Abstract: A search robot system first divides the entire area of disaster into a mesh cell of an appropriate size, and arranges a search robot for each mesh cell. A search is made for a route of travel from an outermost mesh cell to a casualty and to an adjacent mesh cell. The search robot immediately communicates with a mother robot when a casualty is found. The search robot also communicates with the mother robot when a route to an adjacent mesh cell is found. In the search robot system, a new search robot is arranged to search in an adjacent mesh cell. Accordingly, a rescue activity that is a matter of time can be carried out by a plurality of robots.

Abstract: Disclosed herein is a method of calibrating a robot. The robot has a robot arm with a mechanically restricted moving displacement. In the robot calibration method of the present invention, a first moving displacement between a normal position of the robot arm and a contact position, where the robot arm comes into contact with the body of the robot, is obtained. A second moving displacement between a current position of the robot arm and the contact position is obtained by moving the robot arm to the contact position. The current position of the robot arm is corrected to the normal position on the basis of a difference between the first and second moving displacements.

Abstract: A predetermined action sequence is generated by using basic motion units which include time-sequential motion of each joint and compound motion units in which basic motion units are combined. Motion natterns of a robot including walking are classified into motion units, each motion unit servins as a unit of motion, and one or more motion units are combined to generate various complex motions. Dynamic motion units are defined on the basis of basic dynamic attitudes, and a desired action sequence can be generated by using the dynamic motion units. This is a basic control method necessary for a robot to autonomously perform a continuous motion, a series of continuous motions, or motions which are chanaed in real-time by commands.

Abstract: A method for operating a data center with a robotic device. In the method, a condition is detected in a location of the data center. The robotic device, which includes a camera and a manipulator, is maneuvered to travel to the location of the data center. The location of the data center is imaged with the camera of the robotic device and an object is manipulated with the manipulator of the robotic device.

Abstract: In a mobile robot, the actuator characteristics are dynamically or statically controlled, during motions of an entire robot body in the course of falldown or descent, to realize stable highly efficient motions. In each stage of the falldown motions, the characteristics of each joint site taking part in controlling the stable area are set so that the low range gain is low, the quantity of phase lead is large and the viscous resistance of the motor is large, in such a manner that these joint sites may be positioned to high accuracy in a controller manner to increase orientation stability. This assures the positioning accuracy of the joints as main component for controlling the quantity ?S/?t as a reference in controlling the falldown motions of the robot body to increase the motion stability.

Abstract: A system and method are described that use impulse radio technology to enhance the capabilities of a robot. In one embodiment, a system, a robot and a method are provided that use the communication capabilities of impulse radio technology to help a control station better control the actions of the robot. In another embodiment, a system, a robot and a method are provided that use the communication, position and/or radar capabilities of impulse radio technology to help a control station better control the actions of a robot in order to, for example, monitor and control the environment within a building.

Abstract: System and method for allowing execution of control over robot hardware other than specific robot hardware by using control software that does not have features to be applied to the robot hardware other than the specific hardware designed for control. Control software makes an inquiry about the presence of robot function requested by control software through the use of interface recording and robot function searching. If it has been found that the robot function is present, there is a requests that robot motion be performed. If it has been found that the robot function is not present, the request is skipped, or the request is made to similar robot function.

Abstract: A mechanical robot can detect intruders using a camera or other motion sensor or aurally using a microphone, and then alert a user in response.

Abstract: An improved robot arrangement for performing predetermined tasks, such as paint finishing, features equipping a robot with a plurality of manipulatable arms, with at least two of the arms performing like operations. Alternatively, a plurality of commonly controlled manipulator arms may be provided by clustering a plurality of conventional single arm robots on a common mounting stand.

Abstract: A robot arm positioning error is corrected by employing a specimen gripping end effector in which a light source and a light receiver form a light transmission pathway that senses proximity to the specimen. A robot arm old position is sensed and recorded. The robot arm retrieves the specimen from the old position and employs old position information to replace the specimen at a new position that is ideally the same as the old position. A robot arm new position is sensed and recorded. A difference between the new and old positions represents a position error. A correct position is obtained by processing the position error and the old position information.

Abstract: A method for semi-autonomous operation of a robotic device in a room. In the method, one or more goal points are set and the distances between the robotic device and the one or more goal points are determined. A first one of the one or more goal points is selected and the robotic device is maneuvered to travel to the first one of the one or more goal points.

Abstract: A method for the synchronous control of several manipulators, such as several industrial robots, is characterized in that control units of specific manipulators exchange control information according to the data structures contained in a corresponding control program, through which control units to be synchronized and synchronization points in the control programs taking place there can be clearly identified, and in that on reaching and synchronization points the program sequence in the control units to be synchronized is continued according to the contents of the data structures in conjunction with the already exchanged control information or stopped until corresponding information arrives from other control units to be synchronized.

Abstract: Learning-type motion control is performed using a hierarchical recurrent neural network. A motion pattern provided through human teaching work is automatically time-serially segmented with the hierarchical recurrent neural network, and the motion control of a machine body is carried out with a combination of the segmented data, whereby various motion patterns can be produced. With the time-serial segmentation, local time-serial patterns and an overall pattern as a combination of the local time-serial patterns are produced. For those motion patterns, indices for static stability and dynamic stability of the machine body, e.g., ZMP stability criteria, are satisfied and hence control stability is ensured.

Abstract: A robot with an edge detector and two operating modes. The first operating mode is a remote control mode. The second operating mode is a processor controlled mode.

Abstract: A legged mobile robot possesses degrees of freedom which are provided at roll, pitch, and yaw axes at a trunk. By using these degrees of freedom which are provided at the trunk, the robot can smoothly get up from any fallen-down posture. In addition, by reducing the required torque and load on movable portions other than the trunk, and by spreading/averaging out the load between each of the movable portions, concentration of a load on a particular member is prevented from occurring. As a result, the robot is operated more reliably, and energy is used with greater efficiency during a getting-up operation. The invention makes it possible for the robot to independently, reliably, and smoothly get up from various fallen-down postures such as a lying-on-the-face posture, a lying-on-the-back posture, and a lying sideways posture.

Abstract: The invention concerns a method and a system for controlling a first robot and at least one other robot, the at least one other robot being calibrated relative to the first robot by the determination of at least one coordinate transformation of the first robot relative to at least one other robot and said at least one transformation is stored in a control device of the other robot, wherein also the first robot is calibrated relative to the other robot by the determination of at least one independent coordinate transformation and said at least one independent transformation is stored in a control device of the first robot.

Abstract: A robot apparatus and a motion controlling method for the robot apparatus wherein a reflex motion or the like can be performed at a high speed while decreasing the calculation amount of and the concentrated calculation load to a control apparatus. The robot has a control configuration having a hierarchical structure including a higher order central calculation section corresponding to the brain, reflex system control sections corresponding to the vertebra, and servo control systems and actuators corresponding to the muscles. From restrictions to the power consumption and so forth, there is a limitation to increase of the speed of a control cycle of the higher order central calculation section. External force acting upon the machine body is a disturbance input of a high frequency band, and a very high speed control system is required.

Abstract: A robotic device having a body with an upper surface resiliently connected to a lower surface and having a bump sensor including a contact point on the lower surface, which contact pint is in its normal position when centrally located within a sensor device, which is an aperture having a conducting inner periphery, which sensor device is located in the upper surface of the robotic device, so that a bump on the upper surface is detected by the robotic device when the contact point abuts the aperture conducting inner periphery.

Abstract: Methods and apparatuses for calibrating and teaching a robot to accurately work within a work environment. The present invention preferably provides one or more tactile sensor devices that may be operatively coupled with a robot or positioned at one or more desired locations within a work environment of the robot. In one aspect of the present invention a method comprises the steps of providing a touch sensitive surface in the work environment, causing the touch sensitive surface to contact an object, generating a signal indicative of the position of the contact with respect to the touch sensitive surface, and using information comprising the generated signal to teach the robot the location of the contact in the work environment.

Abstract: A tablet-pressing device that includes a tablet press, a control computer configured to drive and regulate the motors of the tablet press, and a service computer which admits the input and output of data for the operation of the tablet press. The tablet press is linked to the control computer via a cable link for high-speed data transfer. The tablet press and the service computer exchange data and control commands via a wireless data link.

Abstract: A positioning data calculating procedure calculates analytically relative rotation angles for the links arranged in series to form an articulated manipulator to locate an object in a desired orientation at a desired position. Coordinate expressions including an x-coordinate expression representing the x-coordinate of a triaxial intersection point, a yz addition coordinate expression representing the sum of the y- and the z-coordinate of the triaxial intersection point, and a yz subtraction coordinate expression representing the remainder of subtraction of the z-coordinate from the y-coordinate of the triaxial intersection point, and including first to third rotation angles corresponding to rotation angles through which the second link is turned relative to the first link, through which the third link is turned relative to the second link, and through which the fourth link is turned relative to the third link as variables are solved.

Abstract: A robot visuoauditory system that makes it possible to process data in real time to track vision and audition for an object, that can integrate visual and auditory information on an object to permit the object to be kept tracked without fail and that makes it possible to process the information in real time to keep tracking the object both visually and auditorily and visualize the real-time processing is disclosed. In the system, the audition module (20) in response to sound signals from microphones extracts pitches therefrom, separate their sound sources from each other and locate sound sources such as to identify a sound source as at least one speaker, thereby extracting an auditory event (28) for each object speaker. The vision module (30) on the basis of an image taken by a camera identifies by face, and locate, each such speaker, thereby extracting a visual event (39) therefor. The motor control module (40) for turning the robot horizontally.

Abstract: A robot having a spindle is calibrated by disposing a calibration tool in the robot spindle. The position of the calibration tool is measured. An axis of the spindle is determined based on the measured position. A calibration tool center point is determined based on the measured position. A robot tool rotation axis is determined based on the determined spindle axis, robot tool center point, the determined calibration tool center point, and difference in length between the calibration tool and a robot tool.

Abstract: A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

Abstract: An intelligent assist system having a modular architecture, coordinated by electronic communication links between the modules, is provided. Motion modules provide an assist upon actuation, and are in communication with computational nodes. Communication links between at least two of the computational nodes carry information between the nodes that actuate a motion module.

Abstract: A toy robot system includes a toy robot and a surface over which the robot can move. The surface is constructed from a number of modules of various types that may be joined together. Each module (except for spacer modules) includes at least one track segment along which the robot may move. Each module is square and each track segment extends from the center of the module to one side. A code readable by the robot is provided at the beginning of each segment so that the robot knows what type of module it is entering, and a code is provided at the center of each module so that the robot can calculate its position.

Abstract: A automation equipment control system comprises a general purpose computer with a general purpose operating system in electronic communication with a real-time computer subsystem. The general purpose computer includes a program execution module to selectively start and stop processing of a program of equipment instructions and to generate a plurality of move commands. The real-time computer subsystem includes a move command data buffer for storing the plurality of move commands, a move module linked to the data buffer for sequentially processing the moves and calculating a required position for a mechanical joint. The real-time computer subsystem also includes a dynamic control algorithm in software communication with the move module to repeatedly calculate a required actuator activation signal from a joint position feedback signal.

Abstract: An intelligent assist system having a modular architecture, coordinated by electronic communication links between the modules is provided. A multi-function hub for use in the assist system includes a physical interface for providing mechanical support within the assist system. The hub can implement controlled functions. Furthermore, the hub can include an input/output (“I/O”) interface for communication to computational nodes.

Abstract: A system of self-organizing mobile robotic agents (MRAs) in a multi-robotic system (MRS) is disclosed. MRAs cooperate, learn and interact with the environment. The system uses various AI technologies including genetic algorithms, genetic programming and evolving artificial neural networks to develop emergent dynamic behaviors. The collective behaviors of autonomous intelligent robotic agents are applied to numerous applications. The system uses hybrid control architectures. The system also develops dynamic coalitions of groups of autonomous MRAs for formation and reformation in order to perform complex tasks.

Abstract: A robot apparatus which may be turned to a sound source direction by a spontaneous whole-body concerted operation. With the possible range of rotation of the neck unit of a robot apparatus 1 of ±Y° and with the relative angle of the direction of a sound source S to the front side of the robot apparatus 1 of X°, the entire body trunk unit of the robot apparatus 1 is rotated through (X?Y)°, using the leg units, while the neck joint yaw axis of the robot apparatus is rotated through Y° to the direction of the sound source S, so that the robot apparatus is turned to the direction of the sound source S.

Abstract: Robot arm end effectors rapidly transfer semiconductor wafers between a wafer cassette and a processing station. Preferred embodiments of the end effectors include proximal and distal rest pads, the latter having pad and backstop portions that support and grip the wafer at its peripheral edge or within an annular exclusion zone that extends inward from the peripheral edge of the wafer. Preferred embodiments of the end effectors also include fiber optic light transmission sensors for determining various wafer surface, edge, thickness, tilt, and location parameters. The sensors provide robot arm extension and elevation positioning data supporting methods of rapidly and accurately placing and retrieving a wafer from among a stack of closely spaced wafers stored in the wafer cassette.

Abstract: A control circuit of a tray changer is interfaced with a control circuit of a robot. A tray changer control program, used for operating the tray changer, is loaded into the robot control system. The robot control system itself, or an operator manipulating an operating terminal of the robot, controls or operates the tray changer according to the tray changer control program loaded in the robot control system.

Abstract: A main robot apparatus generates a sound scale command at a command generating state (ST2) to enter into a state of waiting for a reaction of a slave robot apparatus (ST3). When the slave robot apparatus outputs a emotion expressing sound responsive to a sound scale command issued by the main robot apparatus, the main robot apparatus recognizes this emotion expressing sound to output the same emotion expressing sound. In a state of the reaction action (ST4), the main robot apparatus selects an action (NumResponse), depending on the value of the variable NumResponse which has counted the number of times of the reactions to output the action.

Abstract: A system and method are described that use impulse radio technology to enhance the capabilities of a robot. In one embodiment, a system, a robot and a method are provided that use the communication capabilities of impulse radio technology to help a control station better control the actions of the robot. In another embodiment, a system, a robot and a method are provided that use the communication, position and/or radar capabilities of impulse radio technology to help a control station better control the actions of a robot in order to, for example, monitor and control the environment within a building.

Abstract: A method and apparatus for providing a motion object with psychological and emotional expressions characterized by simplified processing and reduced control data associated with controlling a series of motions for body groups of the motion object including a fundamental control signal made up of an oscillating numerical value signal representing a psychological state, and a signal representing a body-group motion sequence.

Abstract: A gait generation system of a legged mobile robot, in particular a biped robot that has the dynamic model expressing the relationship between the motion of the body and leg and the floor reaction force, and provisionally determines the current time gait parameters including at least parameters that determine leg trajectory and the like in response to a demand, supposes the parameters of a periodic gait, corrects the current time gait parameters such that the body trajectory determined from the dynamic model and the parameters of the current time gait, etc., converges to a body trajectory determined from the parameters of the periodic gait, and determines instantaneous values of the current time gait based on the corrected current time gait parameter. With this, the system can generates a gait of any stride, turning angle and walking period, including the floor reaction force acting on the legged mobile robot, that satisfies the dynamic equilibrium condition.

Abstract: A control system (60) controls a material handling system and has a first control module (120), a second control module (140), and a third control module (160). The first module (120) includes a first control cabinet (12) for providing primary control to the first module (120), a first external component (20) for controlling an equipment component of the material handling system, and a modular interconnectivity component (30) for interconnecting the first control cabinet (12) and the first external component (20) for control of the first external component (20). The control system (60) further includes a first internal component (20) for operating the first control cabinet (12) and a modular interconnectivity component (30). The first module (120) has primary control of the second module (140) and the third module (160).

Abstract: A car wash controller for receiving input data from a plurality of remote input devices and for controlling the operation of multiple remote output electrical devices. The central controller is coupled to a series of input boards by a communication cable, such as a telephone cable, to receive input data from the input electrical devices. The input boards can be coupled to each other to reduce the amount of wiring within the car wash environment. The central controller is further connected to a series of output relay boards, each of which are connected to a supply of power. The central controller is connected to the output relay boards by a communication cable such that an output command can be sent to each relay board to supply electrical power to the output electrical devices. The relay boards can be coupled to each other to reduce the amount of wiring within the car wash environment.

Abstract: The integrity of control signals used to control a wafer handling robot is monitored by a monitor connected to various points of the robotic control system. The monitor includes a memory for storing data sets representing correct, reference characteristics of the control signals. The monitor samples control signals at various points in the control system and compares these sampled signals with the stored reference characteristics in order to determine whether a signal disparity exists. If a disparity exists, the monitor generates an error.

Abstract: A robot cleaner, a robot cleaning system and a method for controlling the same capable of efficiently performing work on command by recognizing the driving distance and direction of the robot cleaner regardless of a of wheel slippage or irregularity in the floor. The robot cleaner performs a working operation while moving about a floor, and comprises a main body, a driving unit for driving a plurality of wheels disposed on a bottom portion of the main body, a downward-looking camera disposed among the wheels on the bottom portion of the main body for photographing images of the floor perpendicular to the driving direction of the robot cleaner, and a control unit for recognizing driving distance and direction of the wheels using image information of the floor photographed by the downward-looking camera, and for controlling the driving unit corresponding to a target work by using the recognized distance and direction of the wheels.

Abstract: By using a configuration comprising sampling means for sampling block end information about each system program, means for identifying a resumption block and a resumption position of each system based on the block end information of each system at the time of a machining halt, and means for calculating information about a synchronous relation between the systems from the block end information of each system and resuming and starting each system based on this calculated result when machining is resumed from the resumption position, it is constructed so that the synchronous relation between the systems can be restored to resume the machining even in a numerical control apparatus in correspondence with multiple systems.

Abstract: A robot controller executes an operating program, calculates a position and posture of a robot, and sends the position and posture information to a personal computer (PC). At the PC side, on the basis of this position and posture information, animation display information of a work cell including the position and posture of the robot is created and then sent to a teaching pendant. In the teaching pendant, the animation display information is received, and an animation image is displayed on a display section. Until the operating program is terminated, this operation is performed so that an operating animation of the robot is displayed on the display section of the teaching pendant.

Abstract: A method of controlling a robot (32) includes the steps of selecting an initial configuration from at least one of a first, second, and third sets to position a TCP at a starting point (44) along a path (33) and selecting a final configuration different than the initial configuration to position the TCP at an ending point (46). Next, the TCP moves from the starting point (44) while maintaining the initial configuration, approaches the singularity between a first point (48) and a second point (50), and selects one of the axes in response to reaching the first point (48). The angle for the selected axis is interpolated from the first point (48) to the second point (50). After the interpolation, the angles about the remaining axes are determined and positions the arms in the final configuration when the TCP reaches the second point (50) and moves to the ending point (46) while maintaining the final configuration.

Abstract: A legged mobile robot possesses degrees of freedom which are provided at roll, pitch, and yaw axes at a trunk. By using these degrees of freedom which are provided at the trunk, the robot can smoothly get up from any fallen-down posture. In addition, by reducing the required torque and load on movable portions other than the trunk, and by spreading/averaging out the load between each of the movable portions, concentration of a load on a particular member is prevented from occurring. As a result, the robot is operated more reliably, and energy is used with greater efficiency during a getting-up operation. The robot independently, reliably, and smoothly gets up from various fallen-down postures such as a lying-on-the-face posture, a lying-on-the-back posture, and a lying sideways posture.

Abstract: A robot is provided, wherein it is possible to reduce incorrect identification in the case of executing face identification in a place where lighting variations are large such as in a house and in a place where there exists a lighting environment that is bad for identification. A face area of a person is detected from an image picked up at an imaging means and stored, and a face detecting and identifying means identifies a person using face image information stored before then. An identification result reliability calculating means calculates, using information from the imaging means, whether or not a present lighting state is suitable for face identification. When the result of calculation indicates that the lighting state is not suitable for face identification, the robot is moved by a moving means. Thereby, incorrect identification can be reduced.

Abstract: To control articulated robots by dynamically modifying a combination of a hardware-dependent middleware layer and a hardware-independent application layer. An interface and a database for semantically performing operation are prepared between a middleware layer which depends upon the hardware configuration of a robot and an application layer which does not depend upon the hardware configuration, thereby making it possible to always guarantee normal operation even if a combination of the middleware and the application which is to be introduced onto the robot is modified. The application can acquire appropriate input data via the middleware, and can issue an appropriate command.

Abstract: An intelligent assist system having a modular architecture, coordinated by electronic communication links between the modules. Modules for motion, computation, interface, and programming are disclosed in exemplary embodiments.

Abstract: A system is provided for sensing, orienting, and transporting wafers in an automated wafer handling process that reduces the generation of particles and contamination so that the wafer yield is increased. The system includes a robotic arm for moving a wafer from one station to a destination station, and an end-effector connected to an end of the robotic arm for receiving the wafer. The end-effector includes a mechanism for gripping the wafer, a direct drive motor for rotating the wafer gripping mechanism, and at least one sensor for sensing the location and orientation of the wafer. A control processor is provided for calculating the location of the center and the notch of the wafer based on measurements by the sensor(s). Then, the control processor generates an alignment signal for rotating the wafer gripping mechanism so that the wafer is oriented at a predetermined position on the end-effector while the robotic arm is moving to another station.

Abstract: A system for controlling a plurality of robots and a method for controlling said system. Said system comprises a plurality of controllers, each having an associated motion system adapted to control attached robots, with each motion controller being able to receive motion instructions from at least one motion instruction source and at least one of said motion instruction sources being a control program, as well as a computer network over which said controllers communicate. In this way, the invention can be applied to solve problems which are commonly encountered in coordination activities such as load sharing, mating of parts while processing, fixtureless transfer, teaching, manual motion of coordinated operations, and time coordinated motion.

Abstract: A medical system that allows a medical device to be controlled by one of two input devices. The input devices may be consoles that contain handles and a screen. The medical devices may include robotic arms and instruments used to perform a medical procedure. The system may include an arbitrator that determines which console has priority to control one or more of the robotic arms/instruments.