WO2018033839A1

WO2018033839A1 - Interactive modular robot

Info

Publication number: WO2018033839A1
Application number: PCT/IB2017/054907
Authority: WO
Inventors: Marta Isabel SANTOS PAIVA FERRAZ DA CONCEIÇÃO
Original assignee: Santos Paiva Ferraz Da Conceicao Marta Isabel
Priority date: 2016-08-16
Filing date: 2017-08-11
Publication date: 2018-02-22

Abstract

The present application refers to an interactive embodied wheeled mobile and modular robot apparatus. The apparatus displays automatic control functions in two modes, in case it is directly connected to a human – working as a human-robot interface receiving motor and physiological input from a human, together with environmental data input, through sensing devices in real-time, in order to act in the physical world, or in case the apparatus works as an autonomous robot, being the autonomous behaviors activated by a human through verbal commands. The robot apparatus also produces visual and audio output and physical motion in both modes.

Description

DESCRIPTION

"INTERACTIVE MODULAR ROBOT"

Technical field

This application relates to an interactive modular robot. Background art

An autonomous robot refers to a self-operating machine, extending from physical robots to virtual software agents, guided by automatic controls. An autonomous robot is able to sense the environment and act within it, demonstrating adaptive behavior, being able to perform various complex tasks without human control, for example, speech and gesture production and recognition, navigation and social interaction. On the other hand, a manual robot is totally controlled by a human operator and integrates the field of Telerobotics, consisting of robotics at distance. Telerobotics involves the use of controlling interfaces such as keyboards, joysticks, monitors, among others, to support the communication between the human operator and the robot. Autonomous and manual robots have been used, for example, in industrial manufacturing, space exploration, hazardous settings, rescue, medical systems, rehabilitation and health care, education and entertainment.

Most of the educational, rehabilitation and health robots interact with humans through verbal speech and in some cases through gestures by identifying verbal sound produced by a human, or identifying human gestures through computing vision methods or through multi-touch interfaces. Humans may also program autonomous behaviors in educational robots. Programming is usually made through user interfaces based on manipulative actions - hand-eye coordination skills for example, keyboards, mouse and multi-touch interfaces. These interfaces communicate with software applications in screen- based computing devices integrated on the robot and offering mostly visual and auditory stimuli to a human - visual stimulus is given by a visual display and auditory stimulus through a sound device.

Patent document US2014302931A1 refers to an embodied Robot videogame apparatus that receives input through the (human) user's physical actions (full body actions), contact and physiological signals (Bio-signals) . The apparatus includes a series of electronic sensor that detects the user's input physical actions, contact and physiological signals in real^¬ time. The output result is visualized on a multi-touch computer display. The player's real-time actions are translated in virtual actions in the software game scenarios (e.g., running with the physical robot represents the same virtual action in the game avatar) . The apparatus establishes a simultaneous connection between physical and virtual realities and can be shared through online connection.

Detailed Description

The present application relates to an interactive embodied wheeled mobile and modular robot apparatus activated either while directly connected to a human, or working as an autonomous robot. More specifically, the present application relates to a wheeled mobile modular robot apparatus, whose automatic control functions - translated in visual, audio and physical motion output - are activated and build through human direct physical control - physical actions - human physiological states transfer, verbal speech, and environmental data input.

The modular robot apparatus herein described comprises a modular head to be connected to a modular torso, which in turn connects with a wheel mechanism on its base. The modular head, modular torso and wheel mechanism connect with a modular leveler that powers great part of the electronic components of the robot apparatus. The modular structures, head, torso, wheel mechanism and modular leveler can assume different physical formats. Such formats comprise, but not limiting thereto, round, squared, triangular heads, torsos and wheeled mechanisms, and cylindrical and rectangular modular levelers.

The modular robot developed is able to communicate with detachable wireless motion, spatial and environmental sensors whose spatial configuration on the robot apparatus is decided by the user. The detachable wireless motion and spatial sensors include, but not limiting thereto, accelerometers , gyroscopes, tilt, RFID, altimeters, ultrasonic, infrared, capacitive, photoelectric, inductive, magnetic, color, laser, pressure and neuromorphic sensors. The detachable wireless environmental sensors include, but not limiting thereto, temperature, humidity, oxygen, carbon dioxide, radiation, electromagnetic and atmospheric pressure sensor. The robot apparatus also communicates with physiological sensors to be attached to the user's body. The physiological sensors, include, but not limiting thereto, heart rate, respiratory rate, galvanic skin response, brain activity, blood pressure, oxygen, temperature, glucose, hydration, and eye tracking sensors. In addition, the robot apparatus communicates with detachable wireless electronic toy objects that produce visible light. The detachable wireless electronic toy objects include, but not limiting thereto, structures that mimic the physical structures of the human body such as electronic brain lobes, electronic spherical neurons, electronic subcortical structures such as the cerebellum, electronic heart, electronic lunges, electronic liver, electronic stomach, electronic muscles, electronic veins, electronic cells. The detachable wireless motion, spatial and environmental sensors, physiological sensors and the detachable wireless electronic toy objects communicate wirelessly with a computing processor unit placed in the robot's head or robot's torso. The computing processor controls the robot' s behavior receiving digital encoded messages from the detachable wireless motion, spatial and environmental sensors and physiological sensors and computes those messages in real-time through software programs that make the robot apparatus react. The computing processor sends digital encoded messages to the detachable wireless electronic toy objects to make them produce visible light. The detachable wireless motion, spatial and environmental sensors and the detachable wireless electronic toy objects can be attached to the robot's physical structure via a Velcro system or supporting structures according to the will of the user. Both the detachable wireless motion, spatial and environmental sensors and detachable wireless electronic toy objects are self-powered devices that extract energy from its ambient environment such as light, thermal and/or vibration energy in order to operate.

The modular robot comprises a modular head divided horizontally into three rotating segments and composed of materials such as, but not limiting thereto, plastic, rubber, steel, glass and wood.

The upper segment includes a detachable cap structure where detachable wireless motion, spatial and environmental and/or detachable wireless electronic toy objects can be placed according to the will of the user. The upper segment of the head has multiple apertures along its surface that connect with detachable and modular cylindrical objects via a rotation locking system - the modular cylindrical objects have a screw structure at one of its ends and a screw thread structure at the other end that fits onto the screw structure. Each of the detachable and modular cylindrical objects can be locked to each of the multiple apertures, each integrating a screw thread structure, to another detachable and modular cylindrical objects, to any sensing device such as the detachable wireless motion, spatial and environmental sensors or electronic toy object according to the will of the user. The detachable wireless motion, spatial and environmental sensors and detachable wireless electronic toy objects communicate wirelessly with the computing processor placed on the robot's head lower segment or the robot's torso through connections such as, but not limiting thereto, Wi-Fi standard, IEEE 802. xx Standard, Bluetooth Standard, ZigBee, Infra-Red Data Access, Wireless Universal Serial Bus (USB) , Radio Frequency Identification (RFID) , Ultra-Wideband (UWB) .

The head' s middle segment includes two concavities on the surface with supporting structures. One of the concavities supports a detachable micro touch-based display that outputs visual images produced by the computing processor placed on the robot's head lower segment or the robot's torso, for example, a virtual eye. The detachable micro touch-based display communicates wirelessly with the computing processor. The user may also interact with the micro touched- based display through manipulative actions, for example, tap, press or slide the fingers or hands over the display to control displayed visual information. The micro touched- based display communicates wirelessly with the computing processor. The other concavity supports a detachable electronic physical sensor-eye - mimics a biological eye - that includes an image capture system and produces physical motion while wirelessly controlled by the computing processor placed on the robot's head lower segment or the robot's torso. The electronic physical sensor-eye has two servomotors, one for the X-Axis the other for the Y-Axis, and an encoder to measure translation distance, velocity and angles, both to control the physical motion of the electronic physical sensor-eye in two planes, horizontally and vertically. Data received from the detachable wireless motion, spatial, environmental and physiological sensors is used as an input to the computing processor, which in turn makes the electronic physical sensor-eye produce motion. For example, increases in motion, the user's heart rate, environmental temperature levels cause the electronic physical sensor-eye to move faster. The user may also move the electronic physical sensor-eye by using manipulative actions, for example, using the fingers to move the electronic physical sensor-eye horizontally and vertically, defining positions in space for it. The encoder also captures the manipulative actions produced by the user. The manipulative actions produced by the user are translated into digital data to be recorded by software programs included in the computing processor. Recorded data is used to build autonomous functions in the robot apparatus. For example, while moving the electronic physical sensor-eye to the left and then to the right the user is teaching the electronic physical sensor-eye to replicate that same behavior during autonomous functions.

Both the micro touched-based display and the electronic physical sensor-eye communicate wirelessly with the computing processor through connections such as, but not limiting thereto, Wi-Fi standard, IEEE 802. xx Standard, Bluetooth Standard, ZigBee, Infra-Red Data Access, Wireless Universal Serial Bus (USB) , Radio Frequency Identification (RFID) , Ultra-Wideband (UWB) .

Both the supporting structures of the micro touch-based display and the electronic physical sensor-eye are composed of materials such as, but not limiting thereto, plastic, rubber, steel. The detachable micro touched-based display and detachable electronic physical sensor-eye may also be connected to a Velcro system in order to be attached to any part of the robot torso according to the will of the user. Both the micro touched-based display and the electronic physical sensor-eye are self-powered electronic structures that extract energy from its ambient environment such as light, thermal and/or vibration energy in order to operate.

The head' s lower segment includes a supporting magnetic structure inserted on the head' s surface where a computing processor and/or visual display can be connected, a detachable wireless sound speaker system to be attached to a magnetic supporting structure - may also be connected to a Velcro system in order to be attached to any part of the robot torso - and two detachable microphone structures to be attached to a magnetic supporting structure - may also be connected to a Velcro system in order to be attached to any part of the robot torso. The lower segment of the head has a hollow area at the center that connects with a supporting magnetic structure - being composed of materials such as, but not limiting thereto, plastic, rubber or steel - where a computing processor and/or visual display can be connected by means of two flexible brackets, adjustable in any direction, each with one electromagnetic powering gripper on the end. The electromagnetic powering gripper charges any computing processor or visual display through inductive charging, for example electromagnetic field to transfer energy through the gripper. Each of the flexible brackets connects with a wire that attaches to the upper surface of the modular leveler. Each wire includes a swivel at its ends in order to allow rotation of the lower segment of the head over the modular leveler. The supporting magnetic structure supports computing processors such as, but not limiting thereto, laptop computers, notebook computers, palmtop computers, smartphones, PDAs, tablet computers, handheld consoles. The supporting magnetic structure supports visual displays such as, but not limiting thereto, standard displays, see-through displays, segment displays, tactile electronic displays, laser displays, holographic displays. The computing processor, in this case placed on the robot's torso wirelessly sends digital encoded messages to the visual display so that the latter produce visual output. The wireless communication between the computing processor and visual display includes connections such as, but not limiting thereto, Wi-Fi standard, IEEE 802. xx Standard, Bluetooth Standard, ZigBee, Infra-Red Data Access, Wireless Universal Serial Bus (USB) , Radio Frequency Identification (RFID) , Ultra-Wideband (UWB) . The lower segment of the head also comprises a detachable wireless sound speaker system to be inserted on the robot's head surface through a supporting structure. The supporting structure is composed of materials such as, but not limiting thereto, plastic, rubber, steel. The wireless sound speaker system may also be connected to a Velcro system in order to be attached to any part of the robot torso. The wireless sound speaker system communicates wirelessly with the computing processor, placed on the robot's head lower segment or the robot's torso. In addition, the lower segment of the head includes two detachable microphone structures attached to the robot's head lateral surface through a supporting structure. The detachable microphone structures communicate wirelessly with the computing processor. The supporting structure is composed of materials such as, but not limiting thereto, plastic, rubber, steel. The two detachable microphone structures may also be connected to a Velcro system in order to be attached to any part of the robot. The wireless communication between the detachable wireless sound speaker system, the two detachable microphone structures and the computing processor includes connections such as, but not limiting thereto, Wi-Fi standard, IEEE 802. xx Standard, Bluetooth Standard, ZigBee, Infra-Red Data Access, Wireless Universal Serial Bus (USB) , Radio Frequency Identification (RFID) , Ultra-Wideband (UWB) . The detachable lower segment of the robot's head connects to the upper surface of the modular leveler.

As already mentioned, the middle segment of the robot's head includes a servomotor attached to its upper part. The servomotor is connected to a circular magnetic rubber mat inserted in the upper surface of the middle segment along the middle segment's circumference. This servomotor activates the motion of the circular magnetic rubber mat - bidirectional motion - rotation - on the X-axis. The lower surface of the upper segment of the robot's head, integrating an iron ring, docks into the upper surface of the middle segment of the robot's head by magnetic connection to the circular magnetic rubber mat. The motion produced by the circular magnetic rubber mat allows the upper segment of the robot's head to rotate in the X-axis.

The robot's head lower segment also includes a servomotor attached to the head's surface, the upper part of the lower segment. This servomotor is also connected to a circular magnetic rubber mat inserted in the upper surface of the lower segment, along the lower segment's circumference. This servomotor activates the motion of the circular magnetic rubber mat (bidirectional motion - rotation - on the X-axis) . The lower surface of the middle segment of the robot's head, integrating an iron ring, docks into the upper surface of the lower segment of the robot's head by magnetic connection to the circular magnetic rubber mat. The motion produced by the circular magnetic rubber mat allows the middle segment of the robot's head to rotate in the X-axis.

The upper segment of the modular leveler has a servomotor inside is structure that connects to a circular magnetic rubber mat inserted in the upper surface of the modular leveler along the modular leveler circumference. This servomotor activates the motion of the circular magnetic rubber mat (bidirectional motion - rotation - on the X-axis) . The lower surface of the robot's head lower segment, integrating an iron ring, docks into the upper surface of the modular leveler by magnetic connection to the circular magnetic rubber mat. The motion produced by the circular magnetic rubber mat allows the lower segment of the robot's head to rotate in the X-axis.

Each of the servomotors integrated in the robot's head middle and lower segments and modular leveler also integrate an encoder to control the physical motion of the circular magnetic rubber mat to measure translation distance, velocity and angles. The user may also move the middle and lower segments of the robot's head by using manipulative actions, for example, using the hands to move the head segments horizontally, defining positions in space for each segment. The encoder also captures the manipulative actions produced by the user to be processed by the computing processor. The manipulative actions produced by the user are translated into digital data to be recorded by software programs included in the computing processor. Recorded data is used to build autonomous functions in the robot apparatus. For example, while rotating the middle and lower segments of the robot's head the user is teaching the robot apparatus to replicate that same behavior during autonomous functions. Both the servomotors, including encoders, integrated in the robot's head middle and lower segments are self-powered electronic structures that extract energy from its ambient environment such as light, thermal and/or vibration energy in order to operate. The servomotor, including encoder, integrated in upper segment the modular leveler is powered by a battery system inserted in the lower segment of the modular leveler. The servomotors, including encoders, integrated in the robot's head middle and lower segments and modular leveler communicate wirelessly with the computing processor which controls the servomotors and receives data from the encoders. The wireless communication between the computing processor and servomotors, including encoders, includes connections such as, but not limiting thereto, Wi- Fi standard, IEEE 802. xx Standard, Bluetooth Standard, ZigBee, Infra-Red Data Access, Wireless Universal Serial Bus

(USB) , Radio Frequency Identification (RFID) , Ultra-Wideband

(UWB) .

The modular robot developed also comprises a modular leveler, resembling a human spinal cord, composed of three detachable segments - upper segment, middle segment and lower segment. The modular leveler allows sustenance of the robot's head upper segment and modular parts of the robot's torso -upper, middle and lower segments. The lower segment of the modular leveler connects to the wheel mechanism and consists of a powering lithium-ion battery that accumulates electrical energy from a dynamo system integrated in the robot's wheel mechanism, from a solar battery system and from AC plug power supply. The powering lithium-ion battery charges multiple components of the robot apparatus. The lower surface of the lower segment of the modular leveler has a magnetic three pins charger port that fits magnetically with a magnetic three pins receiver port integrated in the upper part of the wheel mechanism. The latter sends electrical energy to the powering lithium-ion battery through a dynamo system and to the servomotors integrated in the wheel mechanism. The lower segment of the modular leveler has a DC power jack connector at its back surface -upper surface - that connects with any solar battery system in order to send electrical energy to the powering lithium-ion battery. The solar battery is to be attached to the lower segment of the robot's torso via a supporting structure - two magnetic grippers that lock any solar battery. The lower segment of the modular leveler also has a magnetic three pins receiver port at is back surface - lower surface - that connects with a magnetic AC power wire to be plugged to an AC plug. The powering lithium-ion battery receives up to a maximum of 50 % of energy from the AC plug power supply. The upper surface of the lower segment of the modular leveler has two magnetic three pins charger ports, each fitting magnetically with a magnetic three pins receiver port integrated in the lower surface of the middle segment of the modular leveler. The upper surface of the lower segment of the modular leveler fits to the lower surface of the middle segment of the modular leveler through a rotating locking mechanism that leaves the magnetic three pins charger ports aligned with the magnetic three pins receiver ports. The user joins the segments and performs a lateral rotation. The powering lithium-ion battery also communicates with the computing processor placed on the robot's head lower segment or the robot's torso. The communication between the powering lithium-ion battery and the computing processor is made through a wireless power sensing device integrated in the upper part of the powering lithium-ion battery that wirelessly transmits digital encoded messages to the computing processor about the amount of energy contained in the powering lithium-ion battery.

The middle segment of the modular leveler consists of an electromagnetic powering surface, covering all the surface of the middle segment. The middle segment of the modular leveler has two magnetic three pins receiver ports integrated in the lower surface that receive electrical energy from the powering lithium-ion battery integrated in the lower segment of the modular leveler.

One of the magnetic three pins receiver port communicates directly with the electromagnetic powering surface, by transferring electrical energy to the electromagnetic powering surface. The electromagnetic powering surface magnetically locks and charges any sensing device detachable wireless motion, spatial and environmental sensors - electronic toy objects, and an object sensing box through inductive charging. The electromagnetic powering surface integrates a light system, surrounding the lower circumference perimeter of the middle segment, which becomes active when receiving energy from the lower segment of the modular leveler.

The other magnetic three pins receiver port communicates by wire with four magnetic three pins charger ports integrated in the upper surface of the middle segment of the modular leveler. The middle segment of the modular leveler fits to the lower surface of the upper segment of the modular leveler through a rotating locking mechanism that leaves the three magnetic three pins charger ports aligned with the three magnetic pins receiver ports integrated in the upper segment of the modular leveler - the user joins the segments and performs a lateral rotation.

The upper segment of the modular leveler has four magnetic three pins receiver ports integrated in the lower surface that receive electrical energy from the powering lithium-ion battery integrated in the lower segment of the modular leveler. One of the four magnetic pins receiver ports connects with two wires that exit the lower surface (center back) of the upper segment of the modular leveler. These two wires connect with a supporting magnetic structure inserted in the upper part of the robot's torso that holds and charges a computing processor or visual display. The supporting magnetic structure integrates two flexible brackets, adjustable in any direction, each with one electromagnetic powering gripper on the end that holds the computing processor or visual display. Each of the flexible brackets connects with each of the wires that exit the lower surface - center back - of the upper segment of the modular leveler. One of the magnetic three pins receiver ports connects directly to a wire that charges a servomotor - including and encoder - integrated in the upper part of the upper segment of the modular leveler. This wire follows the lateral left surface of the upper segment of the modular leveler. This servomotor is connected to a circular magnetic rubber mat that links to the lower segment of the robot's head, making the head rotate in the X-axis. The circular rubber mat has a light system, surrounding the circumference perimeter of the circular rubber mat, which becomes active when receiving energy from the magnetic three pins receiver port that charges the servomotor. One of the four magnetic pins receiver ports, placed at the center middle part of the lower surface of the upper segment of the modular leveler, connects with two wires that exit the lateral surfaces of the upper segment of the modular leveler.

Each of these two wires connects with a detachable robotic structure attached to the lateral surface of the upper segment of the robot's torso in order to transfer energy. The other magnetic three pins receiver port, placed at the center front part of the lower surface of the upper segment of the modular leveler, connects directly to two wires that exit the upper surface of the upper segment of the modular leveler. These wires are to be attached to each of the flexible brackets of the supporting magnetic structure of the lower segment of the robot's head. Each wire includes a swivel at its ends in order to allow rotation of the lower segment of the head over the modular leveler. These wires give power to the electromagnetic powering grippers integrated on each flexible bracket powering the computing processor or visual display connected to the flexible brackets .

Each of the three detachable segments of the robot's torso has a hollow area at the center that allows each of the detachable segments to settle over the modular leveler. The detachable segments can assume different physical formats for example, but not limited thereto, squared, circular, triangular, hexagonal formats and materials for example, but not limited thereto, plastic, rubber, steel, glass and wood. The detachable segments fit together through a rotating locking mechanism.

The upper segment of the robot's torso has a hollow area at the center with two holes on the lateral surfaces that allow communication with the upper segment of the modular leveler communication with the wires coming from the modular leveler. The upper segment of the robot's torso has a supporting magnetic structure inserted on the back' s surface -internal surfaces of the hollow area - where a computing processor or visual display can be connected. The supporting magnetic structure is composed of materials such as, but not limiting thereto, plastic, rubber, steel and integrates two flexible brackets, adjustable in any direction, each with one electromagnetic powering gripper on the end that holds and charges the computing processor or visual display through inductive charging. Each of the flexible brackets connects with a wire that exits the lower surface of the upper segment of the modular leveler. The supporting magnetic structure supports computing processors such as, but not limiting thereto, laptop computers, notebook computers, palmtop computers, smartphones, PDAs, tablet computers, handheld consoles. The supporting magnetic structure supports visual displays such as, but not limiting thereto, standard displays, see-through displays, segment displays, tactile electronic displays, laser displays, holographic displays. The computing processor - in this case placed on the robot's head - wirelessly sends digital encoded messages to the visual display so that the latter produce visual output. The wireless communication between the computing processor - in this case, placed on the lower segment of the robot's head - and visual display includes connections such as, but not limiting thereto, Wi-Fi standard, IEEE 802. xx Standard, Bluetooth Standard, ZigBee, Infra-Red Data Access, Wireless Universal Serial Bus (USB) , Radio Frequency Identification (RFID) , Ultra-Wideband (UWB) .

The upper segment of the robot's torso has multiple apertures along its surface that connect with detachable and modular cylindrical objects via a rotation locking system. Each of the detachable and modular cylindrical objects can be locked to each of the multiple apertures, each integrating a screw thread structure, to another detachable and modular cylindrical objects, to any sensing device - detachable wireless motion, spatial and environmental sensors or electronic toy object. The upper segment of the robot's torso splits into two parts, front and rear parts (Y-axis), through a door-lock mechanism integrated on the upper torso left surface. The user may open or close the door-lock mechanism. Once opened the user may connect the detachable and modular cylindrical objects to the multiple apertures, to another detachable and modular cylindrical objects, to any sensing device or electronic toy object, choosing the physical configuration on the robot's torso upper segment. The upper segment of the robot's torso also has two apertures on the lateral surface that attach to detachable physical robotic structures through a rotating locking mechanism. The detachable robotic structures are selected according to the user's will. The detachable robotic structures comprise, but not limited thereto, octopus robotic arms, spider robotic arms, robotic wings, robotic fins, robotic hands, robotic wheel mechanisms, etc. The detachable robotic structures comprise detachable segments connected to interacting rotary joints that include servomotors to produce motion on each segment and encoders to measure the segment's translation distance, velocity or angles. The physical motion produced by the detachable physical robotic structures is controlled by the computing processor placed on the robot's head lower segment of the upper part of the robot's torso. The encoders integrated on the interacting rotary joints capture the manipulations produced by the user to be processed by the computing processor. The sensing devices, electronic toy objects and detachable physical robotic structures communicate wirelessly with the computing processor placed on the robot's head lower segment of the upper part of the robot' s torso .

The middle segment of the robot's torso has a hollow area at the center with two holes on the lateral surfaces. These two holes allow the middle segment of the robot's torso to communicate directly with the electromagnetic powering surface that covers all the surface of the middle segment of the modular leveler and charges any sensing device therein included and chosen by the user. The user may also connect an object sensing box to the electromagnetic powering surface. The object sensing box consists of a multiple- sensing device with a door lock mechanism where any physical object can be placed inside. The object sensing box measures the size, weight and temperature of an object through a multi-sensing mechanism including, a weight sensing device at its base, a temperature sensing mechanism integrated on all the surfaces of the box that measures the temperature of the object through surface contact, and an image capture system to identify the object's format and size. The sensing devices, the object sensing box, and electronic toy objects communicate wirelessly with the computing processor placed on the robot's head lower segment of the upper part of the robot's torso. The middle segment of the robot's torso splits into two parts, front and rear parts (Y-axis), through a door-lock mechanism integrated on the middle torso's left surface. The user can open or close the door-lock mechanism. Once opened the user can connect any sensing device, electronic toy object, and the object sensing box to the electromagnetic powering surface.

The lower segment of the robot's torso has a hollow area at the center with one hole at its back surface that allows communication with the lower segment of the modular leveler - communication with the magnetic three pins receiver port that connects with a magnetic AC power wire and the DC power jack connector that links to any solar battery. The hole at the back surface of the lower segment of the robot's torso has a supporting structure, with two flexible brackets connected to two magnetic grippers inserted on the upper surface of the hole, that locks any solar battery. The lower segment of the robot's torso has multiple apertures along its surface that connect with detachable and modular cylindrical objects via a rotation locking system. The lower segment of the robot's torso splits into two parts, front and rear parts (Y-axis), through a door-lock mechanism integrated on the lower torso's left surface. The user can open or close the door-lock mechanism. Once opened the user can connect the detachable and modular cylindrical objects to the multiple apertures, to another detachable and modular cylindrical objects, to any sensing device or electronic toy object, choosing the physical configuration on the robot's torso lower segment. The sensing devices and electronic toy objects communicate wirelessly with the computing processor placed on the robot's head lower segment of the upper part of the robot's torso.

The modular robot developed also comprises a detachable wheel mechanism on its base. The upper part of the wheel mechanism connects to the lower segment of the modular leveler through a rotating locking mechanism. The upper part of the wheel mechanism consists of a physical structure that receives electrical energy from dynamo systems integrated on the three wheels of the wheel mechanism and from the powering lithium- ion battery integrated in the lower segment of the modular leveler. The upper surface of the upper part of the wheel mechanism has a magnetic three pins receiver port and a magnetic three pins charger port. The magnetic three pins receiver port sends electrical energy from the dynamo systems integrated on each of the three wheels of the wheel mechanism to the powering lithium-ion battery integrated in the lower segment of the modular leveler. This magnetic three pins receiver port connects with three wires at its base, each of the wires connecting with a magnetic three pins charger port integrated on the lateral surface of the upper part of the wheel mechanism. The magnetic three pins charger port integrated on the upper surface of the upper part of the wheel mechanism sends electrical energy from the powering lithium-ion battery to the servomotor and the inertial brake system integrated on each of the three wheels of the wheel mechanism. This magnetic three pins charger port connects with three wires at its base, each of the wires connecting with a magnetic three pins receiver port integrated on the lateral surface of the upper part of the wheel mechanism. The three magnetic three pins charger ports and the three magnetic three pins receiver ports integrated on the lateral surface of the upper part of the wheel mechanism, located side-by-side a magnetic three pins charger port next to a magnetic three pins receiver port, communicate directly with a cylindrical bracket. In turn, each cylindrical bracket connects directly to a physical structure that holds a wheel. The physical structure that holds the wheel includes a physical structure with a spongy tissue, a suspension system, a rotating structure, a connecting electrical box, a servomotor and its encoder, an inertial brake system, a dynamo system, and a quick release system. The upper part of the physical structure that holds the wheel includes a physical structure with a spongy tissue where the user may place his hands or feet allowing the user to interact with the robot apparatus through a variety of physical actions. The physical structure with a spongy tissue connects directly to a cylindrical bracket. The cylindrical bracket has a hollow area inside where wires travel. The physical structure with a spongy tissue also has a hollow area inside that receives the wires from the cylindrical bracket. The lower surface of the physical structure with a spongy tissue connects directly with the suspension system, which is a shock-absorbing system made of rubber. The suspension system has a hollow area at the center, connecting to the hollow area of the physical structure with a spongy tissue that receives the wires from the physical structure with a spongy tissue. The lower surface of the suspension system connects directly with the upper surface of the rotating structure - a straight surface with a hollow area at the center that connects directly to the rotating structure. The rotating structure consists of a cylindrical structure with a hollow area at the center, which receives the wires that travel inside the suspension system. The rotating structure allows the wheel to rotate in the X-axis - horizontally. The rotating structure connects directly to two parallel physical structures that connect to the wheel's circumference - the lower end of each physical structure connects to the wheel's circumference center through a screw system. One of the two parallel physical structures that connect to the wheel's circumference center holds the connecting electrical box - connected to the internal surface of the physical structure.

The connecting electrical box communicates with the wires that travel inside the rotating structure, coming from the cylindrical bracket. Each of the cylindrical brackets has a magnetic three pins receiver port and a magnetic three pins charger port that connect to a magnetic three pins charger port and a magnetic three pins receiver port integrated on the lateral surface of the upper part of the wheel mechanism. Each of the magnetic three pins receiver port and magnetic three pins charger port on each of the cylindrical brackets connects with a wire that travels inside the cylindrical bracket - two wires that connect with the physical structure that holds the wheel. One of the wires attaches to the connecting electrical box. In turn, the connecting electrical box integrates two wires that exit its lower surface. One of the wires that comes out of the connecting electrical box connects to a servomotor integrated on the wheel giving electrical energy through the powering lithium- ion battery integrated in the lower segment of the modular leveler to the servomotor to make the wheel move.

The other wire that comes out of the connecting electrical box connects with an inertial brake system connected to one of the two parallel physical structures that connect to the wheel's circumference center - connected to the internal surface of the physical structure. The inertial brake system consists of a physical surface that makes pressure on the wheel, locking the motion of the wheel to a certain degree. Said wire gives electrical energy through the powering lithium-ion battery integrated in the lower segment of the modular leveler to the inertial brake system to lock the wheel .

The computing processor controls the amount of energy received by the servomotor and the inertial brake system integrated on each wheel by wirelessly communicating with the connecting electrical box. Two of the wheels integrated on the robot's wheel mechanism have a servomotor that produces motion of the wheel on a straight line, i.e., servomotors that connect directly to the wheel circumference - to one of the sides of the wheel. The other wheel has a servomotor integrated on the rotating structure that allows the wheel to rotate 360 degrees on the X-axis -horizontally. Each of the servomotors integrated on each wheel also integrates an encoder to measure the wheel's translation distance, velocity or angles. The servomotors and the inertial brake system communicate wirelessly with the computing processor placed on the robot's head lower segment or robot's torso. The computing processor controls the motion of the wheels and the inertial brake system. The user can control the robot through direct physical contact, for example, push, pull, rotate and throw the robot apparatus while he walks or runs on the physical terrain. The encoder also captures the physical actions produced by the user, capturing motion data from the wheels, to be processed by the computing processor. The other wire that travels inside the cylindrical bracket, traveling from the physical structure with a spongy tissue to the rotating structure, connects with a dynamo system integrated on the circumference of the wheel - integrated on the opposite side of the wheel relative to the position of the servomotor that produces motion of the wheel on a straight line.

The dynamo system converts kinetic energy from the wheels into electrical energy. The quick release system allows the user to change the wheels of the robot apparatus by rotating a lever connected to the cylindrical bracket to close or open the quick release system. The user can choose the wheel mechanism to be attached to the lower segment of the modular leveler. For example, the user may choose between wheels composed of different materials such as rubber or plastic, sizes and formats e.g., ringed or spherical wheels. External physical structures may also be attached to the wheel mechanism via the cylindrical brackets that connect to the upper part of the wheel mechanism, for example, but not limiting thereto, a skateboard attached to the cylindrical brackets via a locking system for the user to experience different physical actions. The wheel mechanism may also vary concerning the wheel's number according to the user's will; for example, it may integrate a single spherical wheel, two wheels or even four wheels. In the previous case, the physical structure that holds, for instance two or four wheels, includes the same components has previously described - a physical structure with a spongy tissue, a suspension system, a rotating structure, a connecting electrical box, a servomotor - including an encoder - an inertial brake system, a dynamo system, and a quick release system; the physical structure that holds, for instance one spherical wheel, includes a suspension system, a rotating structure, a connecting electrical box, a servomotor (including an encoder), an inertial brake system, a dynamo system, and a quick release system. In this case the wheel attaches directly to the lower segment of the modular leveler. All the mentioned components may vary in number and physical configuration.

The modular robot developed is able to sense the physical environment and to act in the physical environment. The robot reacts to the physical environment by producing visual output in the form of images or lights, audio output - sounds, including speech - physical motion through the servomotors and managing the robot's energy sources. Visual and audio output, physical motion and management of energy sources are controlled by software programs that run on a computing processor placed on the lower segment of the robot' s head or the robot's torso. Visual output is produced by the computing processor, or a visual display placed on the lower segment of the robot's head or the robot's torso, a micro touched- based display placed on the middle segment of the robot's head, and electronic toy objects. Audio output is produced by the computing processor or by a detachable wireless sound speaker system that communicates with the computing processor. Physical motion is produced by the robot's physical structures that integrate servomotors and encoders - the three detachable rotating segments of the robot's head, the detachable electronic physical sensor-eye, the detachable physical robotic structures, the inertial brake system, and the three wheels integrated on the wheel mechanism. The robot's physical structures that integrate servomotors and encoders are controlled by the computing processor. The robot apparatus also acts by managing the robot's energy sources - the computing processor controls the amount of energy received by the servomotors (including and encoder) . The computing processor controls the amount of energy of the servomotors integrated on the wheel and the inertial brake system by wirelessly communicating with the connecting electrical box.

The modular robot developed can be activated while directly connected to a human and displaying autonomous control functions. The apparatus displays automatic control functions in two modes. In mode one, the apparatus displays automatic control functions while directly connected to a human - working as a human-robot interface. In mode two, the apparatus displays automatic control functions while disconnected from a human - working as an autonomous robot. Mode one is controlled by software programs included on the computing processor placed on the robot's head lower segment or the robot's torso. In mode one, inputs to the robot apparatus in order for the apparatus to act are made through the user's whole-body physical actions, the user's physiological states and environmental data. In this mode, inputs to the robot apparatus are made through whole-human body physical actions, for example, the user can push, pull, rotate and throw the apparatus while walking, running, jumping or trotting on the physical terrain to obtain a response from the robot apparatus - visual, audio and physical motion output. The user may also skate while interacting with the robot apparatus - feet placed on the upper surface of the wheel's suspension that connects to a base with a sponge. The user's whole-body physical actions are captured through detachable wireless motion and spatial sensors. In this mode, the software program encourages the user to place motion and spatial sensors on the physical structure of the robot apparatus through audio output, verbal speech, produced by the sound system integrated on the computing processor or detachable wireless sound speaker system - for example, an accelerometer, a gyroscope, and tilt sensor. The spatial configuration of the motion and spatial sensors on the robot's physical structure is made according to the user's will. The robot communicates to the user through verbal speech that he should place the motion and spatial sensors on the physical structure of the robot's apparatus. In mode one, inputs to the robot apparatus are also made through physiological data from the user - the computing processor communicates wirelessly with physiological sensors placed on the user's body. The software program encourages the user to place physiological sensors on the body - for example, heart rate, respiratory rate, galvanic skin response, temperature and brain activity sensors. The robot communicates to the user through verbal speech that he should place the physiological sensors on the body. In mode one, the computing processor also receives input from detachable wireless environmental sensors - for example, temperature, humidity, oxygen, carbon dioxide and radiation sensors. The robot communicates to the user through verbal speech that he should place the chosen environmental sensors on the physical structure of the robot's apparatus. In mode one, the robot apparatus also encourages the user to place detachable wireless electronic toy objects - for example, electronic brain lobes, electronic spherical neurons, electronic heart, electronic lunges, and electronic muscles - and the object sensing box on the robot's physical structure according to the user's will. The robot communicates to the user through verbal speech that he should place the chosen detachable wireless electronic toy objects on the physical structure of the robot's apparatus. In mode one, the user's whole-body physical actions and physiological data while controlling the robot apparatus, and environmental data, are translated on real-time visual output on the computing processor including a visual display or visual display placed on the lower segment of the robot's head or robot's torso, micro touched-based display placed on the middle segment of the robot's head and electronic toy objects - data from the physiological sensors translated in visible light on the electronic toy objects; on audio output produced by the sound system integrated on the computing processor or detachable wireless sound speaker system; and physical motion produced by the detachable electronic physical sensor-eye and the inertial brake system. In mode one, moving the system on the physical terrain, motion captured by, for example, the accelerometer, gyroscope and tilt sensors placed on the robot's physical structure, is translated as virtual locomotion of an avatar - or avatars - on the visual display included in the computing processor or visual display placed on the lower segment of the robot's head or robot's torso. Moving the system on the physical terrain is also translated as visual images on the micro touched-based display, for example, an avatar of an eye that expresses emotions according to the user' s physical activity levels. Moving the system on the physical terrain is also translated as physical motion on the detachable electronic physical sensor-eye, for example, the electronic physical sensor-eye eye expresses emotions - movement on the Y-axis and X-axis - according to the user' s physical activity - heart rate - levels. In mode one, the user may visualize the intensity of his physical actions, for example, displacement speed, on the software program - a virtual motion level meter that reacts to the user's physical actions in real-time. In mode one, physiological data from the user is translated in visible light on the detachable wireless electronic toy objects, for instance, the user's real-time heart rate beats translated in pulses of visible light produced by an electronic heart, the user's real-time brain electrical activity translated in pulses of visible light produced by electronic spherical neurons. The user may also visualize his physiological activity in real-time on the software program - physiological level meters that react to the user' s physiological data in real-time. In mode one, real-time environmental data also becomes visible on the software program - environmental level meters that demonstrate, for instance, the temperature and humidity fluctuations occurring in the physical environment. In mode one, the user may also communicate with the robot apparatus through verbal speech - audio input captured by the two detachable microphone structures attached to the robot's head surface or to other parts of the physical structure of the robot by a Velcro system. The detachable microphone structures communicate wirelessly with the computing processor. For example, the user can verbally ask the robot about motion and spatial data - for instance, "Am I moving to the left or to the right?", "What is my travel speed?") - physiological data - for instance, "How many heart beats per minute?", "What's the average brain activity in my frontal lobe?" - and environmental data - "What' s the temperature in the environment?". The robot apparatus produces audio output - sounds for instance, music and verbal speech - according to the user' s physical actions and physiological states and also answering to the user's questions. In mode one the robot apparatus engages the user in physical action, in natural environments, through automatic biofeedback control mechanisms included in software programs and the robot's hardware.

The robot apparatus persuades the user to achieve a specific physiological or psychophysiological state in order to improve physical and mental health. For example, the robot apparatus may encourage the user to increase his physical activity levels or to lower his anxiety levels through automatic biofeedback control mechanisms - closed-loop control. In the first case, the robot apparatus incites the user to increase his heart rate levels. The robot apparatus has access to the user' s hear rate levels in real-time through a wireless heart rate sensor placed on the user' s body. If, for instance, the user presents lower heart rate values - corresponding to lower physical activity levels - while physically interacting with the device - for instance, while pushing the device in the natural environment - a software program activates the inertial brake system physical motion output - integrated on each wheel of the robot apparatus that locks the wheels up to a certain degree - for example, 30%. The user then needs to move faster - or apply more force to control the robot apparatus on the physical environment - to reach higher heart rate values - corresponding to higher physical activity levels. The robot apparatus also communicates with the user through verbal speech - audio output - to incite the user to increase his physical activity levels. If, for instance, the user presents lower heart rate values - corresponding to lower physical activity levels - while physically interacting with the device - for instance, while pushing the device in the natural environment - the software program will emit specific verbal feedback to the user - audio output produced by the sound system integrated on the computing processor or detachable wireless sound speaker system - for example, "Run faster!" or "Give me more power!" -preprogramed verbal commands encouraging the user to achieve the intended physical activity levels. The robot apparatus demonstrates adaptive behavior. For example, user "A" may need to be exposed to increased inertial forces applied by the inertial brake system to achieve higher heart rate values compared to user "B". In the second case, the robot encourages the user to lower his anxiety levels. The robot apparatus has access to the user' s galvanic skin response values in real-time through a wireless galvanic skin response sensor placed on the user's body. If, for instance, the user presents high anxiety levels, while physically interacting with the device - for instance, while pushing the device in the natural environment - the software program will emit specific verbal feedback to the user - audio output produced by the sound system integrated on the computing processor or detachable wireless sound speaker system - for example, "Find and touch a tree and breathe slowly" - preprogramed verbal commands encouraging the user to decrease his anxiety levels. In another example, user "A" may need to be in contact with a tree during a longer period of time to decrease his anxiety levels compared to user "B". The robot apparatus may also give information through verbal speech - instructions - about the spatial directions to be taken by the user while controlling the robot apparatus - to increase physical activity levels and to direct the user to a particular location in space - e.g., "Straight ahead!"; "Turn right!"; "Turn backwards!"; "Rotate 45 degrees to the right!"; "Rotate 360 degrees to the left!" - according to real-time motion and spatial data received through the sensing devices.

In mode one, the robot apparatus may also encourage the user to perform physical activity in natural environments without external control of physiological or psychophysiological states - encouraging "exploratory interaction". That is, a user may interact freely with software programs allowing exploratory physical action in the natural environment. These programs give access to the user to motion, spatial, physiological and environmental data, in real-time, through visual and auditory information, for example, heart rate, brain activity, motor performance, humidity, temperature, and distance from objects data; data visible on level meters on the computing processor, visual display, micro touched- based display or electronic toy objects; the robot also communicates data through verbal speech. In the "exploratory interaction" option, the user chooses which sensors to be placed on the physical structure of the robot apparatus and which sensors become active in the software programs. While accessing a variety of data, the user is encouraged to explore/regulate his body processes in relation to environmental ones. For example, the user may draw inferences about the relations between physical actions, heart rate and temperature/humidity in the environment for instance, heart rate increasing in humid and hot climates for similar motor performance, relations between particular contexts for instance, mountainous areas; forested areas and brain states for instance, alertness, distraction, working memory load.

In mode one, the user may also teach autonomous behaviors to the robot apparatus - "teaching autonomous behaviors" option, for the robot apparatus to work as an autonomous robot in mode two. The "teaching autonomous behaviors" option runs on a specific software program that runs on the computing processor. The robot apparatus builds autonomous functions through interaction with the user working as a human-robot interface - user guidance techniques, such as direct physical control and physiological states transfer.

The robot apparatus encourages the user through verbal speech to use kinesthetic techniques to program physical actions/behaviors to be performed by the robot. That is, the user controls the robot apparatus, in the physical environment, through whole-body physical action in order to program autonomous functions on the robot e.g., the user's locomotion works as an example to be replicated by the device during autonomous navigation. The user's physiological states, while controlling the robot, are also used to program autonomous functions e.g., the robot learns to manage its power sources according to the user's energetic metabolism. After activating the software program to build autonomous behaviors in the robot apparatus, the user is encouraged through verbal speech to place motion, spatial and environmental sensors on the physical structure of the robot apparatus including the object sensing box, according to will - for example, accelerometer, gyroscope, tilt, and infrared sensors, light, humidity and temperature sensors, and the object sensing box.

The user is also encouraged to place physiological sensors on the body according to will - for example, heart rate, glucose and brain activity sensors. The user is then encouraged to control the robot apparatus in the physical environment through physical actions according to will. For example, the user may push, pull, rotate and throw the robot apparatus while he walks or runs on the physical terrain; the user may manipulate the three detachable segments of the robot's head - rotation of each segment; the user may manipulate the detachable electronic physical sensor-eye - manipulations on the Y-axis and X-axis; the user may manipulate the detachable physical robotic structures manipulations on the Y-axis and X-axis; the user may place objects inside the object sensing box. The user interacts freely with the robot apparatus to explore the physical world visualizing the virtual scenarios on the computing processor or visual display. The user also has access to real-time motion, spatial, environmental and physiological data captured through the sensing devices on the computing processor or visual display. At the same time the user establishes physical interaction with the robot apparatus, he may also teach the device physical actions/behaviors to be autonomously executed. For example, the robot apparatus captures and records real-time motion, spatial, environmental and physiological data through the sensing devices while the user interacts with the robot apparatus through physical action. Such data is later recalled during autonomous behaviors - capturing information about events in the environment through human guidance. Motion, spatial and physiological data represent the sensory state of the robot apparatus. Environmental data represents information external to the system. These metrics are stored in the robot apparatus during the learning process and can be later recalled to support autonomous functions in the apparatus. The user may enable or disable the inputs made to the system by activating or deactivating communication between the sensors and the software. The user may ascribe verbal labels to the learning experiences, e.g., "stop", "move fast", "move slow", "avoid obstacles", "touch-ob ect", "search-light", "rotate", "rotate the lower segment of the head", "rotate the middle segment of the head", "rotate the upper segment of the head", "move eye to the right", "move eye to the left", "rotate octopus arm", "dance", etc., to latter activate autonomous behaviors on the apparatus. For example, after activating the "teaching autonomous behaviors" option, the software immediately starts recording sensory data. The user interacts with the apparatus freely in the physical environment - deciding which physical action/behavior to teach the apparatus. When the user determines that the learning activity is concluded, he activates a "verbal learning" function on the software - ascribing a verbal label to the previous experience via verbal input to the system recorded by the two detachable microphone structures. At that moment, the software associates the verbal label given by the user to the metrics - motion, spatial, physiological, environmental data - obtained during the interaction creating a memory representation of the experience. Later, after a few learning experiences, the user may reactivate this memory through a speech recognition system included in the software activating the function "autonomous behavior" in the software and pronouncing the verbal label to the system. At that moment the robot apparatus should be able to reactivate the memory associated with the verbal label accessing motion, spatial physiological and environmental data associated with the learning experience and autonomously replicate the behavior - also demonstrating adaptive behavior in different environmental settings.

For example, the user may decide to teach the concept of "move fast" to the robot apparatus. The user activates the "teaching autonomous behaviors" option and eventually starts pushing the apparatus as fast as possible in the physical world. In order to end the learning process the user activates the "verbal learning" function in the software. At this moment the software stops recording data and the user may give verbal inputs to the system, create a verbal label - "move fast". The user later reactivates this behavior in the "autonomous behavior" function by providing the system with the same verbal command - "move fast" - captured by the two detachable microphone structures. In the previous example, the verbal label "move fast" is associated with an increase in the rotational speed in the wheels of the apparatus - captured by the encoders placed on each wheel of the robot apparatus that communicate with the computing processor - the user pushes the device as fast as possible. The software records the rotational speed of the wheels from the start of the activity until the "verbal learning" function is activated. In this case, the device records motion data to posteriorly manage its locomotion functions in the environment autonomously. The user may also teach the robot apparatus, for example, to move the lower, middle and lower segments of the head - data regarding spatial position of the head segments is captured by the encoders placed on the head segments/placed on the upper segment of the modular leveler - the user manipulates the head segments and creates verbal labels for the manipulations; to move the detachable electronic physical sensor eye - data captured by the encoder included in the detachable electronic physical sensor eye - and to visualize events on the physical environment the user manipulates the detachable electronic physical sensor eye and creates verbal labels for the manipulations; to move the detachable physical robotic structures - data regarding spatial position of the segments of the physical robotic structure is captured by the encoders placed on the interacting rotary joints that connect the segments - the user manipulates the segments of the physical robotic structure and creates verbal labels for the manipulations; to identify different objects from the environment through the object sensing box that measures the size, weight and temperature of an object through a multi-sensing mechanism the user inserts objects inside the object sensing box and creates a verbal label to the object. The robot apparatus also makes use of the user's physiological data - e.g., heart rate data - to perform autonomous behavior in the environment. In the previous example, the verbal label "move fast" is associated to an increase in the user' s heart rate values which is translated in pulses of visible light, for example, on an electronic heart - electronic toy object chosen according to the user's will. Again, the software records the user' s heart rate values from the start of the activity until the "verbal learning" function is activated including the pulses of visible light produced by the electronic toy object - behavior to be latter replicated during autonomous functions.

In addition, the apparatus captures inclination, on the physical terrain, through a tilt sensor. The apparatus records the user' s physiological data to posteriorly manage its power sources autonomously while in the environment. The software program makes an analogy between the user' s energetic metabolism and energetic functions in robot apparatus. For instance, the verbal label "move fast" is associated with an increase in heart rate levels. As the user moves across different terrain gradients, e.g., no inclination versus slopes, he will show variations in hear rate values e.g., a slope will increase the user's heart rate while he tries to push the device as fast as possible. The software records and associates data from the user' s heart rate and terrain gradient, obtained during the learning experiences, to manage its energy functions - e.g., providing more power to the servomotors integrated on the wheels of the apparatus through the powering lithium-ion battery placed on the lower segment of the modular leveler when facing slopes to maintain a quick rotational speed. If the robot apparatus is not able to perform the learned behavior in different environmental conditions, then the user needs to provide the system more learning experiences. While the user guides the device through the learning activity, environmental data may also be recorded - for example, light, humidity and temperature data. Since the learning process on the robot apparatus results from multiple learning experiences, we may expect the robot apparatus to create associations between not only motion, spatial and physiological data, but also environmental data and verbal concepts. In some cases, environmental data may be more important for the robot apparatus to learn how to act in an environment than other types of data. For instance, the "move fast" behavior may be more dependent on motion, spatial and physiological data, compared to environmental data, because the learning process results from finding statistical regularities and the variability across multiple interactions. On the other and, if the user tries to teach behaviors such as "search light" or "search shadow", light data becomes essential for the device. For example, starting the "teaching autonomous behaviors" option with a light sensor and motion sensors activated and driving the apparatus multiple times to an area in the shade and vice-versa. Because the user engages the "teaching autonomous behaviors" option in an exploratory mode - e.g., the user may attribute different labels to different learning experiences/enable or disable inputs to the system by activating or deactivating sensors - he is free to define and discover what the robot apparatus can learn. The user may even combine different previously learned behaviors to make the apparatus act in a more complex way in the physical environment. For instance, by combining "move fast" and "search light" behaviors - giving the verbal input "move fast - search light" to the system. In this case, the software combines two previously learned behaviors in order to act in the environment. For example, the apparatus will move fast until it finds a lit area, where it will eventually stop. If, on the other hand, the user gives the following verbal order to the system - "search light - move fast", the apparatus will engage in the behavior "search light" first and only after move fast. Behavior activation depends on the specific verbal input order given to the system and on the environmental conditions faced by the device during autonomous functions. The user may also control other functions in the software. The user may also delete learned behaviors. One of the characteristics of the "teaching autonomous behaviors" option, in the robot apparatus, is that it allows the apparatus to develop different forms of acting in the physical environment depending on the user - the software platform records data for each user. That is, the robot apparatus behaves autonomously, in the environment, according to the biological skills of the user e.g., motor performance, physical fitness. For instance, a younger user e.g., age 4, trying to teach the "move fast" behavior to the robot will likely move slower than an older user e.g., age 16; additionally, their heart rate values during the learning experience will be different. Therefore, the "move fast" behavior in the apparatus will differ according to the biological skills of the user. The robot's autonomous behaviors are always subject to previously given commands by the user.

In mode one, while keeping the robot apparatus moving on the physical environment, the user is recharging its energy sources - each wheel of the robot apparatus includes a dynamo system. The levels of energy contained in the powering lithium-ion battery become visible and audible through software programs - visual images on the computing processor or visual display and verbal speech produced by the robot apparatus. The robot apparatus encourages the user to understand and control the energy sources contained in the powering lithium-ion battery through verbal speech. Hence, the robot apparatus encourages for ecological sustainability practices. Electrical energy accumulated during mode one supports autonomous behavior of the robot apparatus in mode two. In mode one, the robot apparatus also allows interactions whit more than one user - collaborative interactions. For example, two users may control the physical structure of the apparatus simultaneously for instance, two users pushing the apparatus; interactions with the multiple components of the robot apparatus, e.g., micro touched-based display, placement of sensors and electronic toy objects on the robot's physical structure, etc., the robot apparatus may receive physiological data from two users for instance, the users real-time heart rate beats translated in pulses of visible light produced by an electronic heart - average values from the two users.

In mode one, different robot apparatuses may also interact in the same geographical area. For example, the software programs included in one robot apparatus may communicate with software programs included in another robot apparatuses - for instance, the user may visualize the locomotion of another robot apparatus on the computing processor or visual display of his own robot apparatus, the detachable electronic physical sensor-eye includes an image capture system that captures the ongoing action of the robot apparatus on the physical environment; visualize the physiological data from another user on his own robot apparatus; users may share autonomous behaviors between robot apparatuses; etc. The communication between robot apparatuses includes wireless connections such as, but not limiting thereto, Wi-Fi standard, IEEE 802. xx Standard, Bluetooth Standard, ZigBee, Infra-Red Data Access, Wireless Universal Serial Bus (USB) , Radio Frequency Identification (RFID) , Ultra-Wideband (UWB) , GPS, WEB servers. In mode one, different robot apparatuses may also interact over different geographical areas. The software programs included in one robot apparatus communicate with software programs included in another robot apparatuses - for instance, the user can visualize the locomotion of another robot apparatus on the computing processor or visual display of his own robot apparatus through the detachable electronic physical sensor-eye including an image capture system that captures the ongoing action of the robot apparatus on the physical environment; visualize the physiological data from another user on his own robot apparatus; users can share autonomous behaviors between robot apparatuses; etc. The communication between robot apparatuses over different geographical areas includes online connections such as, but not limiting thereto, GPS, WEB servers.

Brief description of drawings

For easier understanding of this application, figures are attached in the annex that represent the preferred forms of implementation which nevertheless are not intended to limit the technique disclosed herein.

Figure 1 illustrates all the main technical modules that defines the interactive modular robot described in this application, wherein the reference signs represent:

1 - head;

2 - modular torso;

3 - base;

4 - modular leveler;

5 - modular leveler - upper segment;

6 - modular leveler - middle segment;

7 - modular leveler - lower segment;

8 - modular torso - upper segment;

9 - modular torso - middle segment;

10 - modular torso - lower segment;

11 - modular head - upper segment;

12 - modular head - middle segment;

13 - modular head - lower segment;

Figure 2 illustrates all the technical features of the interactive modular robot's head, wherein the reference signs represent:

11 - modular head - upper segment;

12 - modular head - middle segment;

13 - modular head - lower segment;

14 - detachable wireless motion, spatial and environmental sensors ;

15 - detachable and modular bar objects;

16 - aperture;

17 - detachable wireless electronic toy objects;

18 - Velcro system; 20 - detachable transparent cap structure;

21 - iron ring of the lower surface of the upper segment of the robot's modular head;

22 - detachable micro touch-based display;

23 - detachable electronic physical sensor-eye;

24 - image capture system;

25 - servomotor of the detachable electronic physical sensor- eye;

26 - servomotor of the upper surface of the middle segment of the robot's modular head;

27 - circular magnetic rubber mat - upper segment of the robot's modular head;

28 - iron ring of the upper surface of the lower segment of the robot's modular head;

29 - computing processor of the lower segment of the robot's modular head;

30 - visual display of the lower segment of the robot's modular head;

31 - flexible brackets;

32 - electromagnetic powering gripper;

33 - detachable wireless sound speaker system;

34 - detachable microphone structures;

35 - servomotor of the lower segment of the robot's modular head;

36 - circular magnetic rubber mat - lower segment of the robot's modular head;

37 - iron ring of the lower surface of the lower segment of the robot's modular head;

Figure 3 illustrates all the technical features of the interactive modular robot's torso, wherein the reference signs represent:

2 - modular torso; 4 - modular leveler;

5 - modular leveler - upper segment;

6 - modular leveler - middle segment;

7 - modular leveler - lower segment;

8 - modular torso - upper segment;

9 - modular torso - middle segment;

10 - modular torso - lower segment;

14 - detachable wireless motion, spatial and environmental sensors ;

15 - detachable and modular bar objects;

16 - aperture;

17 - detachable wireless electronic toy objects;

18 - Velcro system;

19 - physiological sensors;

38 - powering lithium-ion battery;

39 - solar battery system;

40 - AC plug power supply;

41 - magnetic three pins charger port of the lower surface of the lower segment of the modular leveler;

43 - magnetic three pins receiver port of the lower surface of the lower segment of the modular leveler;

45 - has two magnetic three pins charger ports of the upper surface of the lower segment of the modular leveler;

46 - magnetic three pins receiver port of the lower surface of the middle segment of the modular leveler;

47 - wireless power sensing device;

48 - electromagnetic powering surface of the middle segment of the modular leveler;

49 - object sensing box;

50 - circular light system;

51 - four magnetic three pins charger ports of the upper surface of the middle segment of the modular leveler; 52 - four magnetic three pins receiver ports of the lower surface of the upper segment of the modular leveler;

53 - servomotor of the upper part of the upper segment of the modular leveler;

54 - circular magnetic rubber mat of the upper surface of the upper segment of the modular leveler;

55 - detachable physical robotic structures of the lateral surface of the upper segment of the modular torso;

56 - computing processor of the upper segment of the modular torso;

57 - visual display of the upper segment of the modular torso;

58 - flexible brackets of the supporting magnetic structure of the upper segment of the modular torso;

59 - electromagnetic powering gripper of the supporting magnetic structure of the upper segment of the modular torso;

60 - door-lock mechanism of the left surface of the upper segment of the modular torso;

61 - lateral apertures of the upper segment of the modular torso;

62 - detachable segments of the detachable physical robotic structures ;

63 - rotary joints;

64 - door-lock mechanism left surface of the middle segment of the modular torso;

65 - door-lock mechanism of the left surface of the lower segment of the modular torso;

Figure 4 illustrates all the technical features of the interactive modular robot's base, wherein the reference signs represent:

18 - Velcro system; 42 - magnetic three pins receiver port of the upper part of the wheel mechanism;

44 - magnetic three pins charger port of the upper part of the wheel mechanism;

66 - dynamo system;

67 - wheels of the wheel mechanism;

68 - servomotor of the wheel mechanism;

69 - inertial brake system of the wheel mechanism;

70 - three magnetic three pins receiver ports of the lateral surface of the upper part of the wheel mechanism;

71 - three magnetic three pins charger ports of the lateral surface of the upper part of the wheel mechanism;

72 - cylindrical bracket;

73 - spongy tissue;

74 - suspension system;

75 - rotating structure;

76 - electrical box;

77 - quick release system;

78 - two parallel physical structures;

Figure 5 illustrates all the technical features identified from the back view of the interactive modular robot, wherein the reference signs represent:

7 - modular leveler - lower segment;

10 - modular torso - lower segment;

38 - powering lithium-ion battery;

39 - solar battery system;

40 - AC plug power supply;

79 - DC power jack connector;

80 - magnetic three pins receiver port;

81 - flexible brackets of the supporting structure of the lower segment of the modular torso; 82 - two magnetic grippers of the supporting structure of the lower segment of the modular torso.

Description of the embodiments Hereinafter, some embodiments shall be described in more detail, which are not however intended to limit the scope of the present application.

The following drawings and corresponding descriptions are illustrative examples of the present application. They do not restrict the physical configuration of the present application since the user may choose, for example, different physical configurations for the robot apparatus (including different physical components, for example, segments format, sensing devices, electronic toy objects, physical robotic structures or wheel mechanisms to be included in the robot apparatus), different physical materials for the physical components of the robot apparatus, different sizes for the components of the robot apparatus. Nonetheless, the following drawings and corresponding descriptions include the mainstream components of the present application.

Figures 1 to 4 are illustrations of the front view of the robot apparatus. The robot apparatus comprises a modular head (1) to be connected to a modular torso (2), which in turn connects with a wheel mechanism on its base (3) . The modular head, modular torso and wheel mechanism connect with a modular leveler (4) composed of three detachable segments - upper segment (5), middle segment (6) and lower segment (7) . The modular torso (2) comprises three detachable segments - upper segment (8), middle segment (9) and lower segment (10) . The modular head (1) comprises three detachable rotating segments - upper segment (11), middle segment (12) and lower segment (13) . The robot apparatus communicates with detachable wireless motion, spatial and environmental sensors (14) whose spatial configuration on the robot apparatus is decided by the user. The detachable wireless motion, spatial and environmental sensors (14) may be connected to the upper segment of the robot's modular head (11), the upper segment of the modular torso (8) and the lower segment of the modular torso (10) via detachable and modular bar objects (15), which in turn connect to multiple apertures (16) placed along the surface of the upper segment of the robot's modular head (11), the upper segment of the modular torso (8), and the lower segment of the modular torso (10) .

The robot apparatus communicates with detachable wireless electronic toy objects (17) that produce visible light, and whose spatial configuration on the robot apparatus is decided by the user. The detachable wireless electronic toy objects

(17) may be connected to the upper segment of the robot's modular head (11), the upper segment of the modular torso

(8) and the lower segment of the modular torso (10) via detachable and modular bar objects (15), which in turn connect to multiple apertures (16) placed along the surface of the upper segment of the robot's modular head (11), the upper segment of the modular torso (8) and the lower segment of the modular torso (10) . The detachable wireless motion, spatial and environmental sensors (14) and the detachable wireless electronic toy objects (17) may also be connected to any part of the physical structure of the robot apparatus through a Velcro system (18) according to the user's will.

The robot apparatus communicates with physiological sensors (19) to be attached to the user's body. Digital encoded messages from the detachable wireless motion, spatial and environmental sensors (14) and the physiological sensors

(19) are processed by a computing processor placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) . The computing processor placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) sends digital encoded messages to the detachable wireless electronic toy objects (17) in order for the detachable wireless electronic toy objects (17) to produce visible light.

The computing processor placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) establishes a wireless communication with the detachable wireless motion, spatial and environmental sensors (14), the physiological sensors (19) and the detachable wireless electronic toy objects (17) .

The upper segment of the robot's modular head (11) includes a detachable transparent cap structure (20) where detachable wireless motion, spatial and environmental sensors (14) and detachable wireless electronic toy objects (17) are placed according to the user's will. The detachable cap structure

(20) has multiple apertures (16) placed along the surface. The circumference of the lower surface of the upper segment of the robot's modular head (11) integrates an iron ring

(21) that docks into the upper surface of the middle segment of the robot's modular head (12) .

The middle segment of the robot's modular head (12) includes a detachable micro touch-based display (22) connected to a supporting structure inserted on the right side of the head' s surface. The micro touch-based display (22) outputs visual images. The user may also interact with the visual images displayed by the micro touched-based display (22) through manipulative actions on the display (22) surface. The visual images produced by the micro touch-based display (22) are controlled by a computing processor placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) that sends digital encoded messages to the micro touch-based display (22) . The computing processor placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) receives digital encoded messages regarding the user' s manipulative actions on the display (22) .

The computing processor placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) establishes a wireless communication with the micro touch-based display (22) . The middle segment of the robot's modular head (12) also includes a detachable electronic physical sensor-eye (23) connected to a supporting structure inserted on the left side of the head's surface. The detachable electronic physical sensor-eye (23) includes an image capture system (24) that captures images and video from the physical environment, and two servomotors (25) that produce physical motion, allowing the detachable electronic physical sensor-eye (23) to move on the X-Axis and the Y- Axis. Each of the two servomotors (25) includes an encoder that measures the translation distance, velocity and angles of the detachable electronic physical sensor-eye (23) during physical motion.

The user may also move the detachable electronic physical sensor-eye (23) by manipulating the electronic physical sensor-eye (23) . Each encoder integrated in the two servomotors (25) captures the manipulative actions produced by the user. The detachable micro touch-based display (22) and detachable electronic physical sensor-eye (23) may also be connected to any part of the physical structure of the robot apparatus through a Velcro system (18) and according to the user's will. The image capture system (24) sends digital encoded messages to the computing processor placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) . The two servomotors (25) are controlled by the computing processor placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) that sends digital encoded messages to the two servomotors (25) . The encoders integrated on the two servomotors (25) send digital encoded messages to the computing processor placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) . The computing processor establishes a wireless communication with the detachable electronic physical sensor-eye (23) . The middle segment of the robot's modular head (12) also includes a servomotor (26) attached to the upper surface of the middle segment of the robot's modular head (12) . The servomotor (26) is connected to a circular magnetic rubber mat (27) inserted along the circumference of the upper surface of the middle segment of the robot's modular head (12) . The servomotor (26) allows the circular magnetic rubber mat (27) to produce physical motion, bidirectional rotations on the X-axis. The servomotor (26) includes an encoder that measures the translation distance, velocity and angles of the circular magnetic rubber mat (27) during physical motion. The user may also move the middle segment of the robot's modular head (12) by manipulating, rotating the middle segment of the robot's modular head (12) . The encoder integrated in the servomotor (26) captures the manipulative actions produced by the user. The iron ring (21) integrated in the lower surface of the upper segment of the robot's modular head (11) docks into the upper surface of the middle segment of the robot's modular head (12) by magnetic connection to the circular magnetic rubber mat (27) .

The motion produced by the circular magnetic rubber mat (27) allows the upper segment of the robot's modular head (11) to rotate in the X-axis. The circumference of the lower surface of the middle segment of the robot's modular head (12) integrates an iron ring (28) that docks into the upper surface of the lower segment of the robot's modular head (13) . The servomotor (26) placed in the middle segment of the robot's modular head (12) is controlled by the computing processor (software programs) placed on the lower segment of the robot's modular head (29) or the upper segment of the modular torso (56) that sends digital encoded messages to the servomotor (26) . The encoder integrated on the servomotor (26) send digital encoded messages to the computing processor (software programs) placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) . The computing processor placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) establishes a wireless communication with the servomotor (26), including its encoder.

The lower segment of the robot's modular head (13) has a hollow area at the center that connects with a supporting magnetic structure where a computing processor (29) or visual display (30) can be connected. The supporting magnetic structure integrates two flexible brackets (31), adjustable in any direction, each integrating one electromagnetic powering gripper (32) on the end that holds the computing processor (29) or visual display (30) . The electromagnetic powering grippers (32) charge any computing processor (29) or visual display (30) through inductive charging. The electromagnetic powering grippers (32) magnetically lock any computing processor (29) or visual display (30) . The computing processor (29) produces visual output, images, and audio output, sound waves, and wirelessly controls all the electronic components of the robot apparatus through software programs. The computing processor (29) also receives digital encoded wireless messages from electronic components of the robot apparatus. The visual display (30) produces visual output, images controlled by the computing processor placed on the lower segment of the robot's modular head (29) or the upper segment of the modular torso (8) that sends digital encoded messages to the visual display (30) . The lower segment of the robot's modular head (13) also comprises a detachable wireless sound speaker system (33) to be inserted on the robot's head lower surface through a supporting structure. The detachable wireless sound speaker system (33) produces audio output, sound waves. The lower segment of the robot's modular head (13) also comprises two detachable microphone structures (34) attached to the robot's head lateral surface through a supporting structure. Each of the two detachable microphone structures (34) is an acoustic-to-electric transducer that captures sounds waves and converts them into an electrical signal. The detachable wireless sound speaker system (33) and two detachable microphone structures (34) may also be connected to any part of the physical structure of the robot apparatus through a Velcro system (18) and according to the user's will. The detachable wireless sound speaker system (33) is controlled by the computing processor (29) placed on the lower segment of the robot's modular head or the upper segment of the modular torso (8) that sends digital encoded messages to the detachable wireless sound speaker system (33) . The two detachable microphone structures (34) send digital encoded messages to the computing processor (29) placed on the lower segment of the robot's modular head or the upper segment of the modular torso (8) . The computing processor (29) placed on the lower segment of the robot' s modular head or the upper segment of the modular torso (8) establishes a wireless communication with the detachable wireless sound speaker system (33) and the two detachable microphone structures (34) .

The lower segment of the robot's modular head (13) also includes a servomotor (35) attached to the upper surface of the lower segment of the robot's modular head (13) . The servomotor (35) is connected to a circular magnetic rubber mat (36) inserted along the circumference of the upper surface of the lower segment of the robot's modular head (13) . The servomotor (35) allows the circular magnetic rubber mat (36) to produce physical motion, bidirectional rotations on the X-axis. The servomotor (35) includes an encoder that measures the translation distance, velocity and angles of the circular magnetic rubber mat (36) during physical motion. The user may also move the lower segment of the robot's modular head (13) by manipulating, rotating the lower segment of the robot's modular head (13) . The encoder integrated in the servomotor (35) captures the manipulative actions produced by the user. The iron ring (28) integrated in the lower surface of the middle segment of the robot's modular head (12) docks into the upper surface of the lower segment of the robot's modular head (13) by magnetic connection to the circular magnetic rubber mat (36) . The motion produced by the circular magnetic rubber mat (36) allows the middle segment of the robot's modular head (12) to rotate in the X- axis. The circumference of the lower surface of the lower segment of the robot's modular head (13) integrates an iron ring (37) that docks into the upper surface of the upper segment of the modular leveler (5) . The servomotor (35) placed in the lower segment of the robot's modular head (13) is controlled by the computing processor placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) that sends digital encoded messages to the servomotor (35) . The encoder integrated on the servomotor (35) send digital encoded messages to the computing processor placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) . The computing processor placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) establishes a wireless communication with the servomotor (35), including its encoder.

The lower segment of the modular leveler (7) integrates a powering lithium-ion battery (38) that accumulates electrical energy from a dynamo system integrated in the robot's wheel mechanism (3), from a solar battery system

(39) and from AC plug power supply (40) . The powering lithium-ion battery (38) charges multiple electronic components of the robot apparatus. The lower surface of the lower segment of the modular leveler (7) has a magnetic three pins charger port (41) that fits magnetically with a magnetic three pins receiver port (42) integrated in the upper part of the wheel mechanism (the latter sends electrical energy to the powering lithium-ion battery through a dynamo system) . The lower surface of the lower segment of the modular leveler

(7) also has a magnetic three pins receiver port (43) that fits magnetically with a magnetic three pins charger port (44) integrated in the upper part of the wheel mechanism (the latter sends electrical energy to servomotors integrated in the wheel mechanism) . The upper surface of the lower segment of the modular leveler (7) has two magnetic three pins charger ports (45), each fitting magnetically with a magnetic three pins receiver port (46) integrated in the lower surface of the middle segment of the modular leveler (8) . The powering lithium-ion battery (38) communicates with computing processor placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) . The communication between the powering lithium-ion battery (38) and the computing processor is made through a wireless power sensing device (47) integrated in the upper part of the powering lithium- ion battery (38) that wirelessly transmits digital encoded messages to the computing processor about the amount of energy contained in the powering lithium-ion battery.

The middle segment of the modular leveler (6) integrates an electromagnetic powering surface (48) that covers all the surface of the middle segment of the modular leveler (6) . The middle segment of the modular leveler (6) has two magnetic three pins receiver ports (46) integrated in the lower surface that receive electrical energy from the powering lithium-ion battery (38) . One of the magnetic three pins receiver ports (46), placed on the right side of the lower surface of the middle segment of the modular leveler

(6), communicates directly with the electromagnetic powering surface (48) . This port gives electrical energy to the electromagnetic powering surface (48) . The electromagnetic powering surface (48) magnetically locks and charges any detachable wireless motion, spatial and environmental sensor

(14), detachable wireless electronic toy object (17) and an object sensing box (49) through inductive charging. The electromagnetic powering surface (48) integrates a circular light system (50) surrounding the lower circumference perimeter of the middle segment of the modular leveler (6), which becomes active when receiving energy from the powering lithium-ion battery (38) . The other magnetic three pins receiver port (46), placed on the left side of the lower surface of the middle segment of the modular leveler (6), communicates with four magnetic three pins charger ports (51) integrated in the upper surface of the middle segment of the modular leveler (6) .

The upper segment of the modular leveler (5) has a hollow area at the center. The upper segment of the modular leveler (5) has four magnetic three pins receiver ports (52) integrated in the lower surface that receive electrical energy from the powering lithium-ion battery (38) . One of the four magnetic pins receiver ports (52) gives electrical energy to a computing processor or visual display placed on the upper segment of the modular torso (8) . Other of the four magnetic three pins receiver ports (52) charges a servomotor (53), placed in the upper part of the upper segment of the modular leveler (5) . This servomotor (53) is connected to a circular magnetic rubber mat (54) inserted along the circumference of the upper surface of the upper segment of the modular leveler (5) . The circumference of the lower surface of the lower segment of the robot's modular head (13) integrates an iron ring (37) that links onto the circular magnetic rubber mat (54) inserted along the circumference of the upper surface of the upper segment of the modular leveler (5) . The motion produced by the circular magnetic rubber mat (54) allows the lower segment of the robot's modular head (13) to rotate in the X-axis. The servomotor (53) placed in the upper part of the upper segment of the modular leveler (5) allows the circular magnetic rubber mat (54) to produce physical motion, bidirectional rotations on the X-axis, making the robot's head rotate in the X-axis. The servomotor (53) also includes an encoder to control the physical motion of the circular magnetic rubber mat (54), to measure translation distance, velocity and angles of the circular magnetic rubber mat (54) . The circular rubber mat (54) has a circular light system surrounding the circumference perimeter of the circular rubber mat (54), which becomes active when receiving energy from the magnetic three pins receiver port (52) that charges the servomotor

(53) . The servomotor (53) placed in the upper part of the upper segment of the modular leveler (5) is controlled by the computing processor (29) (software programs) placed on the lower segment of the robot's modular head or the upper segment of the modular torso (8) that sends digital encoded messages to the servomotor (53) . The encoder integrated on the servomotor (53) send digital encoded messages to the computing processor placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) . The computing processor placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) establishes a wireless communication with the servomotor (53), including its encoder. Other of the four magnetic three pins receiver ports (52) gives electrical energy to detachable physical robotic structures

(55) connected to the lateral surface of the upper segment of the modular torso (8) . Other of the four magnetic three pins receiver ports (52) gives electrical energy to the electromagnetic powering grippers (32) integrated on the lower segment of the robot's modular head (13) . The upper segment of the modular torso (8) has a hollow area at the center with two holes on the lateral surfaces that allow communication with the upper segment of the modular leveler (5) . The upper segment of the modular torso (8) has a supporting magnetic structure inserted on the back' s surface, internal surfaces of the hollow area, where a computing processor (56) or visual display (57) can be connected. The supporting magnetic structure integrates two flexible brackets (58), adjustable in any direction, each with one electromagnetic powering gripper (59) on the end that holds the computing processor (56) or visual display

(57) . The electromagnetic powering grippers (59) charge any computing processor (56) or visual display (57) through inductive charging. The electromagnetic powering grippers

(59) magnetically lock any computing processor (56) or visual display (57) . The computing processor (56) produces visual output, images, and audio output, sound waves, and controls all the electronic components of the robot apparatus through software programs. The computing processor (56) also receives digital encoded wireless messages from the electronic components of the robot apparatus. The visual display (57) produces visual output, images controlled by the computing processor (29) placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) that sends digital encoded messages to the visual display (57) . The upper segment of the modular torso

(8) has multiple apertures (16) along its surface that connect to detachable and modular bar objects (15), which in turn may connect to another detachable and modular bar objects (15), to detachable wireless motion, spatial and environmental sensors (14) or detachable wireless electronic toy objects (17) according to the user's will. The upper segment of the modular torso (8) splits into two parts, front and rear parts (Y-axis), through a door-lock mechanism (60) integrated on the left surface of the upper segment of the modular torso (8) . The upper segment of the modular torso (8) also has two apertures (61) on the lateral surface that attach to detachable physical robotic structures (55) . The detachable physical robotic structures (55) are selected according to the user's will. The detachable physical robotic structures (55) comprise detachable segments (62) connected to interacting rotary joints (63), which include servomotors to produce motion on each segment and encoders to measure the segment's translation distance, velocity or angles. The user may also manipulate the detachable segments (62) of the detachable physical robotic structures (55) . The encoders integrated on the interacting rotary joints (63) capture the manipulations produced by the user. The servomotors included in the interacting rotary joints (63) are controlled by the computing processor (29) placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) that sends digital encoded messages to the servomotors. The encoders integrated on the servomotors included in the interacting rotary joints (63) send digital encoded messages to the computing processor (29) (software programs) placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) . The computing processor (29) placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) establishes a wireless communication with the servomotors included in the interacting rotary joints (63) .

The middle segment of the modular torso (9) has a hollow area at the center with two holes on the lateral surfaces that allow communication with the middle segment of the modular leveler (6), with the electromagnetic powering surface (48) that covers all the surface of the middle segment of the modular leveler (6) and that magnetically locks and charges any detachable wireless motion, spatial and environmental sensor (14), detachable wireless electronic toy object (17) and an object sensing box (49) . The middle segment of the modular torso (9) splits into two parts, front and rear parts (Y-axis), through a door-lock mechanism (64) integrated on the left surface of the middle segment of the modular torso (9) .

The lower segment of the modular torso (10) has a hollow area at the center with one hole at its back surface that allows communication with the lower segment of the modular leveler (7) . The lower segment of the modular torso (10) has multiple apertures (16) along its surface that connect to detachable and modular bar objects (15), which in turn may connect to another detachable and modular bar objects (15), to detachable wireless motion, spatial and environmental sensors (14) or detachable wireless electronic toy objects (17) according to the user's will. The lower segment of the modular torso (10) splits into two parts, front and rear parts (Y-axis), through a door-lock mechanism (65) integrated on the left surface of the lower segment of the modular torso (10) .

It will now be demonstrated an example of the wheel mechanism to be integrated on the robot apparatus. This is an illustrative example since the user may choose the wheel mechanism to be attached to the robot apparatus, for example, composed of a single spherical wheel, two, three or four wheels (the physical components integrating the previous wheel mechanisms may vary in number and physical configuration relatively to the example here described, however, the foundations - main components - of the wheel mechanisms are the same) .

The upper part of the wheel mechanism (3) connects to the lower segment of the modular leveler (7) . The upper surface of the upper part of the wheel mechanism (3) has a magnetic three pins receiver port (42) and a magnetic three pins charger port (44) . The magnetic three pins receiver port

(42) sends electrical energy from dynamo systems (66) integrated on each of the three wheels (67) of the wheel mechanism (3) to the powering lithium-ion battery (38) integrated in the lower segment of the modular leveler (7) . The magnetic three pins charger port (44) sends electrical energy from the powering lithium-ion battery (38) to the servomotor (68) and the inertial brake system (69) integrated on each of the three wheels (67) of the wheel mechanism (3) . The magnetic three pins charger port (44) connects with three magnetic three pins receiver ports (70) integrated on the lateral surface of the upper part of the wheel mechanism

(3) . The magnetic three pins receiver port (42 connects with three magnetic three pins charger ports (71) integrated on the lateral surface of the upper part of the wheel mechanism

(3) . The three magnetic three pins receiver ports (70) and the three magnetic three pins charger ports (71) integrated on the lateral surface of the upper part of the wheel mechanism (3) communicate directly with a cylindrical bracket (72) . Each cylindrical bracket (72) connects directly to a physical structure that holds a wheel. The physical structure that holds the wheel includes a physical structure with a spongy tissue (73), a suspension system

(74) and a rotating structure (75), all the previous structures with a hollow area at the center that receives wires from the cylindrical bracket (72); a connecting electrical box (76), a servomotor including and encoder (68), an inertial brake system (69), a dynamo system (66), and a quick release system (77) . The physical structure with a spongy tissue (73) connects directly to a cylindrical bracket

(72) . The lower surface of the physical structure with a spongy tissue (73) connects directly with the suspension system (74) . The lower surface of the suspension system (74) connects directly with the upper surface of the rotating structure (75) . The rotating structure (75) connects directly to two parallel physical structures (78) that connect to the wheel's (67) circumference. One of the two parallel physical structures (78) holds the connecting electrical box (76) . The connecting electrical box (76) communicates with a cylindrical bracket via a wire (72) . Each of the cylindrical brackets (72) has a magnetic three pins receiver port and a magnetic three pins charger port that connect to a magnetic three pins charger port (71) and a magnetic three pins receiver port (70) integrated on the lateral surface of the upper part of the wheel mechanism

(3) . The connecting electrical box (76) also communicates with the servomotor including and encoder (68) integrated on the wheel (67) and with the inertial brake system (69) connected to one of the two parallel physical structures

(78) .

The computing processor (29) placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) sends digital encoded messages to the connecting electrical box (76) to control the amount of electrical energy received by the servomotor (68) and the inertial brake system (69) . The computing processor (29) placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) establishes a wireless communication with connecting electrical box (76) . The servomotors including and encoder (68) produce motion on the robot's wheels (67) . Each of the servomotors (68) integrated on each wheel (67) also integrates an encoder to measure the wheel's translation distance, velocity or angles. The user may control the robot apparatus through direct physical contact, for example, push, pull, rotate and throw the robot apparatus while he walks or runs on the physical terrain. The encoder also captures the physical actions produced by the user, capturing motion data from the wheels (67) . The servomotors (68) integrated on each wheel

(67) are controlled by the computing processor (29) (software programs) placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) that sends digital encoded messages to the servomotors (68) . The encoders integrated on each of the servomotors (68) send digital encoded messages to the computing processor (29) placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso (8) . The computing processor (29) placed on the lower segment of the robot's modular head (13) or the upper segment of the modular torso

(8) establishes a wireless communication with the servomotors (68), including its encoders. Each of the cylindrical brackets (72) also communicates with the dynamo system (66), receiving electrical energy from the dynamo system (66) via a wire to charge the powering lithium-ion battery (38) integrated in the lower segment of the modular leveler (7) . The quick release system (77) consists of a cylindrical bracket that connects to the wheel's circumference center and allows the user to change the wheels

(67) of the robot apparatus. The user rotates a lever (77) connected to the cylindrical bracket to close or open the quick release system. Figure 5 is an illustration of the back of the robot apparatus comprising a DC power jack connector (79) placed at the upper back surface of the lower segment of the modular leveler (7) . The DC power jack connector (79) connects to a wire, which in turn connects with any solar battery system

(39) that sends electrical energy to the powering lithium- ion battery (38) placed at the lower segment of the modular leveler (7) . The lower back surface of the lower segment of the modular leveler (7) also has a magnetic three pins receiver port (80) that connects with a magnetic AC power wire to be plugged to an AC plug power supply (40) . The lower segment of the modular torso (10) has a hollow area at the center with one hole at its back surface that allows communication with the lower segment of the modular leveler

(7) . The hole at the back surface of the lower segment of the modular torso (10) has a supporting structure, inserted on the upper surface of the hole, with two flexible brackets

(81) connected to two magnetic grippers (82) that lock any solar battery system (39) .

Claims

1. Interactive modular robot comprising

a modular head, a modular torso and a wheel mechanism, which are connected together by means of a modular leveler, wherein said modular leveler also providing electronically power for all robot modules;

a computing processor unit placed in the robot's head or torso modules, wherein said computing processor unit is configured to establish a bidirectional communication with detachable wireless motion, spatial and environmental sensors located in the robot and also with physiological sensors located outside the robot, attached to an user' s body;

Said computing processor unit also configured to communicate to detachable wireless electronic toy objects, located in the robot, according the messages received by said detachable wireless motion, spatial and environmental sensors and physiological sensors, in order to make the robot apparatus react by producing visible light.

2. Interactive modular robot according to claim 1, wherein the modular structures head, torso and wheel mechanism have different formats such as but not limiting to round, squared and triangular.

3. Interactive modular robot according to claim 1, wherein the modular leveler has different formats such as but not limiting to cylindrical and rectangular.

4. Interactive modular robot according to claim 1 wherein the modular structures, head, torso, wheel mechanism and modular leveler can assume different physical formats.

5. Interactive modular robot according to claim 1 wherein the detachable wireless motion, spatial and environmental sensors and the detachable wireless electronic toy objects are attached to the robot's physical structure according to the will of the user via a Velcro system.

6. Interactive modular robot according to claim 1 wherein the detachable wireless motion and spatial sensors comprises, but not limiting thereto, accelerometers , gyroscopes, tilt, RFID, altimeters, ultrasonic, infrared, capacitive, photoelectric, inductive, magnetic, color, laser, pressure and neuromorphic sensors .

7. Interactive modular robot according to claim 1 wherein the detachable wireless environmental sensors include, but not limiting thereto, temperature, humidity, oxygen, carbon dioxide, radiation, electromagnetic and atmospheric pressure sensor.

8. Interactive modular robot according to claim 1 wherein the physiological sensors, include, but not limiting thereto, heart rate, respiratory rate, galvanic skin response, brain activity, blood pressure, oxygen, temperature, glucose, hydration, and eye tracking sensors .

9. Interactive modular robot according to claim 1 wherein the detachable wireless electronic toy objects include, but not limiting thereto, structures that mimic the physical structures of the human body such as electronic brain lobes, electronic spherical neurons, electronic subcortical structures such as the cerebellum, electronic heart, electronic lunges, electronic liver, electronic stomach, electronic muscles, electronic veins, electronic cells.

10. Interactive modular robot according to claim 1, wherein the modular head is divided horizontally into three rotating segments:

The upper segment comprising a detachable cap structure wherein the detachable wireless motion, spatial and environmental and/or detachable wireless electronic toy objects are attached by means of Velcro system;

The head' s middle segment comprising two concavities on the surface with supporting structures for supporting a detachable micro touch-based display and a detachable electronic physical sensor-eye, including an image capture system, wherein both the micro touched-based display and the electronic physical sensor-eye communicate wirelessly with the computing processor unit and are attached by means of Velcro system;

The head' s lower segment comprising a supporting magnetic structure inserted on the head' s surface wherein a visual display is attached by means of the flexible brackets each one having electromagnetic powering grippers; said lower segment also have attached a detachable wireless sound speaker system and two detachable microphone structures by means of Velcro system;

where in both the middle and lower segment of the robot's head comprises a servomotor connected to a circular magnetic rubber mat to activate the rotation of the structures in the X-axis.

11. Interactive modular robot according to claim 1, wherein the modular leveler is composed of three detachable segments, wherein:

The upper segment has four magnetic three pins receiver ports integrated in the lower surface that receives electrical energy from the powering lithium-ion battery integrated in the lower segment of the modular leveler, connecting to a supporting magnetic structure inserted in the upper part of the robot's torso that holds and charges a computing processor or visual display;

The middle segment comprises an electromagnetic powering surface, covering all the surface of the middle segment, having two magnetic three pins receiver ports integrated in its lower surface for receives electrical energy from the powering lithium-ion battery integrated in the lower segment of the modular leveler;

The lower segment connects to the wheel mechanism and comprises a powering lithium-ion battery that accumulates electrical energy from a dynamo system integrated in the robot's wheel mechanism, from a solar battery system and from AC plug power supply.

12. Interactive modular robot according to claim 1, wherein the modular torso is divided into three detachable segments that fit together through a rotating locking mechanism, having each one a hollow area at the center that allows each of the detachable segments to settle over the modular leveler, wherein:

The upper segment of robot' s torso has multiple apertures along its surface that connect with detachable and modular wireless motion, spatial and environmental sensors or electronic toy object, through a rotating locking mechanism, and also two apertures on the lateral surface that attach to detachable physical robotic structures through a rotating locking mechanism;

The middle segment has a hollow area at the center with two holes on the lateral surfaces allow the middle segment of the robot's torso to communicate directly with the electromagnetic powering surface that covers all the surface of the middle segment of the modular leveler which are responsible for charging any sensing device included in the robot; The lower segment of the robot's torso has a hollow area at the center with one hole at its back surface that allows communication with the lower segment of the modular leveler through a magnetic three pins receiver port that connects with a magnetic AC power wire and the DC power jack connector.

Interactive modular robot according to claim 12 wherein the detachable robotic structures comprise, but not limited thereto, octopus robotic arms, spider robotic arms, robotic wings, robotic fins, robotic hands, robotic wheel mechanisms Interactive modular robot according to claim 12 wherein the detachable robotic structures comprise detachable segments connected to interacting rotary joints that include servomotors to produce motion on each segment and encoders to measure the segment's translation distance, velocity or angles.

Interactive modular robot according to claim 1, wherein the detachable wheel mechanism comprising an upper part which connects to the lower segment of the modular leveler through a rotating locking mechanism, consisting in a physical structure that receives electrical energy from dynamo systems integrated on the three wheels of the wheel mechanism and from the powering lithium-ion battery integrated in the lower segment of the modular leveler, by means of magnetic three pins receiver port.