mobile manipulations system as described herein; 
         FIG. 20  is a diagram illustrating an exemplary embodiment of a manipulation payload of the mobile manipulation system as described herein; 
         FIG. 21  is a diagram illustrating another exemplary embodiment of the mobile base assembly of the mobile manipulation system as described herein; 
         FIG. 22  is a diagram illustrating an exemplary embodiment of a manipulator tool of the mobile manipulation system as described herein; 
         FIG. 23  is a diagram illustrating an exemplary embodiment of a gripping tool of the mobile manipulation system as described herein; 
         FIG. 24  is a diagram illustrating an exemplary embodiment of a computing architecture of the mobile manipulation system as described herein; and 
         FIG. 25  is a diagram illustrating an exemplary embodiment of a graphical user interface of a computing device coupled to the mobile manipulation system as described herein. 
     
    
    
     It is noted that the drawings are not necessarily to scale. The drawings are intended to depict only typical aspects of the subject matter disclosed herein, and therefore should not be considered as limiting the scope of the disclosure. 
     DETAILED DESCRIPTION 
     The mobile manipulation system described herein can include a mobile base assembly configured to navigate the mobile manipulation system relative to an object or a task to be performed. The mobile base assembly can provide a rigid platform upon which to mount drive wheels, computing devices, and sensors. The mobile manipulation system can further include an actuation assembly coupled to the mobile base assembly. The actuation assembly can translate vertically along a rigid mast to position a telescopic structure at a vertical position corresponding to the object or task. The telescopic structure can include a plurality of extendable and retractable segments ending in a distal segment to which a manipulator tool can attach. The telescopic structure can extend or retract the manipulator tool in regard to the object or task. The mobile manipulation system can include a head assembly including a sensor suite configured to acquire sensor data associated with the object or task, as well as localization data corresponding to the position or navigation of the mobile manipulation system. 
     The actuation assembly can include a drive chain including multiple inter-connected links conveying data, power, and/or pneumatic cables or lines therein to the manipulator tool at the distal end of the telescopic structure. The inter-connected links can flex in one direction and can form a rigid arrangement when an actuation force is applied to the drive chain in a different direction. The actuation assembly can also include a chain cartridge from which the drive chain can extend from or retract into. 
     The drive chain can be coupled to a drive mechanism of an actuation source, such as an actuator or a motor. The drive chain can be coupled to the actuator via a drive transmission, which can enable simultaneous or independent actuation of the telescopic structure in a horizontal direction and actuation of the actuation assembly along the mast in a vertical direction. The manipulator tool can also actuate in multiple degrees of freedom. In this way, the mobile manipulation system can perform a large range of objective tasks in human environments efficiently under autonomous control or user-driven tele-operation. 
     The footprint of the mobile base can be small enough to navigate through the cluttered human environments while the robot mass distribution, being primarily in the base, can be low enough to be statically stable and not subject to tipping during motion. The arm can have a small cross-sectional area and can extend in a straight horizontal line, allowing it to occupy a smaller volume of space when performing a task. For example, the mobile manipulation system described herein can advantageously reach into cluttered human environments, such as into a refrigerator. The large horizontal and vertical reach of the arm, relative to the base footprint, can create a large reachable workspace, enabling the mobile manipulation system to place its manipulator payload at important locations for an objective task, such as under a couch or to the back of a countertop. The mobile manipulation system can be include a low center of mass and the mast can include a small cross-sectional area, allowing a person to easily tilt the mobile manipulation system onto two wheels and roll it around (like a travel suitcase). 
     Embodiments of a mobile manipulation system configured to operate autonomously or via remote operation to perform tasks in human environments are discussed herein. However, embodiments of the disclosure can be employed to perform tasks in hazardous or isolated environments which do not include humans without limit. 
       FIG. 1  is a diagram illustrating an exemplary embodiment of a mobile manipulation system  100  as described herein. As shown in  FIG. 1 , a mobile manipulation can include a mobile base assembly  105 , an actuation assembly  110 , a mast  115 , and a head assembly  120  atop the mast. 
     The mobile base assembly  105  can be configured to move the mobile manipulation system  100  with respect to a surface on which the mobile manipulation system  100  is located. The mobile base assembly  105  can enable the mobile manipulation system  100  to be placed in proximity of an object or environment associated with an objective task to be performed by the mobile manipulation system  100 . For example, the mobile base assembly  105  can cause the mobile manipulation system  100  to move across a room to access a drawer of a cabinet at which the mobile manipulation system  100  can be configured to open the drawer. 
     The mobile manipulation system  100  can also include an actuation assembly  110  configured on a mast  115 . The actuation assembly  110  can be configured to translate vertically along the mast  115  so as to position the actuation assembly  110  relative to a task or object. The actuation assembly can include a telescopic structure configured to deploy a plurality of segments to reach, retrieve, or otherwise access an object, such as the drawer of the cabinet described above. 
     The mobile manipulation system  100  can also include a head assembly  120  atop the mast  115 . The head assembly  120  can include one or more sensors configured to collect sensor data with respect to an operational environment in which the mobile manipulation system  100  is located, and/or an object associated with an objective task to be performed by the mobile manipulation system  100 . For example, the head assembly  120  can collect sensor data providing a user with visual data of the drawer of the cabinet for which the mobile manipulation system  100  can be commanded to open. 
       FIG. 2  is a diagram illustrating an exemplary embodiment  200  of a mobile base assembly  105  and an actuation assembly  110  of the mobile manipulation system  100  as described herein. As shown in  FIG. 2 , the mobile base assembly  100  can include a first drive wheel  205  and a second drive wheel  215 . The first drive wheel  205  can be coupled to a first actuator  210  and the second drive wheel  215  can be coupled to a second actuator  220 . The first actuator  210  and the second actuator  220  can, respectively, cause the first drive wheel  205  and the second drive wheel  215  to move the mobile base assembly  105  in a forward direction, a backward direction, as well as to rotate the mobile base assembly  105  in a clock-wise or counter-clock-wise motion parallel to a surface on which the mobile base assembly  105  is located. In some embodiments, the first actuator  210  and the second actuator  220  can operate in unison. In some embodiments, the first actuator  210  and the second actuator  220  can operate independently of one another. In some embodiments, the first actuator  210  and/or the second actuator  220  can be coupled, respectively, to the first drive wheel  205  and/or the second drive wheel  215  via a differential transmission. 
     As further shown in  FIG. 2 , the mobile base assembly  105  can include a battery  225  and a computing device  230  mounted on a base platform  235 . The battery  225  can provide power to the computing device  230  and any of the actuators and sensors of the mobile manipulation system  100 , such as actuators  210 ,  220  shown in  FIG. 2 . In some embodiments, the battery  225  can include one or more batteries or one or more battery packs to allow better distribution of mass across the mobile base assembly  105 . In some embodiments, the battery  225  can include a sealed lead acid battery or a Lithium-ion battery. The computing device  230  can include a processor, a memory, a communication interface, and one or more I/O interfaces. The memory can store computer-readable and executable instructions, which when executed by the processor can cause the mobile manipulation system  100  to operate in an autonomous or semi-autonomous manner in regard to a particular objective task or in regard to sensor data received by the processor from one or more sensors of the mobile manipulation system  100 . 
       FIG. 3  is a diagram illustrating an exemplary embodiment  300  of the actuation assembly  110  of the mobile manipulation system  100  as described herein. As shown in  FIG. 3 , the actuation assembly  110  can include a chain cartridge  305  including a drive chain  310  therein. The chain cartridge  305  can be a self-spooling chain cartridge. The self-guided chain cartridge can include a passively rotating pinion  315  configured to receive a proximal end  320  of the drive chain  310 . The self-guided chain cartridge can include one or more curved guide tracks  325  formed on an internal surface  330  of the self-guided chain cartridge  305 . As shown in  FIG. 3 , at least one cable/line  335  can exist the chain cartridge  305  via a slot or opening in the passively rotating pinion  315 . In some embodiments, the at least one cable/line  330  can include a service loop or coiling mechanism to reduce damage to or excessive twisting of the at least one cables/line  330  as the passively rotating pinion  315  rotates. 
     In some embodiments, the chain cartridge  305  can be a guided cartridge including one or more spiral shaped tracks for the drive chain  310  to slide into. The spiral shaped tracks can include a smooth surface formed from spring steel or plastic. In this embodiment, the proximal end  320  of the drive chain  310  is not affixed to the chain cartridge  305  and is free to travel within the spiral shaped tracks during extension or retraction of the drive chain  310  relative to the chain cartridge  305 . 
     The drive chain  310  can be engageably coupled to the drive mechanism  340  of an actuator  345  of the actuation assembly  110 . The drive chain  310  can include one or more inter-connected links  350  that can convey the at least one cable/line  335  within an interior space  355  of each link of the inter-connected links  350 . In some embodiments, the at least one cables/line  335  can include a data cable, a power cable, and/or a pneumatic line supplying data, power, or pneumatic force, respectively, to a manipulation payload coupled to a distal segment  360  of the telescopic structure  365 . 
     The actuation assembly  110  can also include a telescopic structure  365  including a plurality of segments  370 . The plurality of segments  370  can be configured to extend or to retract telescopically from one another, for example, when reaching for, retrieving, or otherwise enabling the mobile manipulation system  100  to interact with respect to an objective task or an object. The plurality of segments  370  of the telescopic structure  365  can receive the drive chain  310  and the at least one cable/line  335  at a proximal end  375  of the telescopic structure  365  and can convey the drive chain  310  and the at least one cable/line  335  to the distal end  380  of the telescopic structure  365 . At the distal end  380  of the telescopic structure  365 , a distal link  385  of the drive chain  310  can couple to the distal segment  360 . 
     Upon receiving an actuation signal from a controller configured within the mobile manipulation system  100  and coupled to the actuator  345 , the actuator  345  can actuate the drive mechanism  340 . The drive mechanism  340  can rotate in two directions. In a first direction, the drive mechanism  340  can rotate to cause the drive chain  310  to exit the chain cartridge  305  and to pass into the telescopic structure  365  at the proximal end  375 . Rotation in this first direction can cause the drive chain  310  to exert a linear translation force on the distal segment  360  to cause the plurality of segments  370  to extend from within one another. The drive mechanism  315  can rotate in a second direction, opposite to the first direction, to cause the drive chain  310  to retract into the chain cartridge  305  and to exit the telescopic structure  365  at the proximal end  375 . 
       FIG. 4  is a diagram illustrating another exemplary embodiment  400  of the actuation assembly  110  of the mobile manipulation system  100  as described herein. As shown in  FIG. 4 , the actuation assembly  110  can include a manipulation payload  405  coupled to the distal segment  360  of the telescopic structure  370 . The manipulator payload  405  can include inter-changeable tools, actuators, and/or sensors. 
     As further shown in  FIG. 4 , the actuation assembly  110  can include one or more removable shells. For example, a lower shell  410  can couple to an upper shell  415 . The shells  410  and  415  can encircle the mast  115  and can provide protection to the components of the actuation assembly  110 . The shells  410  and  415  can include wipers or gaskets at locations where the shells  410  and  415  are in proximity to the mast  115  to reduce the incidence of pinching a user&#39;s hand when actuation assembly  110  translates along the mast  115 . In some embodiments, the shell  415  can include an inset portion  420  to receive a fiducial tag. 
       FIG. 5  is a diagram illustrating another exemplary embodiment  500  of the mobile base assembly  105  of the mobile manipulation system  100  as described herein. As shown in  FIG. 5 , the mobile base assembly  105  can sensor  505 . The sensor  505  can include a laser rangefinder (as shown in the embodiment of  FIG. 5 ), a camera, or a sonar sensor. The laser rangefinder can spin to collect sensor data associated with a two-dimensional (2D) depth map of an environment in which the mobile manipulation system  100  is operating. The slender design of the mast  115  can allow the laser rangefinder  505  to collect sensor data over a 340 degree field of view. 
     As further shown in  FIG. 5 , the mobile base assembly  105  can also include a removable shell  510 . The removable shell  510  can include one or more inset portions  515  to receive a fiducial tag. The removable shell  510  can also include a surface paint material painted on to the removable shell  510  or can include a surface material treatment, such as a textured surface. The surface painted material and the surface material treatment can allow the mobile base assembly  105  to be reliably visible to a sensor in the head assembly located atop the mast  115 . In this way, the mobile manipulation system  100  can efficiently determine the mobile base assembly  105  with respect to an operational environment or a surface at which the mobile manipulation system  100  is deployed. 
       FIG. 6  is a diagram illustrating another exemplary embodiment  600  of the actuation assembly  110  of the mobile manipulation system  100  as described herein. As shown in  FIG. 6 , the actuation assembly  110  can also include an actuator  605  in the mobile base assembly  105 . The actuation assembly  110  can also include a chain cartridge  610 , or a second chain cartridge  610 , configured in the mobile base assembly  105 . The chain cartridge  610  can include a drag chain  615  formed from a plurality of inter-connected links  620  conveying at least one cable/line, e.g., a second at least one cable/line, within an interior space  625  of each of the plurality of inter-connected links  620 . The second at least one cable/line  820  can include at least one of a data cable, a power cable, and/or a pneumatic line. As the actuation assembly  110  is translated vertically along the mast  115 , the drag chain  615  can wind or spool into the second chain cartridge  610  and/or unwind or unspool from within the second chain cartridge  610 . 
     The chain cartridge  610  can also include one or more curved guide tracks  630  formed within the internal surface  635  of the chain cartridge  610 . The curved guide tracks  630  can guide the drag chain  615  when spooling into or unspooling from within the chain cartridge  610 . The chain cartridge  610  can also include a passively-rotating pinion  640  coupled to the internal surface  635  of the chain cartridge  610 . 
     In operation, In operation, the drag chain  615  is withdrawn from within the chain cartridge  610  as the actuator  605  actuates in a first direction imparting a linear translation force on a lift carriage of the actuation assembly  110  causing the lift carriage to ascend upon the mast  115 . The drag chain  615  is passively withdrawn from within the chain cartridge  610  as the lift carriage travels up the mast  115 . Conversely, the drag chain  615  is pushed into the chain cartridge  610  as the lift carriage descends upon the mast  115 . The curved guide tracks  630  can act with rotation of the pinion  640  in response to the actuator  605  imparting a linear translation force on the lift carriage to cause the lift carriage to descend upon the mast so that the drag chain  615  spools within the chain cartridge  610 . 
       FIG. 7  is a diagram illustrating an exemplary embodiment  700  of a lift carriage  705  of the actuation assembly  110  of the mobile manipulation system  100  as described herein. As shown in  FIG. 7 , the actuation assembly  110  can include a lift carriage  705 . The lift carriage  705  can be coupled to the actuator  605  via a lift carriage drive element  710 . The lift carriage drive element  710  can be a single belt forming a closed loop as shown in the circle corresponding to reference  710  where a first end of the belt is coupled to a drive mechanism  715  of the actuator  605 . A second end of the lift carriage  705  can coupled to the mast  115 . Portions  710 A and  710 B of the lift carriage drive element  710  can travel vertically within the mast  115 . As the lift carriage  705  travels vertically along the mast  115 , the actuation assembly  110  and the telescopic structure  365  are conveyed vertically on the mast  115  via the lift carriage drive element  710 . Rotation of the drive mechanism  715  of the actuator  605  in a first direction can cause the lift carriage drive element  710  move the lift carriage  705  in an upward direction on the mast  115 . Rotation of the drive mechanism  715  in a second direction, opposite to the first direction, can cause the lift carriage  715  to move in a downward direction on the mast  115 . 
       FIG. 8  is a diagram illustrating another exemplary embodiment  800  of the chain cartridge  610  of the actuation assembly  110  of the mobile manipulation system  100  as described herein. As shown in  FIG. 8 , the chain cartridge  610  can include the drag chain  615  therein. The drag chain  615  can couple to the lift carriage  705  and can convey at least one cable/line  805  within the drag chain  615 . The at least one cable/line  805  can exit the lift carriage  705  at an opening  810 . 
       FIG. 9  is a diagram illustrating an exemplary embodiment  900  of the lift carriage  705  of mobile manipulation system  100  as described herein. As shown in  FIG. 9 , the lift carriage  705  can be formed in one or more portions, which can be detachable from one another and from the mast  115 . For example, the lift carriage  705  can include a first portion  905  and a second portion  910 . The portions  905 ,  910  can be detached from one another and from the mast  115 , to access or adjust the lift carriage drive element  710  or the at least one cable/line  805  exiting the drag chain  615 . The first portion  905  and the second portion  910  can enclose a portion of the mast  115 . The first portion  905  can include a first plurality of rollers  915 . The second portion  910  can include a second plurality of rollers, further shown and described in relation to  FIG. 10 . The first portion  905  and/or the second portion  910  can also include or be coupled to a third plurality of rollers  920 . 
       FIG. 10  is a diagram illustrating another exemplary embodiment  1000  of the lift carriage  705  of the mobile manipulation system  100  as described herein. The first portion  905  of the lift carriage  705  can include rollers  915  shown and described in relation to  FIG. 9 . The second portion  910  of the lift carriage  705  can include a second plurality of rollers  1005 . The third plurality of rollers  920  can coupled the first portion  905  and the second portion  910 . The third plurality of rollers  920  can be received in a plurality of roller receiving portions  1010 . The roller receiving portions  1010  can be cavities configured within the first portion  905  and/or the second portion  910  of the lift carriage  705 . The rollers  915 ,  920 , and  1005  can be cylindrical rollers configured to provide a reduced friction surface to facilitate vertical travel of the lift carriage  705  on the mast  115 . In some embodiments, the rollers  915 ,  920 , and  1005  can be formed of engineering plastic. 
     As shown in  FIG. 10 , the first portion  905  can include an internal guide  1015 . The internal guide  1015  can be integrally formed within either of the first portion  905  or the second portion  910  of the lift carriage  705 . The internal guide  1015  can include an internal guide receiving portion  1020  configured to receive a distal link  1025  of the drag chain  615 . The at least one cable/line  805  conveyed within the interior space  625  of the inter-connected links forming the drag chain  615  can exit the distal segment  1025  to pass through internal guide receiving portion  1020  and into the internal guide before exiting the lift carriage  705  via the opening  810  shown in  FIGS. 8 and 9 . 
       FIGS. 11A-11B  are diagrams illustrating exemplary embodiments of rollers  915 ,  920 ,  1005  of the lift carriage  705  as described herein. As shown in  FIG. 11A , rollers  905 ,  920 , and  1005  can include a roller element  1105 . A metal support shaft  1110  can be configured to extend through the roller element  1105 . Each end of the metal support shaft  1110  can be received within a roller receiving portion  1010  shown in  FIG. 10  configured in the first portion  905  and the second portion  910  of the lift carriage  705 . The rollers  905 ,  920 , and  1005  can also include a thrust bearing  1115  configured on opposite sides of the roller element  1105 . The thrust bearing  1105  can be configured to retain the roller element  1105  in position on the metal support shaft  1110 . In some embodiments, the rollers  905 ,  920 , and  1005  can include a keeper  1120  configured to the components of the rollers  905 ,  920 , and  1005  in place during assembly. 
       FIG. 11B  illustrates a cross-sectional view of rollers  905 ,  920 , and  1005  taken along a longitudinal axis  1130  around which the rollers  905 ,  920 , and  1005  rotate. As shown in  FIG. 11B , the roller element  1105  can be a hollow bore roller element  1105  and can include an hollow inner bore  1125 . The roller element  1105  can include a plurality of radial bearings  1135  positioned within the roller element  1105 . In some embodiments, needle bearings can be used in place of radial bearings  1135 . 
       FIG. 12  is a diagram illustrating an exemplary embodiment  1200  of a channel  1205  of the mast  115  of the mobile manipulation system  100  as described herein. As shown in  FIG. 12 , the mast  115  includes a channel  1205  formed within the mast  115 . The channel  1205  can be substantially C-shaped or U-shaped and can be configured to allow the first portion  710 A and the second portion  710 B travel within the mast  115 . The channel  1205  can also be configured to allow the drag chain  615  to travel within the mast  115  as the lift carriage  705  travels vertically upon the mast  115 . 
       FIG. 13  is a diagram illustrating an exemplary embodiment of the lift carriage  705  enclosing a portion of the mast  115  of the mobile manipulation system  100  as described herein.  FIG. 13  illustrates a cross-sectional view of the lift carriage  705  and a portion of the mast  115  that is enclosed by the lift carriage  705 . As shown in  FIG. 13 , the mast  115  can include a plurality of first passages  1305  and a second passage  1310  extending along the length of the mast  115  and configured therein. The plurality of first passages  1305  can convey one or more cables/lines therein to the head assembly  120  atop the mast  115 . The cables/lines can include at least one of a data cable, a power cable, and/or a pneumatic line. The second passage  1310  can convey additional cables/lines therein to the head assembly  120 . 
       FIG. 14  is a diagram illustrating an exemplary embodiment  1400  of a head assembly  120  of the mobile manipulations system  100  as described herein. The head assembly  120  can be mounted atop the mast  115  via a plate  1405 . The plate  1405  can be secured to the mast  115  via bolts or screws and can provide a support platform to receive the lift carriage drive element  710 . For example, the plate  1405  can be coupled to a pulley  1410 . The pulley  1410  can receive and engageably couple to the lift carriage drive element  710 . The pulley  1410  can be secured to the plate  1405  via threaded posts  1415 . The threaded posts  1415  can be adjustable relative to the plate  1405 . Adjusting the threaded posts  1415  can raise or lower the pulley  1410  relative to the plate  1405 . Raising or lowering the pulley  1410  via adjustment of the threaded posts  1415  can tighten or loosen the lift carriage drive element  710 . 
       FIG. 15  is a diagram illustrating another exemplary embodiment  1500  of the head assembly  120  of the mobile manipulation system  100  as described herein. The head assembly  120  can include additional sensors or collections of sensors. The head assembly  120  can be configured in an elevated configuration relative to the base assembly  105 , which can be critical for human-robot interaction, avoiding obstacles during navigation, and providing a downward-view during object manipulation or human-robot interaction. 
     For example, the head assembly  120  can include sensor  1505  and a collection of peripheral devices or sensors  1510 , which can collectively represent a first collection of sensors  1515 . In some embodiments, the collection of peripheral devices  1510  can represent the first collection of sensors. Sensor  1505  can include a microphone array, a speaker, a depth finder, a camera, or a laser rangefinder. The collection of peripheral devices  1510  can also include a microphone array, a speaker, a depth finder, a camera, or a laser rangefinder. By co-locating visual sensors, auditory sensors, and feedback devices, such as speakers, in the head assembly  120 , a more robust user experience is provided by directing verbal commands to the head assembly  120  simulating human-human interaction. The collection of sensors  1515  can collect sensor data associated with an operational environment in which the mobile manipulation system  100  is located, as well as specific objects within the operational environment that may be associated with an objective task being performed by the mobile manipulation system  100 . 
     As shown in  FIG. 15 , the sensor  1505  can be supported by a support structure  1520 . The support structure  1520  can support or position the sensor  1505  in an inferior position relative to the support structure  1520  and the remainder of the head assembly  120 . This inferior or underhung position can be advantageous to allow the sensor  1505  to articulate and provide a downward view of an object or environment without occlusion from other portions of the head assembly  120 . The inferior or underhung configuration can also beneficially protect the sensor  1505  from damage during handling and/or shipping. 
     The head assembly  120  can also include a user interface  1525 . The user interface  1525  can be configured to power cycle one or more of sensor  1505 , the collection of peripheral devices  1510 , the collection of sensors  1515 , as well as the mobile manipulation system  100 . Additional user interfaces  1525  can be configured in the head assembly  120  without limit. In some embodiments, the user interface  1525  can include a visual display, such as a touchscreen display. The head assembly  120  can also include a removable shell  1530 . The sensor  1505  can also include a removable shell  1535 . 
       FIG. 16  is a diagram illustrating another exemplary embodiment  1600  of the head assembly  120  of the mobile manipulation system  100  as described herein. As shown in  FIG. 16 , the removable shells  1530  and  1535  have been removed and components of the head assembly  120  can be seen in more detail. The head assembly  120  can include additional actuators configured to control motion of the sensor  1505 . For example, actuator  1605  can actuate to rotate the support structure  1520  and the sensor  1505  in a horizontal motion “H” relative to a surface on which the mobile manipulation system  100  is located. Horizontal motion “H” can be considering a panning motion. Actuator  1610  can actuate to move the sensor  1505  in a vertical direction “V” relative to a surface on which the mobile manipulation system  100  is located. Vertical motion “V” can be considered a tilting motion. 
     In some embodiments, the actuators  1605  and  1610  can include a spur transmission (as shown) or a belt transmission. As shown in  FIG. 16 , actuator  1610  can include a drive mechanism  1615 , which can couple to a spur gear  1620 . Rotation of the drive mechanism  1615  can cause the spur gear  1620  to rotate and to tilt the sensor  1505  upwards or downwards in a vertical motion “V”. The support structure  1520  and the spur gear  1620  can include a hole  1625  through which a data cable and/or a power cable can pass to convey data or power to the sensor  1505 . The sensor  1505  can also include a fan  1630  configured to cool the sensor  1505 . Advantageously, the configuration of the sensor  1505  and actuator  1610  allows the sensor  1505  and the actuator  1610  to move together, reducing the amount of space occupied by the support structure  1520  during horizontal sweeping motions. Reducing the size of the swept volume can be advantageous for avoiding collisions and aesthetic reasons. 
     As further shown in  FIG. 16 , the head assembly  120  can include additional peripheral devices or sensors  1635  and  1640  included in the collection of peripheral devices  1510 . In some embodiments, the additional peripheral devices  1635  and/or  1640  can include a 3D depth camera, a red green blue (RGB) camera, a Lidar sensor, a microphone array, or a speaker. In some embodiments the head assembly  120  can include an volume adjustment mechanism  1645  to adjust a volume of a speaker configured within the collection of peripheral devices  1510 . 
       FIG. 17  is a diagram illustrating another exemplary embodiment of the actuation assembly  110  of the mobile manipulation system  100  as described herein. As shown in  FIG. 17 , the actuation assembly can include one or more USB ports  1705 . The USB ports  1705  can allow a user to input or retrieve data associated with operation of the actuation assembly  110 . As further shown in  FIG. 17 , the actuation assembly  110  can include one or more threaded inserts  1710 . The threaded inserts  1710  can receive an additional sensor to couple to the actuation assembly  110 . In some embodiments, the additional sensor can include at least one of a microphone array, a speaker, a depth finder, a camera, a laser rangefinder, or a sonar sensor. 
       FIG. 18  is a diagram illustrating an exemplary embodiment  1800  of one or more fiducial tags of the mobile manipulation system  100  as described herein. As shown in  FIG. 18 , the mobile base assembly  105  can include a fiducial tag  1805 . The actuation assembly  110  can include a fiducial tag  1810 . The manipulation payload  405  can include a fiducial tag  1815 . The fiducial tags  1805 ,  1810 , and  1815  can provide visual references or calibration aids for use localizing portions of the mobile manipulation system  100 , as well as objective task objects or operating environments that the mobile manipulation system  100  is interacting with. For example, the fiducial tag  1805  can be used to aid the mobile manipulation system  100  to recognize and distinguish the mobile base assembly  105  from a surface on which the mobile base assembly  105  is located, such as when calibrating a position or pose of sensor  1505  relative to a location or pose of the mobile base assembly  105 . 
       FIG. 19  is a diagram illustrating an exemplary embodiment  1900  of one or more surface materials of the mast  115  of the mobile manipulations system  100  as described herein. As shown in  FIG. 19 , the mast  115  can include one or more surface materials. In one embodiment, the mast  115  can include a reflection-reducing surface material  1905 . The reflection-reducing surface material  1905  can provide a more accurate visual depiction of a scene, object, or environment in proximity of the mobile manipulation system  100  that can otherwise be made less accurate due to light reflections coming from the mast  115 . In some embodiments, the mast  115  can additionally or alternatively include a non-stick material  1910 . The non-stick material  1910  can include a low coefficient of friction, such that when applied to the mast  115 , the mast  115  can more easily convey the actuation assembly  110  vertically along the mast  115 . 
     As further shown in  FIG. 19 , the mast  115  can convey at least one cable/line  1915  within the passage  1305  formed within the mast  115 . In some embodiments, the at least one cable/line  1915  can include at least one data cable, at least one power cable, and/or at least one pneumatic line. For example, the at least one cable/line  195  can provide data or power to the head assembly  120  mounted atop the mast  115 . 
       FIG. 20  is a diagram illustrating an exemplary embodiment  2000  of a manipulation payload  405  of the mobile manipulation system  100  as described herein. As shown in  FIG. 20 , the mobile manipulation payload  405  can include an actuator  2005  and a payload drive mechanism  2010 . The payload drive mechanism  2010  can be actuated by the actuator  2005  and can actuate a manipulation tool or other inter-changeable device, which can be coupled to the payload drive mechanism  2010 . As shown in  FIG. 20 , the manipulation payload  405 , the actuator  2005 , and the payload drive mechanism  2010  can be configured in an offset configuration relative to the distal segment  360  of the plurality of segments  370 . 
     The payload drive mechanism  2010  can provide a rotational degree of freedom that is oriented parallel to a surface on which the mobile manipulation system  100  is located. As such, the payload drive mechanism  2010  can advantageously enable a manipulation tool or other inter-changeable device coupled to the payload drive mechanism  2010  to be rotated out of a footprint of the mobile base assembly  105  during manipulation and then retracted back within the footprint during navigation or when stowed. In addition, the offset configuration of the manipulation payload  405  can make the components of the manipulation payload  405  more visible to sensor  1505  in the head assembly  120 . In this way, the telescopic structure  365  will not obscure views of the manipulator payload  405  during localization, object detection, or navigation by the mobile manipulation system  100 . 
       FIG. 21  is a diagram illustrating another exemplary embodiment  2100  of the mobile base assembly  105  of the mobile manipulation system  100  as described herein.  FIG. 21  illustrates an over-head view of the mobile manipulation system  100  in a stored configuration, such as when inactive or being transported. As shown in  FIG. 21 , the telescopic structure  365  is fully retracted and the actuation assembly  110  is seated upon mobile base assembly  105 . In this way, the actuation assembly  110  can be fully within a footprint  2105  of the mobile base assembly  105 . As further shown in  FIG. 21 , the mobile manipulation system  100  can include a manipulator tool  2110  coupled to the payload drive mechanism  2010 . The compact design of the actuation assembly  110  and the manipulation payload  405  enables the manipulator tool  2110  to be within the footprint  2105  when stored or not in use. 
       FIG. 22  is a diagram illustrating an exemplary embodiment  2200  of a manipulator tool of the mobile manipulation system  100  as described herein. As shown in  FIG. 22 , the manipulator tool  2110  can couple to the payload drive mechanism  2010  and can be actuated to articulate in multiple degrees of freedom relative to a surface on which the mobile manipulation system  100  is located. For example, as shown in  FIG. 22 , the manipulator tool  2110  can actuate in a yaw motion in the directions of  2205 A or  2205 B. The yaw motion can be achieved through actuation of the actuator  2205  to cause the payload drive mechanism  2010  to rotate in direction  2205 A or  2205 B. The manipulator tool  2110  can also actuate in a pitch motion in the directions  2210 A or  2210 B. The pitch motion can be achieved through actuation of actuator  2235 . The manipulator tool  2110  can further actuate in a roll motion in the directions of  2215 A or  2215 B. The roll motion can be achieved through actuation of the actuator  2240 . In some embodiments, the manipulator tool  2110  can actuate in multiple degrees of freedom, such as a roll-pitch-roll motion, or a roll-pitch-yaw motion. Such complex movements can be achieved by sequential or concurrent actuation of the actuator  2205  for yaw motions, actuator  2235  for pitch motions, and actuator  2240  for roll motions. 
     As further shown in  FIG. 22 , the manipulator tool  2110  can include a gripping tool  2220 . The gripping tool  2220  can be allow the mobile manipulation system  100  to grasp, retrieve, place, or otherwise acquire and/or release objects. For example, the gripping tool  2220  can allow the mobile manipulation system  100  to provide assistive interaction with an object on behalf of a human user, such as grabbing a can of soup, holding a towel, or pulling a handle of a cabinet. In some embodiments, the manipulator tool  2110  can include additional tools in place of the gripping tool  2220 , such as a hook, a brush, or a small vacuum cleaner. The gripping tool  2220  can include a removable shell  2225 . A channel can be configured within the removable shell  2225  to guide actuation components of the gripping tool  2220 . n some embodiments, the manipulator tool  2110  can also include a fiducial tag  2230 . 
       FIG. 23  is a diagram illustrating an exemplary embodiment  2300  of a gripping tool  2200  of the mobile manipulation system  100  as described herein. In  FIG. 23 , the removable shell  2225  shown in  FIG. 22  has been removed. As shown in  FIG. 23 , the gripping tool  2220  can include a gripping end  2305  and an attachment end  2310 . The gripping end  2305  can include a pair of tips  2315 , which can include tips  2315 A and  2315 B. Each tip of the pair of tips  2315  can be coupled to an internal spring arm and to an external spring arm of the gripping tool  2200 . For example, tip  2315 A can be coupled to internal spring arm  2320 A and to external spring arm  2325 A. Tip  2315 B can be coupled to internal spring arm  2320 B and external spring arm  2325 B. The internal spring arms  2320 A and  2320 B can be coupled to form an internal spring arm pair  2330 . The external spring arms  2325 A and  2325 B can be referred to collectively as an external spring arm pair  2325 . 
     As shown in  FIG. 23 , the internal spring arm pair  2330  can be coupled to a pull-block  2335 . In some embodiments, the pull-block  2335  can be configured within a channel formed within the removable shell  2225  to guide the pull-block during operation of the gripping tool  2220 . The pull-block  2335  can be coupled to a winding spool  2340  via a winding element  2345 . In some embodiments, the winding element  2345  can include a cable or a rope. The gripping tool  2220  can also include an actuator  2350 . The actuator  2350  can actuate in a first direction to cause the winding spool  2340  to rotate and to pull the winding element  2345  onto the winding spool  2340 . Actuation in this first direction can cause the pull-block  2335  to exert force on the internal spring arm pair  2330  causing the pair of tips  2315  to move toward each other. In this way, an object can be grasped between the pair of tips  2315 . Additionally, or alternatively, the actuator  2350  an actuate in a second direction, opposite to the first direction, to cause the winding spool  2340  to rotate and to release the winding element  2345  from the winding spool  2340 . Actuation in this second direction can cause the pull-block to release force on the internal spring arm pair  2330  causing the pair of tips  2315  to move away from each other. In this way, an object can be released from the pair of tips  2315 . 
     In some embodiments, the gripping tool  2220  can include attachment features, which can couple to one or more portions of the gripping tool  220 . For example, a hook can be configured at the gripping end  2305  on either of the internal spring arms  2320 A or  2320 B, or on either of the external spring arms  2325 A or  2325 B. 
       FIG. 24  is a diagram illustrating an exemplary embodiment  2400  of a computing architecture of the mobile manipulation system  100  as described herein. As shown in  FIG. 24 , the mobile manipulation system  100  can include a computing device  2405  corresponding to the computing device  230  shown in  FIG. 2 . As shown in  FIG. 24 , the computing device  2405  can include a data processor  2410  and a memory  2410  storing non-transitory computer-readable instructions which can be executed by the data processor  2410 . The computing device  2405  can also include one or more controllers  2420  and a communication interface  2425 . 
     The computing device  2405  can be coupled to a power supply  2430  located in the mobile base assembly  105 , such as the battery  225  shown in  FIG. 2 . The power supply  2430  can be coupled to one or more sensors  2435  and to one or more actuators  2440 . The one or more sensors  2435  can include sensors  505 , and  1505 , as well as the collection of peripheral devices or sensors  1510 , each of which can transmit sensor data to the first computing device  2405 . One or more additional sensors can be included in sensors  2345 . The actuators  2440  can include actuators  210 ,  220 ,  345 ,  605 ,  1605 ,  1610 ,  2005 , and  2350 . One or more additional sensors can be included in actuators  2440 . The actuators  2440  can be coupled to the computing device  2405  and can receive control commands from the computing device  2405 . Each actuator  2440  can include a stepper motor configured with a low gear ratio and coupled to a corresponding controller of the controllers  2420 . Each stepper motor can be individually controlled via the corresponding controller to actuate according a control command provided from the computing device  2405 . 
     In some embodiments, the one or more controllers  2420  can include a current controller, a force controller, and/or a position controller. The current controller can be configured to generate actuation signals in response to input signals received from the force controller. The actuation signals can be provided to actuators  2440 . The force controller can receive inputs associated with a measured interaction force (Fi), a maximum interaction force (Fm), and a desired/objective output force (Fo). The position controller can be configured output the desired or objective output force (Fo) based on inputs of measured and desired/objective position/location data associated with a position/location of the telescopic structure  365 . 
     The actuation signals can be generated in response to sensor data received by the data processor  2410  from sensors  2435 . In some embodiments, a force sensor  2450  can be coupled to the telescopic structure  365 . The sensor data can include the measured position/location data and the measured interaction force (Fi). In some embodiments, the sensor data can be received from the sensor  2435 . In some embodiments, the sensor data can be received from additional sensors, such as additional sensors coupled to one or more components of the mobile base assembly  105 , the actuation assembly  110 , the head assembly  120 , and/or one or more of the actuators  2440 . For example, the sensor data can include data received from an encoder  2445  and a current sensor  2450  configured with respect to one or more actuators  2440 . The encoder  2445  can generate sensor data based on angular position or motion of a rotating shaft of one or more of the actuators  2440 , such as a shaft coupled to the drive mechanism  340 . The current sensor  2450  can generate sensor data based on a winding current of one or more of the actuators  2440 . The current sensor  2450  can provide an input signal to one or more of the controllers  2420  indicative of a current supplied to the actuators  2440 . The one or more controllers  2420  can further control a winding current supplied to one or more actuators  2440  or control a rotor position of one or more actuators  2440 . In some embodiments, the telescopic structure  365  can include a position sensor  2455 . The position sensor  2455  can generate an input signal provided to at least one of the controllers  2420  indicative of a position of the telescopic structure. 
     It is advantageous that the mobile manipulation system  100  sense and respond to contact, possibly inadvertently, between portions of the manipulation system  100  and the environment. Measuring motor current can be advantageously used as a proxy to determine interaction forces exerted upon the mobile manipulation system  100 . An efficient gear train, such as the mechanical coupling of the actuator  605  and the telescopic structure  365  via the drive mechanism  340  and the drive chain  310  of the actuation assembly  110 , can enable interaction force to result in actuator current changes, with a greater degree of sensitivity than inefficient gear trains of traditional actuation systems. Traditional actuation systems can include brushed or rotor-less actuators, which due to the high speed of their operation require higher gear ratios. Actuation systems with lower gear ratios, such as the actuation assembly  110  described herein, can perform better when used in contact sensitive applications where gear rations of less than 10:1 are suitable. 
     The actuators  2440  can include stepper motors configured with lower gear ratios and closed loop current feedback control for actuation of the wheels in the mobile base assembly  105 , the lift carriage  705  via actuator  605 , and the telescopic structure  365  via actuator  345 . Stepper motors can be configured to generate high torque at low speeds, allowing lower gear ratio transmissions or gear trains to be used. The mobile manipulation system  100  can control coil current of the actuators  2440  based on feedback associated with a rotor position of the actuators  2440 . The rotor position can be measured via a Hall effect sensor and a magnet mounted to the actuators  2440 . The closed loop current feedback control allows instantaneous actuator current to be determined. In some embodiments, the closed loop current feedback control can be implemented by a position and/or velocity control loop of the actuators  2440  using a proportional-integral-derivative (PID) control loop mechanism. 
     As further shown in  FIG. 24 , the computing device  2405  can be coupled to a second computing device  2465  via a network  2460 . The second computing device  2465  can be located remotely from the mobile manipulation system  100 . In some embodiments, the mobile manipulation system  100  can include the second computing device  2465 . The second computing device  2465  can include a data processor  2470 , a memory  2475  storing non-transitory computer-readable instructions, a communication interface  2480 , an input device  2485  and a display  2490  including a graphical user interface  2495 . 
     The second computing device  2465  can be configured to receive user inputs and to generate control commands to control the mobile manipulation system  100  to perform an objective task, to navigate an environment, or to transmit sensor data to the second computing device  2465 . The second computing device  2465  can receive the user inputs via the input device  2485  and/or the GUI  2495 . The user inputs can be processed and transmitted via the communication interface  2480  to the communication interface  2425  of the first computing device. In some embodiments, the communication interfaces  2425  and  2480  can be wired communication interfaces or wireless communication interfaces. 
     Once received, the mobile manipulation system  100  can be configured to generate an actuation signal responsive to the user inputs causing the mobile manipulation system  100  to actuate. In some embodiments, the input device  2485  can include a joystick, a microphone, a stylus, a keyboard, a mouse, or a touchscreen. In some embodiments, the display  2490  can include a touchscreen display and the GUI  2490  can display sensor data and receive user inputs associated with the sensor data. The user inputs can be provided to generate actuation signals to cause the mobile manipulation system  100  to actuate and/or perform an objective task. 
       FIG. 25  is a diagram illustrating an exemplary embodiment  2500  of a graphical user interface  2490  of a computing device  2465  coupled to the mobile manipulation system  100  as described herein. As shown in  FIG. 25 , the mobile manipulation system  100  can be deployed in a first environment  2505  containing an object  2510 . The mobile manipulation system  100  can collect sensor data associated with the first environment  2505  and the object  2510  via sensors  505  and  1505 . For example, a 2D map of the environment  2505  and the object  2510  can be generated based on sensor data collected via sensor  505  and a visual field of view of the environment  2505  and the object  2510  can be acquired via the sensor  1505  when configured as a camera. 
     The sensor data associated with the environment  2505  and the object  2510  can be transmitted from the computing device  2405  (corresponding to computing device  230  shown in  FIG. 2 ) to the second computing device  2465  via the network  2460 . The second computing device  2465  can provide a visual field of view  2520  of the environment  2505  in the GUI  2495 . The visual field of view  2520  can include the object  2510  and other visual data associated with the environment  2505 , such as the location of a floor or walls which may be present in the environment  2505 . A user  2525  can be present within a second environment  2515  that is remotely located and visually obscured from the first environment  2505  such that the user  2525  does not have direct visual observation of the first environment  2505  or of the mobile manipulation system  100  operating in the first environment  2505 . 
     In response to receiving sensor data associated with the environment  2505  and/or the object  2510  from the first computing device  2405 , the second computing device  2465  can provide the visual field of view  2520  of the environment  2505  and/or the object  2510  in the GUI  2495 . The user  2525  can provide user inputs  2530  to the GUI  2495  as control commands. The control commands can be transmitted back to the computing device  2405  and executed by the data processor  2410  to cause the mobile manipulation system  100  to perform an objective task associated with the control commands. 
     For example, when provided with the visual field of view  2520  of environment  2505  containing object  2510  in the GUI  2495 , the user  2525  can provide a user input  2530  as a tap or other gesture directed to the object  2510 . The user can provide the inputs  2530  while being located in the second environment  2515  that is visually obscured from the environment  2505  in which the object  2510  is located. Responsive to the inputs  2530 , the data processor  2470  of computing device  2465  can determine a control command associated with user input  2530  and can provide the control command to the computing device  2405 , where upon execution by the data processor  2410 , causes the mobile manipulation system  100  to move toward the object  2510  in the first environment  2505 . Subsequent and additional user inputs can be received and transmitted as control commands to the mobile manipulation system  100 . 
     Exemplary technical effects of the system described herein include, by way of non-limiting example, an improved mobile manipulation system providing increased contact sensitivity in three cartesian planes and rotational directions in response to interaction forces exerted upon the mobile manipulation system. The system described herein further provides four degree of freedom articulation to autonomous or tele-operated access a larger range of objects in target environments. The system described herein also provides robust performance of objective tasks based on control commands issued with respect to field of view sensor data and improved graphical user interfaces for issuing control commands. 
     Certain exemplary embodiments have been described to provide an overall understanding of the principles of the structure, function, manufacture, and use of the systems, devices, and methods disclosed herein. One or more examples of these embodiments have been illustrated in the accompanying drawings. Those skilled in the art will understand that the systems, devices, and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the scope of the present invention is defined solely by the claims. The features illustrated or described in connection with one exemplary embodiment may be combined with the features of other embodiments. Such modifications and variations are intended to be included within the scope of the present invention. Further, in the present disclosure, like-named components of the embodiments generally have similar features, and thus within a particular embodiment each feature of each like-named component is not necessarily fully elaborated upon. 
     The subject matter described herein can be implemented in analog electronic circuitry, digital electronic circuitry, and/or in computer software, firmware, or hardware, including the structural means disclosed in this specification and structural equivalents thereof, or in combinations of them. The subject matter described herein can be implemented as one or more computer program products, such as one or more computer programs tangibly embodied in an information carrier (e.g., in a machine-readable storage device), or embodied in a propagated signal, for execution by, or to control the operation of, data processing apparatus (e.g., a programmable processor, a computer, or multiple computers). A computer program (also known as a program, software, software application, or code) can be written in any form of programming language, including compiled or interpreted languages, and it can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. A computer program does not necessarily correspond to a file. A program can be stored in a portion of a file that holds other programs or data, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code). A computer program can be deployed to be executed on one computer or on multiple computers at one site or distributed across multiple sites and interconnected by a communication network. 
     The processes and logic flows described in this specification, including the method steps of the subject matter described herein, can be performed by one or more programmable processors executing one or more computer programs to perform functions of the subject matter described herein by operating on input data and generating output. The processes and logic flows can also be performed by, and apparatus of the subject matter described herein can be implemented as, special purpose logic circuitry, e.g., an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit). 
     Processors suitable for the execution of a computer program include, by way of example, both general and special purpose microprocessors, and any one or more processor of any kind of digital computer. Generally, a processor will receive instructions and data from a read-only memory or a random access memory or both. The essential elements of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Generally, a computer will also include, or be operatively coupled to receive data from or transfer data to, or both, one or more mass storage devices for storing data, e.g., magnetic, magneto-optical disks, or optical disks. Information carriers suitable for embodying computer program instructions and data include all forms of non-volatile memory, including by way of example semiconductor memory devices, (e.g., EPROM, EEPROM, and flash memory devices); magnetic disks, (e.g., internal hard disks or removable disks); magneto-optical disks; and optical disks (e.g., CD and DVD disks). The processor and the memory can be supplemented by, or incorporated in, special purpose logic circuitry. 
     To provide for interaction with a user, the subject matter described herein can be implemented on a computer having a display device, e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor, for displaying information to the user and a keyboard and a pointing device, (e.g., a mouse or a trackball), by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well. For example, feedback provided to the user can be any form of sensory feedback, (e.g., visual feedback, auditory feedback, or tactile feedback), and input from the user can be received in any form, including acoustic, speech, or tactile input. 
     The techniques described herein can be implemented using one or more modules. As used herein, the term “module” refers to computing software, firmware, hardware, and/or various combinations thereof. At a minimum, however, modules are not to be interpreted as software that is not implemented on hardware, firmware, or recorded on a non-transitory processor readable recordable storage medium (i.e., modules are not software per se). Indeed “module” is to be interpreted to always include at least some physical, non-transitory hardware such as a part of a processor or computer. Two different modules can share the same physical hardware (e.g., two different modules can use the same processor and network interface). The modules described herein can be combined, integrated, separated, and/or duplicated to support various applications. Also, a function described herein as being performed at a particular module can be performed at one or more other modules and/or by one or more other devices instead of or in addition to the function performed at the particular module. Further, the modules can be implemented across multiple devices and/or other components local or remote to one another. Additionally, the modules can be moved from one device and added to another device, and/or can be included in both devices. 
     The subject matter described herein can be implemented in a computing system that includes a back-end component (e.g., a data server), a middleware component (e.g., an application server), or a front-end component (e.g., a client computer having a graphical user interface or a web browser through which a user can interact with an implementation of the subject matter described herein), or any combination of such back-end, middleware, and front-end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (“LAN”) and a wide area network (“WAN”), e.g., the Internet. 
     Approximating language, as used herein throughout the specification and claims, may be applied to modify any quantitative representation that could permissibly vary without resulting in a change in the basic function to which it is related. Accordingly, a value modified by a term or terms, such as “about,” “approximately,” and “substantially,” are not to be limited to the precise value specified. In at least some instances, the approximating language may correspond to the precision of an instrument for measuring the value. Here and throughout the specification and claims, range limitations may be combined and/or interchanged, such ranges are identified and include all the sub-ranges contained therein unless context or language indicates otherwise. 
     One skilled in the art will appreciate further features and advantages of the invention based on the above-described embodiments. Accordingly, the present application is not to be limited by what has been particularly shown and described, except as indicated by the appended claims. All publications and references cited herein are expressly incorporated by reference in their entirety.