Patent 12017370 was granted and assigned to CrossWing on June, 2024 by the United States Patent and Trademark Office.
A robot uses controlled omni-wheels and an arm assembly coupled to a gripper to facilitate the opening of doors. The gripper is rotatable around at least one of its axis to engage and rotate a door handle to unlatch a door. The omni-wheels are driven to move the robot along a curved path to open the door.