Having Control Of Force Patents (Class 700/260)
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Publication number: 20120095598Abstract: A control device for a robot including: a hybrid dynamics calculator calculating joint forces that act on immovable joints and the joint accelerations that are generated at movable joints by performing a hybrid dynamics calculation that includes inverse dynamics and forward dynamics using an auxiliary model in which the actuated joints of the robot having the actuated joints and the unactuated joints are immovable; a forward dynamics calculator calculating the acceleration that is generated by known force that acts on the robot using a main model; a joint force determination unit determining the joint force; and a joint force controller controlling the joint force of each joint of the robot.Type: ApplicationFiled: September 20, 2011Publication date: April 19, 2012Applicant: Sony CorporationInventor: Kenichiro NAGASAKA
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Patent number: 8150550Abstract: A legged robot that runs while repeating a jump cycle including a ground-contact phase from a landing to a takeoff and an aerial phase from a takeoff to a landing is provided. The legged robot adjusts the landing timing after a jump in accordance with a planned timing, thereby attaining a smooth landing. A measuring unit of the legged robot measures an actual aerial phase period in a k-th jump cycle. A subtractor calculates a time difference between a target aerial phase period and the actual aerial phase period in the k-th jump cycle. A target velocity determining unit calculates a target vertical velocity of a center of gravity on a takeoff timing in a (k+1)-th jump cycle so as to eliminate the time difference. Motors in respective joints are controlled so as to realize the calculated target vertical velocity in the (k+1)-th jump cycle.Type: GrantFiled: September 6, 2007Date of Patent: April 3, 2012Assignee: Toyota Jidosha Kabushiki KaishaInventors: Keisuke Suga, Daisaku Honda, Toru Miyagawa, Ryosuke Tajima
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Patent number: 8145354Abstract: Systems and methods are presented that enable a legged robot to maintain its balance when subjected to an unexpected force. In the reflex phase, the robot withstands the immediate effect of the force by yielding to it. In one embodiment, during the reflex phase, the control system determines an instruction that will cause the robot to perform a movement that generates a negative rate of change of the robot's angular momentum at its centroid in a magnitude large enough to compensate for the destabilizing effect of the force. In the recovery phase, the robot recovers its posture after having moved during the reflex phase. In one embodiment, the robot returns to a statically stable upright posture that maximizes the robot's potential energy. In one embodiment, during the recovery phase, the control system determines an instruction that will cause the robot to perform a movement that increases its potential energy.Type: GrantFiled: October 14, 2010Date of Patent: March 27, 2012Assignee: Honda Motor Co., Ltd.Inventors: Ambarish Goswami, Muhammad E. Abdallah
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Publication number: 20120072025Abstract: There is provided a robot apparatus that can rapidly obtain an ellipse indicating a stiffness characteristic, even if lengths of two links are different from each other.Type: ApplicationFiled: September 7, 2011Publication date: March 22, 2012Applicant: CANON KABUSHIKI KAISHAInventors: Kiyoshi Takagi, Ichiro Okumura
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Publication number: 20120065780Abstract: A robot includes a gripping section and a main body section to which the pair of finger sections are attached, having one end sections of the pair of finger sections rotatably connected to each other around a first rotating shaft disposed at a position separate from the main body section, and adapted to open and close the pair of finger sections by swinging the other side of the pair of finger sections on a plane parallel to a mounting surface on which an object is mounted centered on the first rotating shaft to thereby grip the object, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and grip the object with the gripping section at at least three contact points.Type: ApplicationFiled: September 14, 2011Publication date: March 15, 2012Applicant: SEIKO EPSON CORPORATIONInventors: Yukihiro YAMAGUCHI, Tatsuya HOSODA, Kazuhiro KOSUGE, Yasuhisa HIRATA
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Publication number: 20120065779Abstract: A robot includes a gripping section adapted to grip an object by open and close a pair of finger sections, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and dispose the pair of finger sections in a periphery of the object, and then control the gripping section to open and close the pair of finger sections in a plane parallel to a mounting surface on which the object is mounted, pinch the object between the pair of finger sections from a lateral side of the object, and grip the object with the gripping section at least three contact points.Type: ApplicationFiled: September 14, 2011Publication date: March 15, 2012Applicant: SEIKO EPSON CORPORATIONInventors: Yukihiro Yamaguchi, Kazuhiro Kosuge, Yasuhisa Hirata, Aya Kaisumi
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Publication number: 20120059515Abstract: A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.Type: ApplicationFiled: September 3, 2010Publication date: March 8, 2012Applicants: The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration, GM GLOBAL TECHNOLOGY OPERATIONS, INC.Inventors: Muhammad E. Abdallah, Brian Hargrave, John D. Yamokoski, Philip A. Strawser
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Patent number: 8121732Abstract: A target position detection apparatus for a robot includes: a robot including an arm configured to be freely moved in at least two directions of X and Y axes, the arm having a wrist axis provided at a distal end of the arm and configured to be freely moved in a horizontal direction, and the wrist axis being provided with an end effector; and a control unit adapted for driving a memory to store a teaching point therein and controlling an operation of the robot such that the end effector will be moved toward the teaching point stored in the memory.Type: GrantFiled: September 17, 2008Date of Patent: February 21, 2012Assignee: Kawasaki Jukogyo Kabushiki KaishaInventors: Yasuhiko Hashimoto, Nobuyasu Shimomura, Takao Yamaguchi, Tetsuya Yoshida
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Patent number: 8121733Abstract: According to an embodiment, a numerically controlled (NC) processing system includes materials processing installation having a multi-axis kinematic linkage operable to position a tip portion of the linkage along a predetermined process path. The system also includes a processor having a compensation system operable to detect a singular point in the process path and to improve the accuracy tip portion positioning near the singular point.Type: GrantFiled: July 3, 2009Date of Patent: February 21, 2012Assignee: The Boeing CompanyInventor: Philip L. Freeman
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Publication number: 20120035764Abstract: The present invention was developed by a neurosurgeon and seeks to mimic the results of primate neurological research which is indicative of a human's actual neurological control structures and logic. Specifically, the motor proprioceptive and tactile neurophysiology functioning of the surgeon's hands and internal hand control system from the muscular level through the intrafusal fiber system of the neural network is considered in creating the robot and method of operation of the present invention. Therefore, the surgery is not slowed down as in the art, because the surgeon is in conscious and subconscious natural agreement and harmonization with the robotically actuated surgical instruments based on neurological mimicking of the surgeon's behavior with the functioning of the robot. Therefore, the robot can enhance the surgeon's humanly limited senses while not introducing disruptive variables to the surgeon's naturally occurring operation of his neurophysiology.Type: ApplicationFiled: August 8, 2011Publication date: February 9, 2012Applicant: MacDonald, Dettwiler and Associates Ltd.Inventors: Kenneth L. Lipow, Dennis Gregoris
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Publication number: 20120022691Abstract: A method, system and apparatus to position an organic polarized object to a predetermined orientation and a predetermined location are provided. In an embodiment, an image of the organic polarized object is captured through an image capture device. The image of the organic polarized object is converted to an image data set. This image data set if further converted to a dimension data set. A first location and a first orientation of the organic polarized object are determined through a processor. A pressure is applied to secure organic polarized object. The organic polarized object is secured through a robotic end effector and may be moved to a predetermined location and a predetermined orientation. The organic polarized object is adjusted to the predetermined orientation. The organic polarized object is positioned at a predetermined location. The predetermined location and predetermined orientation may be selected by a user.Type: ApplicationFiled: July 22, 2010Publication date: January 26, 2012Applicant: COGNISENSE LABS, INC.Inventor: Kenneth Dewane Owens, JR.
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Patent number: 8099193Abstract: A control system for controlling an industrial robot and a method thereof. A control unit generates a control signal for controlling the motor. At least one drive unit controls the motor. The drive unit includes a switching unit adapted to convert DC current to alternating current to the motor in dependence on the control signal. A safety unit generates a stop signal for stopping the robot upon occurrence of a safety event. The drive unit disables the switching unit upon receiving the stop signal. The safety unit generates the stop signal with a time delay with respect to the safety event. The control unit generates the control signal in such a way that the motor is electrically braked during the time delay.Type: GrantFiled: March 27, 2007Date of Patent: January 17, 2012Assignee: ABB ABInventors: Ian Bird-Radolovic, Peter Eriksson
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Patent number: 8095239Abstract: A robot movement control device is connected to a communications network in a remote location relative to a robotic device that is also connected to the communications network. The robot movement control device is an electronic device with a video display for displaying a real-time video image sent to it by a camera associated with the robot. A robot movement control overlay is displayed in the field of the real-time video image at the robot control device and robot control commands are generated by selecting locations within the boundary of the movement control overlay which include speed and directional information. The control commands are sent by the robot control device over the network to the robot which uses the commands to adjust its speed and direction of movement.Type: GrantFiled: September 29, 2008Date of Patent: January 10, 2012Assignee: North End Technologies, IncInventors: Timothy D. Root, Jeffrey T Muller
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Patent number: 8082062Abstract: A motion controlled system for a robotic system stores energy when the robotic system uses negative power and releases the stored energy when the robotic system uses positive power. The motion controlled system calculates the power for causing the robotic system to follow a prescribed motion and applies the appropriate control signals to the robotic system in response to detected parameters of the robotic system.Type: GrantFiled: June 8, 2006Date of Patent: December 20, 2011Assignee: Honda Motor Co., Ltd.Inventor: Behzad Dariush
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Patent number: 8078323Abstract: Method for controlling the process of separating mixtures containing several substances having close boiling points and with a known concentration, in a distillation column, wherein the concentration of at least one component is measured at a midpoint of the column, and said measurement, together with other parameters, is used to control the process.Type: GrantFiled: September 6, 2002Date of Patent: December 13, 2011Assignee: Bayer AGInventors: Frank Meeuwssen, Franz Ferdinand Rhiel, Torsten Hauschild, Martin Gerlach
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Patent number: 8073568Abstract: A control method utilizing a PID controller includes detecting the position of an object and obtaining the position deviation by comparison with a predetermined position value, detecting the vibration of the object and obtaining a vibration value, adjusting the control parameters of the PID controller by analyzing the position deviation, the vibration value, and a predetermined performance of the PID controller, and the PID controller responding to the adjusted control parameters.Type: GrantFiled: August 5, 2009Date of Patent: December 6, 2011Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.Inventors: Yuan-Che Hsu, Yan-Chun Zhu
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Patent number: 8068941Abstract: A system and a method for a controllable power-assisted application of pressure includes a force sensor capable of sensing a user-applied force; and a force generator responsive to the sensed user-applied force and capable of generating a force that is applied to a pressure-applying device. A force magnitude of the force applied to the pressure-applying device is based on a magnitude of the sensed user-applied force. One embodiment provides that the force applied to the pressure-applying device by the force generator exerts a predetermined amount of pressure against a surface. Another embodiment provides that the force magnitude is greater than a magnitude of the sensed user-applied force. Yet another embodiment provides that the force magnitude is proportional to a magnitude of the sensed user-applied force.Type: GrantFiled: December 11, 2006Date of Patent: November 29, 2011Assignee: Bio-Applications, LLCInventor: Don B. Hennig
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Publication number: 20110288683Abstract: The grip position calculator determines a grip position where the fingers can grip a workpiece in any orientation of the workpiece. The calculator then determines an initial position where the finger tips can grip the workpiece and set the initial position as a point of calculation. Then an allowable gripping force is calculated which is an index that indicates an allowable force to be applied to the workpiece at point. Then other allowable forces are calculated for a plurality of points near the point of calculation. Then the point of calculation is selected as a possible gripping position if the allowable force a point is greater than any of the allowable forces. Otherwise, one of the points is selected for another point of calculation where the greatest allowable force (De) has been calculated and return to calculating an allowable gripping force.Type: ApplicationFiled: January 28, 2010Publication date: November 24, 2011Applicants: NATIONAL UNIVERSITY CORPORATION, HONDA MOTOR CO., LTD.Inventors: Toshiyuki Kondo, Shinji Sawada, Nobuhiro Nanba, Yoshikazu Hayakawa, Kenji Fujimoto, Akira Nakashima, Takashi Uno
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Publication number: 20110282491Abstract: Control systems and methods for a remote joint use position measurements to determine and control the force that an actuator applies to the joint through a linkage. The use of force and feedback allows control of a medical instrument having a linkage that provides non-negligible compliance between the joint and a proximal actuator and particularly allows precise instrument operation even when the position of the distal joint cannot be directly related to the proximal motor position.Type: ApplicationFiled: May 14, 2010Publication date: November 17, 2011Applicant: Intuitive Surgical Operations, Inc.Inventors: GIUSEPPE MARIA PRISCO, Samuel Kwok Wai Au
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Patent number: 8050780Abstract: A servo-controlled system is disclosed for providing simulated feel equivalent to that of traditional mechanical hand controllers. Processed position and force sensor signals are used in a feedback loop that controls the motor mechanically connected to the stick. The feedback loop comprises a low-level motor feedback loop, and high-level force feel loop. The latter comprises static and dynamic performance components. The system allows variable and additional force cues to be specified externally to the system and felt by the operator, and/or external signal to backdrive the stick to follow a specified motion. The control framework permits the electronic coupling of the motion and applied forces by pilots in a dual arrangement while retaining the above-mentioned features. It simulates cross-coupling mechanical compliance due to force fight between pilots, detents and asymmetric force feel gradients. Parameters associated with loops and performance components can be specified independently.Type: GrantFiled: November 6, 2002Date of Patent: November 1, 2011Inventors: Claude Tessier, Jonathan Martineau
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Publication number: 20110257787Abstract: A robot control apparatus includes a force measuring unit for acquiring the force data required for the control operation, a calculating unit for calculating the force exerted by gravity on the force measuring unit and the dynamic terms generated by the motion of the robot arm, of all the forces exerted on the force measuring unit from the working tool, a compensation unit for compensating the force measured by the force measuring unit using the force exerted by gravity and the dynamic terms calculated by the calculating unit, and a command adjusting unit for adjusting the operation command for the robot arm in accordance with the force exerted on the force measuring unit by the dynamic terms and gravity in the case where each of the dynamic terms is larger than a predetermined threshold value.Type: ApplicationFiled: June 27, 2011Publication date: October 20, 2011Applicant: FANUC LTDInventors: Takashi SATO, Takahiro IWATAKE
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Patent number: 8032605Abstract: A method of causing movement of at least one target device based on at least one of a plurality of motion programs stored on a content server connected to a network. At least one identified characteristic of the at least one target device is identified. At least one selected motion program is selected from the plurality of motion programs stored on the content server. The at least one identified characteristic and the at least one selected motion program are transferred to the motion server. A motion media data set is generated at the motion server for the target motion device based on the at least one identified characteristic of the target device and the at least one selected motion program. The motion media data set is transferred from the motion server to the target motion device to cause the target device to perform the desired sequence of movements.Type: GrantFiled: April 1, 2003Date of Patent: October 4, 2011Assignee: Roy-G-Biv CorporationInventors: David W. Brown, Jay S. Clark
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Patent number: 8024071Abstract: Based upon a force in a vertical direction exerted between an object and a hand and an angle made by the hand relative to a horizontal face, a transporting force estimation unit estimates a transporting force applied in the vertical direction by a person, and based upon the estimated force, a force controlling operation is carried out so as to set a force in the vertical direction of the robot arm of a robot system to a predetermined force.Type: GrantFiled: February 25, 2010Date of Patent: September 20, 2011Assignee: Panasonic CorporationInventors: Mayumi Komatsu, Yasunao Okazaki
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Publication number: 20110218676Abstract: A robot arm, which is driven by an elastic body actuator and has a plurality of joints, is provided with an arm-end supporting member that supports the robot arm when made in contact with a supporting surface that is placed on an arm-end portion of the robot arm and a control unit that controls a force by which the arm-end supporting member and the supporting surface are made in contact with each other, and further controls a position and orientation of the arm-end portion of the robot arm.Type: ApplicationFiled: May 17, 2011Publication date: September 8, 2011Inventor: Yasunao OKAZAKI
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Publication number: 20110213496Abstract: A motion state evaluation apparatus of a legged mobile robot uses virtual surfaces (S3a, S2a, S2b) to approximate a plurality of surfaces to be contacted (FL, WL1, WL2) in an operating environment of the robot (1), and calculates translational forces (required virtual surface translational forces) to be applied from virtual surfaces (S3a, S2a, S2b) to the robot (1) in order to implement a compensating total translational external force related to a translational motion of the robot (1). The motion state evaluation apparatus evaluates the motion state of the robot on the basis of the required virtual surface translational forces.Type: ApplicationFiled: February 28, 2011Publication date: September 1, 2011Applicant: HONDA MOTOR CO., LTD.Inventor: Atsuo Orita
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Patent number: 8007224Abstract: The invention relates to a depalletizing device comprising a carriage as well as a friction roller attached to the carriage, which friction roller is rotatable about a horizontal rotation axis and is coupled to a rotational drive in order to rotate. The carriage can be moved to and fro in a direction at right angles to the rotation axis of the friction roller in order to push the friction roller against a side of an object on the pallet in such a manner that the friction roller exerts an upward friction force on the object as a result of which the object is raised on that side, and in order for the friction roller to pass underneath said object after the latter has been raised. The depalletizing device comprises drive means with variable driving power in order to drive the carriage. The drive means comprise detection means.Type: GrantFiled: January 25, 2006Date of Patent: August 30, 2011Assignee: CSI Industries BVInventor: Mark van de Klundert
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Patent number: 8005573Abstract: On the basis of at least a difference between a desired state amount related to a posture of a robot 1 about a vertical axis or a floor surface normal line axis and an actual state amount of the robot 1 and a permissible range of a restriction object amount, namely, a vertical component of a floor reaction force moment or a component of the floor reaction force moment in a floor surface normal line direction to be applied to the robot 1, instantaneous values of a desired motion and a desired floor reaction force are determined such that a difference between a floor reaction force moment balancing with the desired motion on a dynamic model and a floor reaction force moment of the desired floor reaction force approximates the aforesaid difference to zero, while having the restriction object amount, which is associated with the desired floor reaction force, fall within the permissible range.Type: GrantFiled: June 28, 2004Date of Patent: August 23, 2011Assignee: Honda Motor Co., Ltd.Inventors: Toru Takenaka, Takashi Matsumoto, Takahide Yoshiike
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Patent number: 7991508Abstract: A gait generating system of a legged mobile robot is provided with a device for determining a desired trajectory of an external force to be applied to a robot 1, a device for determining a parameter of a desired gait (current time gait) for a predetermined period on the basis of a desired trajectory of an external force or the like, a device for determining a parameter of a virtual cyclic gait that follows the current time gait on the basis of the desired trajectory of the external force or the like, a device for correcting the current time gait parameter such that a body motion trajectory of the robot 1 of the current time gait converges to a body motion trajectory of the cyclic gait, and a device for sequentially determining an instantaneous value of the current time gait on the basis of the corrected current time gait parameter.Type: GrantFiled: July 28, 2005Date of Patent: August 2, 2011Assignee: Honda Motor Co., Ltd.Inventors: Tadaaki Hasegawa, Naohide Ogawa
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Patent number: 7983790Abstract: A method for modifying a component may comprise measuring the component using a modifying tool, and recording position data for the component based on the measuring. A path for the modifying tool may be provided using the position data, and the component may be modified by moving the same modifying tool based on the provided path.Type: GrantFiled: December 19, 2008Date of Patent: July 19, 2011Assignee: The Boeing CompanyInventors: Phillip John Crothers, Robert Coulter Fraser
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Publication number: 20110172823Abstract: A robot and a control method thereof may adjust a yaw moment generated from a foot contacting a ground to achieve stable walking of the robot. The robot, which may have an upper body and a lower body, may include a main controller starting walking of the robot through only motions of joints of the lower body and adjusting a motion of the upper body such that a yaw moment generated from a foot the lower body during walking of the robot is less than the maximum static frictional force of a ground to perform stable walking of the robot, and sub controllers driving actuators of the joints according to a control signal of the main controller.Type: ApplicationFiled: January 7, 2011Publication date: July 14, 2011Applicant: SAMSUNG ELECTRONICS CO., LTD.Inventors: Joo Hyung KIM, Kyung Shik ROH, Woong KWON, Min Hyung LEE, Ju Suk LEE
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Publication number: 20110166709Abstract: A robot one of transfers an article to an external subject and receives the article from the human subject and flexibly copes with changes in human intention. If a pushing force applied to robot hands is sensed, the robot hands grip and pull the article to inform the external subject that the robot hands are prepared to receive the article from the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or a pulling force applied to the robot hands is sensed. If the pulling force applied to a robot hands is sensed, the robot pushes the article to inform the external subject that the robot hands are prepared to transfer the article to the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or the pulling force applied to the robot hands is sensed.Type: ApplicationFiled: January 6, 2011Publication date: July 7, 2011Applicant: SAMSUNG ELECTRONICS CO., LTD.Inventors: Ji Young KIM, Kyung Shik Roh, Jong Do Choi, Kwang Kyu Lee, Kyung Won Moon
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Publication number: 20110160906Abstract: A control device for a mobile robot, in which the desired value of a motion state amount of a mobile robot includes at least the desired value of a vertical component of a first-order differential value of the translational momentum of the entire mobile robot. The desired value is determined by a state amount desired value determiner such that the observed value of the vertical position of an overall center-of-gravity point of the mobile robot is converged to a predetermined desired value according to a feedback control law. A control input determiner carries out the processing of inverse dynamics calculation, using the desired value of the motion state amount thereby to determine the desired driving force for each joint. The operation of an actuator is controlled on the basis of the determined desired driving force.Type: ApplicationFiled: December 27, 2010Publication date: June 30, 2011Applicant: HONDA MOTOR CO., LTD.Inventors: Atsuo Orita, Masao Kanazawa
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Publication number: 20110160907Abstract: A control device for a robot determines, as a desired driving force to be imparted to a joint, a component value corresponding to the displacement amount of each joint out of a desired generalized force vector ?cmd that satisfies the relationship indicated by expression 01 given below by using basic parameter group of M, N, and Jacobian matrixes Jc and Js, a desired value ?C of the motion acceleration of a contact portion representative element representing a motion of a contact portion of a robot 1, generalized variable observation information, and a desired value ?S? of a first-order differential value of a predetermine type of state amount, and then controls the operation of an actuator of the robot 1 on the basis of the determined desired driving force.Type: ApplicationFiled: December 27, 2010Publication date: June 30, 2011Applicant: HONDA MOTOR CO., LTD.Inventor: Atsuo Orita
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Patent number: 7966094Abstract: A workpiece picking apparatus includes a robot, a workpiece recognition device for recognizing the workpieces located in a wide area, an accurate measurement device for accurately measuring the three-dimensional position of the workpiece, a workpiece select device for selecting the workpiece to be picked, and an NG workpiece storage device for storing information on the rough position of an failed NG workpiece when the measurement of the three-dimensional position or the picking for the workpiece has failed. The workpiece select device excludes the NG workpiece stored in the NG workpiece storage device and selects the next workpiece to be measured. The robot picks the selected workpiece based on the three-dimensional position of the workpiece measured by the accurate measurement device.Type: GrantFiled: September 28, 2007Date of Patent: June 21, 2011Assignee: Fanuc LtdInventors: Kazunori Ban, Ichiro Kanno, Keisuke Watanabe
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Publication number: 20110129320Abstract: A robotic system includes a robot for moving a payload in response to a calculated input force. Sensors in respective sensor housings are connected to a handle, each sensor including a light emitter and receiver. The sensors measure a light beam received by a respective receiver. A controller calculates the calculated input force using received light. Each sensor housing modifies an interruption of the light beam in a sensor when the actual input force is applied, and the controller controls the robot using the calculated input force. A method of controlling the robot includes emitting the light beam, flexing a portion of the sensor housing(s) using the actual input force to interrupt the light beam, and using a host machine to calculate the calculated input force as a function of the portion of the light beam received by the light receiver. The robot is controlled using the calculated input force.Type: ApplicationFiled: November 30, 2009Publication date: June 2, 2011Applicant: GM GLOBAL TECHNOLOGY OPERATIONS, INC.Inventors: Vincent Duchaine, Noemie Paradis, Thierry Laliberte, Boris Mayer-St-Onge, Clement Gosselin, Dalong Gao
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Publication number: 20110130879Abstract: A method for calibrating tension sensors on tendons in a tendon-driven manipulator without disassembling the manipulator and without external force references. The method calibrates the tensions against each other to produce results that are kinematically consistent. The results might not be absolutely accurate, however, they are optimized with respect to an initial or nominal calibration. The method includes causing the tendons to be slack and recording the sensor values from sensors that measure the tension on the tendons. The method further includes tensioning the tendons with the manipulator positioned so that it is not in contact with any obstacle or joint limit and again recording the sensor values. The method then performs a regression process to determine the sensor parameters that both satisfy a zero-torque constraint on the manipulator and minimize the error with respect to nominal calibration values.Type: ApplicationFiled: December 2, 2009Publication date: June 2, 2011Applicants: GM GLOBAL TECHNOLOGY OPERATIONS, INC., AERONAUTICS AND SPACE ADMININSTRATIONInventors: Muhammad E. Abdallah, Robert Platt
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Publication number: 20110130876Abstract: A robotic system includes a robot adapted for moving a payload in proportional response to an input force from an operator, sensors adapted for measuring a predetermined set of operator input values, including the input force, and a controller. The controller determines a changing stiffness value of the operator using set of operator input values, and automatically adjusts a level of control sensitivity over the robot using the stiffness value. The input values include the input force, a muscle activation level of the operator, and a position of the operator. A method of controlling the robot includes measuring the operator input values using the plurality of sensors, processing the input values using the controller to thereby calculate the stiffness value, and automatically adjusting the level of control sensitivity over the robot using the stiffness value. A specific operator may be identified, with control sensitivity being adjusted based on the identity.Type: ApplicationFiled: November 30, 2009Publication date: June 2, 2011Applicant: GM GLOBAL TECHNOLOGY OPERATIONS, INC.Inventors: Dalong Gao, Roland J. Menassa, Robin Stevenson
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Patent number: 7953509Abstract: In a control method for a power assist apparatus, a pressing force acting on a workpiece held by a workpiece holding apparatus is detected, a determination is made as to whether or not the detected pressing force exceeds a preset threshold, a determination is made as to whether or not a dead man switch provided on the workpiece holding apparatus is ON, and a determination as to whether or not to release a rotation restriction applied to a joint portion for connecting the workpiece holding apparatus rotatably to an arm is made in accordance with a result of the determination as to whether or not the detected pressing force exceeds the preset threshold and a result of the determination as to whether or not the dead mean switch is ON.Type: GrantFiled: February 25, 2009Date of Patent: May 31, 2011Assignee: Toyota Jidosha Kabushiki KaishaInventor: Hideyuki Murayama
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Patent number: 7937181Abstract: A clamp of less waste instruction method for an addition axis, which omits instructions for clamping and unclamping and working in response to those instructions, includes the steps of, at a stage of working a work piece with a tool, measuring a rotational torque generated by the working with respect to the addition axis coupled to a table which supports the work piece or a pallet having the work piece mounted thereon; and generating a clamp instruction to the addition axis when the rotational torque exceeds a predetermined reference value.Type: GrantFiled: January 15, 2008Date of Patent: May 3, 2011Assignee: Matsuura Machinery CorporationInventors: Kousuke Ishimoto, Kouichi Amaya
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Patent number: 7937185Abstract: The motion of a robot is switched from a first motion, which the robot is currently performing, to a second motion. Postures of the robot in both the motions are pre-defined with a plurality of frames at a plurality of different time points. When switching from the first motion to the second motion, information is acquired on the frames corresponding to the second motion, and the posture of the robot is after the switching is controlled based on the acquired information.Type: GrantFiled: March 15, 2006Date of Patent: May 3, 2011Assignee: Fujitsu LimitedInventor: Riadh Zaier
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Publication number: 20110098860Abstract: A control device for a legged mobile robot has a unit which generates the time series of a future predicted value of a model external force manipulated variable as a feedback manipulated variable for reducing the deviation of the posture of the robot. A desired motion determining unit sequentially determines the instantaneous value of a desired motion such that the motion of the robot will reach or converge to a reaching target in the future in the case where it is assumed that the time series of an additional external force defined by the time series of a future predicted value of the model external force manipulated variable is additionally applied to the robot on a dynamic model.Type: ApplicationFiled: October 26, 2010Publication date: April 28, 2011Applicant: HONDA MOTOR CO., LTD.Inventors: Takahide Yoshiike, Hiroyuki Kaneko, Atsuo Orita
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Publication number: 20110093120Abstract: An apparatus has a parameter initial value calculator, a force reference impression part, an evaluation data measurement part, an allowable value setting part, a viscosity parameter calculator, an end determining part, and an inertia parameter adjusting part. The force reference impression part intermittently supplies a force reference to an impedance controller. The evaluation data measurement part measures setting time of time response, an overshoot amount, and the number of vibration times. The allowable value setting part sets allowable values of the overshoot amount and the setting time. The viscosity parameter calculator calculates a viscosity parameter with which the setting time becomes shortest. The end determining part determines the end or continuation of the process by comparing the adjustment values with the allowable values. The inertia parameter calculator adjusts the inertia parameter according to the adjustment values of the overshoot amount and the setting time.Type: ApplicationFiled: October 19, 2010Publication date: April 21, 2011Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Shingo ANDO, Ryoichi Nagai, Yasuyuki Inoue
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Publication number: 20110087374Abstract: First calculation means calculates a TCP velocity error vector Verr when wrist axes performs rotational following movement, second calculation means selects a component, including the sign, of the TCP velocity error vector Verr, third calculation means decomposes the selected velocity error vector into a joint velocity vector ?err, fourth calculation means integrates the joint velocity ?err and calculates a position correction amount vector ?add, and the position correction amount vector ?add is fed back to position control means with torque limits.Type: ApplicationFiled: March 12, 2010Publication date: April 14, 2011Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Shingo ANDO, Yasuyuki INOUE
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Publication number: 20110082587Abstract: A system includes a moveable member configured to permit a user to manually move at least a portion of the moveable member to permit an object coupled to the moveable member to be manipulated in space and thereby facilitate the performance of a task using the coupled object. The moveable member is configured to couple to at least a first object and a second object that is interchangeable with the first object and has a substantially different weight than the first object. A brake is configured to limit manual movement of at least the portion of the moveable member to inhibit manipulation in space of the coupled object, both when the moveable member is coupled to the first object and when the moveable member is coupled to the second object.Type: ApplicationFiled: September 29, 2010Publication date: April 7, 2011Inventors: Kam ZIAEI, Dennis Moses
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Publication number: 20110040410Abstract: Disclosed is an apparatus and method adjusting motion of each joint of a robot to compensate for friction force of each joint such that the sole of the foot of the robot clings to the ground. The motion of each joint is adjusted as if gravity acts on each joint of the robot in a direction opposite to gravity and the robot is held in an erect state. Therefore, the robot can stand while keeping its balance without falling.Type: ApplicationFiled: August 10, 2010Publication date: February 17, 2011Applicant: SAMSUNG ELECTRONICS CO., LTD.Inventors: Joo Hyung KIM, Kyung Shik Roh, Woong Kwon, Jeong Heon Han, Jae Ho Park, Ho Seong Kwak
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Publication number: 20110040408Abstract: A robotic hand assembly comprising: a hand section comprising: at least one digit provided with at least one actuatable joint; and a control section comprising: at least one actuation device, the at least one actuation device comprising: a sensing module configured to sense a force applied to a tendon coupled at a first end to the at least one actuatable joint; and an actuation module configured to actuate the at least one actuatable joint.Type: ApplicationFiled: July 22, 2010Publication date: February 17, 2011Applicant: THE SHADOW ROBOT COMPANY LIMITEDInventors: Armando De La Rosa Tames, Graeme Richard Lawrence Walker, Jake Benjamin Goldsmith, John Hugo Elias, Matthew Paul Godden, Richard Martin Greenhill
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Publication number: 20110040411Abstract: A control method for a power assist device provided with an operation handle, a force sensor that detects an operation force applied to the operation handle and an orientation of the operation force, a robot arm, and an actuator. When the orientation of the operation force is detected to be within a predetermined angle range with respect to a preset advancing direction of the operation handle, the actuator is controlled so as to move the operation handle along the advancing direction by employing only a component of the operation force along the advancing direction; and when the orientation of the operation force is detected to be outside the predetermined angle range, the actuator is controlled to move the operation handle by the operation force applied to the operation handle and the orientation of the operation force.Type: ApplicationFiled: February 26, 2009Publication date: February 17, 2011Applicants: TOYOTA JIDOSHA KABUSHIKI KAISHA, NATIONAL UNIVERSITY CORPORATION NAGOYA INSTITUTE OF TECHNOLOGYInventors: Hideyuki Murayama, Naoyuki Takesue, Hideo Fujimoto
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Patent number: 7888900Abstract: A robot arm is provided with an end effecter for grasping an object and a force sensor for detecting a force acted upon the end effecter. In the state in which end effecter grasps an object, when there is a change in the force acting on the end effecter detected by the force sensor, outputted is a signal for releasing the force of the end effecter grasping the object. The object grasped by the end effecter can be taken out as if the object were handed from person over to person.Type: GrantFiled: September 18, 2008Date of Patent: February 15, 2011Assignee: Panasonic CorporationInventors: Shusasku Okamoto, Masamichi Nakagawa, Yasunao Okazaki, Takashi Anezaki, Tamao Okamoto
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Patent number: 7880717Abstract: A haptic device for human/computer interface includes a user interface tool coupled via cables to first, second, third, and fourth cable control units, each positioned at a vertex of a tetrahedron. Each of the cable control units includes a spool and an encoder configured to provide a signal corresponding to rotation of the respective spool. The cables are wound onto the spool of a respective one of the cable control units. The encoders provide signals corresponding to rotation of the respective spools to track the length of each cable. As the cables wind onto the spools, variations in spool diameter are compensated for. The absolute length of each cable is determined during initialization by retracting each cable In turn to a zero length position. A sensor array coupled to the tool detects rotation around one or more axes.Type: GrantFiled: March 26, 2004Date of Patent: February 1, 2011Assignee: Mimic Technologies, Inc.Inventors: Jeffrey J. Berkley, Seahak Kim, Sungkwan Hong
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Patent number: 7881824Abstract: The lumbar part of a robot as a controlled-object point where the mass amount becomes maximum is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.Type: GrantFiled: March 18, 2003Date of Patent: February 1, 2011Assignees: Sony CorporationInventors: Kenichiro Nagasaka, Jinichi Yamaguchi, Satoru Shimizu, Yoshihiro Kuroki