Patents Examined by Adam R Mott
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Patent number: 11850751Abstract: Provided is a control device capable of controlling the operation of a control target according to a detected external force. A control device (200) includes a control unit (210-1) that compares a first external force detected by a force sensor provided in a control target and a second external force estimated on the basis of a torque detected by a torque sensor provided in an a movable portion of the control target, the movable portion enabling the force sensor to be movable, and controls the operation of the control target by correcting a torque command value on the basis of a result of the comparison.Type: GrantFiled: July 8, 2019Date of Patent: December 26, 2023Assignee: SONY CORPORATIONInventors: Yasuhiro Matsuda, Kenichiro Nagasaka, Hiromasa Masuda, Kazuo Hongo
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Patent number: 11845190Abstract: Implementations are provided for increasing realism of robot simulation by injecting noise into various aspects of the robot simulation. In various implementations, a three-dimensional (3D) environment may be simulated and may include a simulated robot controlled by an external robot controller. Joint command(s) issued by the robot controller and/or simulated sensor data passed to the robot controller may be intercepted. Noise may be injected into the joint command(s) to generate noisy commands. Additionally or alternatively, noise may be injected into the simulated sensor data to generate noisy sensor data. Joint(s) of the simulated robot may be operated in the simulated 3D environment based on the one or more noisy commands. Additionally or alternatively, the noisy sensor data may be provided to the robot controller to cause the robot controller to generate joint commands to control the simulated robot in the simulated 3D environment.Type: GrantFiled: June 2, 2021Date of Patent: December 19, 2023Assignee: GOOGLE LLCInventors: Matthew Bennice, Paul Bechard, Joséphine Simon, Chuyuan Fu, Wenlong Lu
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Patent number: 11840296Abstract: A steering control device includes a control unit configured to control at least an operation of a steering-side motor. The control unit is configured to calculate a target reaction torque; calculate a difference axial force that is used to limit steering for turning the turning wheels in a predetermined direction, the difference axial force being reflected in the target reaction torque; and set a reference angle to one of a steering angle and a turning angle, set a converted angle to an angle obtained by converting another of the steering angle and the turning angle according to a steering angle ratio, and calculate the difference axial force based on a difference between the reference angle and the converted angle.Type: GrantFiled: September 22, 2021Date of Patent: December 12, 2023Assignees: JTEKT CORPORATION, TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Isao Namikawa, Satoshi Matsuda, Tomoyuki Iida, Yoshio Kudo, Masaharu Yamashita, Kenji Shibata
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Patent number: 11839979Abstract: Method and robot arm, where the motor torques of the joint motors of a robot arm are controlled based on a static motor torque indicating the motor torque needed to maintain the robot arm in a static posture, where the static motor torque is adjusted in response to a change in posture of the robot arm caused by an external force different from gravity applied to the robot arm. Further the motor torque of the joint motors is controlled based on an additional motor torque obtained based on a force-torque provided to the robot tool flange, where the force-torque is obtained by a force-torque sensor integrated in the tool flange of the robot arm.Type: GrantFiled: June 17, 2019Date of Patent: December 12, 2023Assignee: Universal Robots A/SInventors: Oluf Skov Rosenlund, Andreas Rune Fugl, Anders Skovgaard Knudsen
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Patent number: 11833697Abstract: A method of programming an industrial robot includes: providing the robot, the robot having a robot arm with an end-effector mounted thereto which is controlled by a robot control unit to manipulate a workpiece which is arranged in a workplace of the robot; associating a target coordinate system with the workplace; taking an image of the workplace and the workpiece by an image capturing device; transmitting the image to a computing device having a human-machine-interface to generate control code for controlling the robot, which is transmitted to the robot control unit; capturing an image of the workplace and the workpiece to be manipulated by the robot; transferring the captured image to the computing device and displaying the captured image on a display associated with the computing device; and displaying the workpiece on the display; marking the workpiece with a marker-object on the display.Type: GrantFiled: February 10, 2021Date of Patent: December 5, 2023Assignee: ABB Schweiz AGInventors: Debora Clever, Fan Dai
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Patent number: 11835354Abstract: To provide personalized data for display on a map, a server device obtains location data for a user and identifies locations that are familiar to the user based on the frequency and recency in which the user visits the locations. The server device then provides the familiar locations in search results/suggestions and annotates the familiar locations with a description of a relationship between the familiar location and the user. The server device also includes the familiar locations as landmarks for performing maneuvers in a set of navigation instructions. Furthermore, the server device provides a familiar location as a frame of reference on a map display when a user selects another location nearby the familiar location. Moreover, the server device includes a familiar location as an intermediate destination when the user request navigation directions to a final destination.Type: GrantFiled: September 6, 2018Date of Patent: December 5, 2023Assignee: GOOGLE LLCInventors: Haroon Baig, Ankit Gupta
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Patent number: 11826913Abstract: A control system includes: a controller configured to operate one or more robots in a real space based on an operation program; and circuitry configured to: operate one or more virtual robots based on the operation program in a virtual space, the one or more virtual robots corresponding to the one or more robots respectively; cause the controller to suspend an operation based on the operation program by the one or more robots; simulate a suspended state of the real space after suspension of the operation by the one or more robots, in the virtual space; and resume at least a part of the operation by the one or more virtual robots based on the operation program, in the virtual space in which the suspended state of the real space has been simulated.Type: GrantFiled: June 29, 2021Date of Patent: November 28, 2023Inventors: Yukio Hashiguchi, Yoshifumi Onoyama
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Patent number: 11820402Abstract: Techniques described herein include detecting a degree of motion sickness experienced by a user within a vehicle. A suitable combination of physiological data (heart rate, heart rate variability parameters, blood volume pulse, oxygen values, respiration values, galvanic skin response, skin conductance values, and the like), eye gaze data (e.g., images of the user), vehicle motion data (e.g., accelerometer, gyroscope data indicative of vehicle oscillations) may be utilized to identify the degree of motion sickness experienced by the user. One or more autonomous actions may be performed to prevent an escalation in the degree of motion sickness experienced by the user or to ameliorate the degree of motion sickness currently experienced by the user.Type: GrantFiled: July 2, 2020Date of Patent: November 21, 2023Assignee: QUALCOMM IncorporatedInventor: Robert Tartz
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Patent number: 11815913Abstract: A mutual recognition method between an unmanned aerial vehicle (UAV) and a wireless terminal, includes: when an image of the UAV is positioned in a predetermined section of an imaging surface of an image sensor in the wireless terminal, receiving, by a server, first state information about the wireless terminal including information about a direction of an external magnetic field of the wireless terminal from the wireless terminal.Type: GrantFiled: May 15, 2018Date of Patent: November 14, 2023Assignee: ARGOSDYNE CO. LTD.Inventor: Seung Ho Jeong
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Patent number: 11807221Abstract: The subject disclosure relates to features that improve safety for autonomous vehicle (AV) maneuvers and in particular, that improve safety for parallel parking. A process of the disclosed technology includes steps for initiating a parking maneuver, navigating the AV into a parking location, and detecting a roadway grade with respect to a direction of the AV. In some aspects, the process can further include steps for automatically adjusting a wheel angle of the AV based on the roadway grade with respect to the direction of the AV. Systems and machine-readable media are also provided.Type: GrantFiled: April 29, 2020Date of Patent: November 7, 2023Assignee: GM Cruise Holdings LLCInventors: Jennifer Devar McKnew, Ryan Holben
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Patent number: 11806880Abstract: Techniques are disclosed to perform robotic handling of soft products in non-rigid packaging. In various embodiments, sensor data associated with a workspace is received. An action to be performed in the workspace using one or more robotic elements is determined, the action including moving an end effector of one of the robotic elements relatively quickly to a location in proximity to an item to be grasped; actuating a grasping mechanism of the end effector to grasp the item using an amount of force and structures associated with minimized risk of damage to one or both of the item and its packaging; and using sensor data generated subsequent to the item being grasped to ensure the item has been grasped securely. Control communications are sent to the robotic element via the communication interface to cause robotic element to perform the action.Type: GrantFiled: February 21, 2020Date of Patent: November 7, 2023Assignee: Dexterity, Inc.Inventors: Kevin Jose Chavez, Robert Hegdahl, Yuan Gao, Andrew Lovett, Roger Lam Hau, Samir Menon
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Patent number: 11808591Abstract: Embodiments of the present disclosure sets forth a computer-implemented method comprising obtaining a starting location and a destination location, determining a plurality of routes from the starting location to the destination location, obtaining affective-cognitive load (ACL) data associated with the plurality of routes, selecting a route included in the plurality of routes based on the ACL data, and transmitting the selected route for output.Type: GrantFiled: June 4, 2020Date of Patent: November 7, 2023Assignee: Harman International Industries, IncorporatedInventors: Joseph Verbeke, Stefan Marti, Sven Kratz, Adam Boulanger, Neeka Mansourian
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Patent number: 11794347Abstract: This disclosure relates generally to navigation of a tele-robot in dynamic environment using in-situ intelligence. Tele-robotics is the area of robotics concerned with the control of robots (tele-robots) in a remote environment from a distance. In reality the remote environment where the tele robot navigates may be dynamic in nature with unpredictable movements, making the navigation extremely challenging. The disclosure proposes an in-situ intelligent navigation of a tele-robot in a dynamic environment. The disclosed in-situ intelligence enables the tele-robot to understand the dynamic environment by identification and estimation of future location of objects based on a generating/training a motion model. Further the disclosed techniques also enable communication between a master and the tele-robot (whenever necessary) based on an application layer communication semantic.Type: GrantFiled: March 11, 2021Date of Patent: October 24, 2023Assignee: TATA CONSULTANCY SERVICES LIMITEDInventors: Abhijan Bhattacharyya, Ruddra dev Roychoudhury, Sanjana Sinha, Sandika Biswas, Ashis Sau, Madhurima Ganguly, Sayan Paul, Brojeshwar Bhowmick
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Patent number: 11787287Abstract: Vehicle drive assist systems, methods, and programs display an alert image superimposed on a real view on a display. The systems, methods and programs determine a blind spot area, the blind spot area being an area that becomes a blind spot of a driver of a vehicle due to a front obstacle present on a front side in a traveling direction of the vehicle. The alert image is displayed such that the alert image is superimposed on a target point, the target point being a point where traveling of the vehicle is likely to be influenced when there is a moving obstacle jumping out of the blind spot area.Type: GrantFiled: November 16, 2018Date of Patent: October 17, 2023Assignee: AISIN CORPORATIONInventor: Takamitsu Sakai
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Patent number: 11787045Abstract: A new controller for use in robots with kinematic loops as well as in most other types of robots (such as those with fully actuated kinematic trees). The controller includes an inverse kinematics (IK) module that implements a versatile IK formulation for retargeting of motions, including expressive motions, onto mechanical systems (i.e., robots with loops and/or without loops). Further, the controller is configured to support the precise control of the position and orientation of end effectors and the center of mass (CoM) (such as of walking robots). The formulation of the algorithms carried out by the IK module safeguards against a disassembly when IK targets are moved outside the workspace of the robot. A regularizer is included in the controller that smoothly circumvents kinematic singularities where velocities go to infinity.Type: GrantFiled: April 6, 2021Date of Patent: October 17, 2023Assignee: Disney Enterprises, Inc.Inventors: Moritz Niklaus Bacher, Lars Espen Knoop, Michael Anthony Hopkins, Kyle Michael Cesare, Christian Gabriel Schumacher, Stelian Coros
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Patent number: 11788843Abstract: A computer-implemented method of determining a location of a mobile device is provided. The method can include receiving inertial data generated at the mobile device, the inertial data including a plurality of samples taken at different times, segmenting the inertial data into pseudo-independent windows, wherein each pseudo-independent window can include a plurality of the samples and wherein one or more initial states for each pseudo-independent window are treated as unknown, estimating a change in navigation state over each pseudo-independent window using the samples of inertial data, and summing the changes in the navigation states over the pseudo-independent windows so as to determine the location of the mobile device.Type: GrantFiled: January 10, 2019Date of Patent: October 17, 2023Assignee: OXFORD UNIVERSITY INNOVATION LIMITEDInventors: Changhao Chen, Ronald Clark, Andrew Markham, Agathoniki Trigoni
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Patent number: 11780085Abstract: The present disclosure provides a robot posture control method as well as a robot and a computer readable storage medium using the same. The method includes: constructing a virtual model of the robot, wherein the virtual model comprises a momentum wheel inverted pendulum model of the robot and an angle between a sole surface of the robot and a horizontal plane; and performing a posture control based on outer-loop feedback control, inner loop compensation for the external disturbance rejection in position level, inner loop external disturbance rejection via null-space in velocity level, and inner loop external disturbance rejection in force/acceleration level on the robot. In this manner, a brand-new virtual model is provided, which can fully reflect the upper body posture, centroid, foot posture, and the like of the robot which are extremely critical elements for the balance and posture control of the robot.Type: GrantFiled: December 1, 2020Date of Patent: October 10, 2023Assignee: UBTECH ROBOTICS CORP LTDInventors: Xiaozhu Ju, Mingguo Zhao, Yuesong Wang, Youjun Xiong
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Patent number: 11772268Abstract: A robot collision detection device and a method thereof are provided. The robot collision detection device includes a buffer that periodically stores a driving command for allowing a robot to move to a destination and a sensor that detects a behavior of the robot. A controller monitors the driving command and a behavior of the robot corresponding to the driving command, and determines whether there is a robot collision based on the driving command and the behavior of the robot.Type: GrantFiled: September 27, 2021Date of Patent: October 3, 2023Assignees: Hyundai Motor Company, Kia CorporationInventor: Il Yong Yoon
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Patent number: 11772264Abstract: The present disclosure discloses a neural network adaptive tracking control method for joint robots, which proposes two schemes: robust adaptive control and neural adaptive control, comprising the following steps: 1) establishing a joint robot system model; 2) establishing a state space expression and an error definition when taking into consideration both the drive failure and actuator saturation of the joint robot system; 3) designing a PID controller and updating algorithms of the joint robot system; and 4) using the designed PID controller and updating algorithms to realize the control of the trajectory motion of the joint robot. The present disclosure may solve the following technical problems at the same time: the drive saturation and coupling effect in the joint system, processing parameter uncertainty and non-parametric uncertainty, execution failure handling during the system operation, compensation for non-vanishing interference, and the like.Type: GrantFiled: March 24, 2021Date of Patent: October 3, 2023Assignee: Dibi (Chongqing) Intelligent Technology Research Institute Co., Ltd.Inventors: Yongduan Song, Huan Liu, Junfeng Lai, Ziqiang Jiang, Jie Zhang, Huan Chen, Li Huang, Congyi Zhang, Yingrui Chen, Yating Yang, Chunxu Ren, Han Bao, Kuilong Yang, Ge Song, Bowen Zhang, Hong Long
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Patent number: 11769355Abstract: A system for guiding a driver to an ideal driving pattern in order to eliminate dependency on the driver's driving pattern in a fault diagnosis of an automobile part based on automobile running data, even if the driver's driving pattern is far from the ideal driving pattern. The system comprises a fault diagnosis support device equipped with: a diagnosis model selector for outputting a diagnosis model in which, for a feature value used for an examination of an automobile part, an available range available for making a diagnosis and a reference point are stipulated; a driver model generator generating, as a representative point of the feature value that corresponds to a driver's driving pattern; and a recommendation model generator generating, if the representative point is outside the available range, a recommendation model in which a boundary of the available range is set as a recommendation point.Type: GrantFiled: November 21, 2018Date of Patent: September 26, 2023Assignee: HITACHI, LTD.Inventors: Takehisa Nishida, Mariko Okude, Masayoshi Ishikawa, Kazuo Muto, Zixian Zhang