Abstract: A manipulator device has an arm portion and a hand portion The hand portion includes one or more finger portions that manipulate a target object. Each finger portion includes a slip sensor and multiple contact sensors, with at least one contact sensor at a position proximate to the slip sensor and at least another contact sensor at a position remote from the slip sensor. When the contact sensors at the positions remote from the slip sensor detect contact of the target object and the contact sensors arranged at the positions proximate to the slip sensors do not detect contact, a position of the finger portion is moved by a distance corresponding to the distance between the contact sensors detecting contact of the target object and the contact sensors arranged at the positions proximate to the slip such that a detecting position of the slip sensor is coincident with a position of the target object.

Abstract: A method for determining a spray position for a spray tool includes accessing an image signal generated by a camera, the image signal corresponding to at least an udder of a dairy livestock. The method further includes processing the accessed image signal to determine a tangent to the rear and a tangent to the bottom of the udder of the dairy livestock. The method concludes by determining a spray position from which a spray tool may apply disinfectant to the teats of the dairy livestock, wherein the spray position is a position relative to the intersection of the two tangents.

Abstract: Systems and methods as described for providing visual telepresence to an operator of a remotely controlled robot. The robot includes both video cameras and pose sensors. The system can also comprise a head-tracking sensor to monitor the orientation of the operator's head. These signals can be used to aim the video cameras. The controller receives both the video signals and the pose sensor signals from the robot, and optionally receives head-tracking signals from the head-tracking sensor. The controller stitches together the various video signals to form a composite video signal that maps to a robot view. The controller renders an image to a display from that portion of the composite video signal that maps to an operator view. The relationship of the operator view to the robot view is varied according to the signals from the pose sensors and the head-tracking sensor.

Abstract: A multiple camera video system and methods for operating such a system. The system may include a plurality of cameras located around a stadium, athletic playing field or other location. The cameras are remotely controlled in a master-slave configuration. A camera operator at a master pan head selects one of the plurality of cameras as the current master camera and utilizes the master pan head to adjust the telemetry and zoom of the master camera to follow the target object. The telemetry and zoom parameters of the master camera are then used to calculate corresponding telemetry, zoom and/or other parameters for each of the plurality of slave cameras. Video captured by each of the cameras is stored for the production of replay video feeds or for archiving. The replays may be capable of “spinning” through the video feeds of adjacent cameras in order for the viewer to get the sensation of revolving around the target object. The multiple camera video system also includes methods for calibrating the system.

Abstract: An industrial robot system includes an end effector connectable to a robot arm, a drive assembly, and a controller. The end effector includes a distal housing, a spindle assembly rotatable about a rotational axis, a drill bit rotatable about the rotational axis, and a sensor assembly. The sensor assembly includes a first light source, a second light source, and a photosensitive array. The first light source produces a first fan of light which is projected as a first line of light on the object surface. The second light source produces a second fan of light, which is projected as a second line of light on the object surface. The photosensitive array detects a first reflection line corresponding to the first line of light and a second reflection line corresponding to the second line of light.

Abstract: A navigational control system for altering movement activity of a robotic device operating in a defined working area, comprising a transmitting subsystem integrated in combination with the robotic device, the transmitting subsystem comprising a mechanical sweeping transmitter laser integrated in combination with a high point of a housing infrastructure of the robotic device so that none of the structural features of the robotic device interfere with sweeping of the transmitting element of the mechanical sweeping transmitter laser.

Abstract: Devices, systems, and methods for inspecting and objectively analyzing the condition of a roof are presented. A vehicle adapted for traversing and inspecting an irregular terrain includes a chassis having a bottom surface that defines a higher ground clearance at an intermediate location, thereby keeping the center of mass low when crossing roof peaks. In another embodiment, the drive tracks include a partially collapsible treads made of resilient foam. A system for inspecting a roof includes a lift system and a remote computer for analyzing data. Vehicles and systems may gather and analyze data, and generate revenue by providing data, analysis, and reports for a fee to interested parties.

Abstract: The present invention discloses a system for confining the movement of a robot such that certain area(s) are temporarily or permanently excluded from its working territory. The system uses light-absorbing, black-out paper stripe(s) capable of a complete absorption of light including infrared. The system also uses a mobile robot equipped with infrared emitters and infrared-reflection detectors that communicate the existence of infrared reflection or the lack of it to the robot's control unit. The control unit controls the wheel drivers and ensures that the robot continues travelling only as long as the reflection of infrared signals are detected from the surface onto which it is headed. In this system therefore, the said black-out papers act as a fence that the robot cannot pass because they prevent the reflection of infrared light from the spot(s) where they are placed and force the robot to stop and change directions when it encounters a black-out stripe.

Abstract: A metrology system has an elongate stationary camera pixel array facing a workpiece transit path of a robot with an field of view corresponding to a workpiece diameter and extending transverse to the transit path portion, and a stationary elongate light emitting array generally parallel to the pixel array. An image control processor causes the camera to capture successive image frames while the robot is moving the workpiece through the transit path.

Abstract: The present invention creates and stores target representations in several coordinate representations based on biologically inspired models of the human vision system. By using biologically inspired target representations a computer can be programmed for robot control without using kinematics to relate a target position in camera eyes to a target position in body or head coordinates. The robot sensors and appendages are open loop controlled to focus on the target. In addition, the invention herein teaches a scenario and method to learn the mappings between coordinate representations using existing machine learning techniques such as Locally Weighted Projection Regression.

Abstract: A setting of a video camera is remotely controlled. Video from a video camera is displayed to a user using a video display. At least one eye of the user is imaged as the user is observing the video display, a change in an image of at least one eye of the user is measured over time, and an eye/head activity variable is calculated from the measured change in the image using an eyetracker. The eye/head activity variable is translated into a camera control setting, and an actuator connected to the video camera is instructed to apply the camera control setting to the video camera using a processor.

Abstract: A method of confining a robot in a work space includes providing a portable barrier signal transmitting device including a primary emitter emitting a confinement beam primarily along an axis defining a directed barrier. A mobile robot including a detector, a drive motor and a control unit controlling the drive motor is caused to avoid the directed barrier upon detection by the detector on the robot. The detector on the robot has an omnidirectional field of view parallel to the plane of movement of the robot. The detector receives confinement light beams substantially in a plane at the height of the field of view while blocking or rejecting confinement light beams substantially above or substantially below the plane at the height of the field of view.

Abstract: Disclosed are a transport apparatus that holds and transports an object on a predetermined transport track using a transport portion provided at the leading end of an arm and is capable of acquiring the teaching information of a transport position using a normal transport operation, a position teaching method, and a sensor jig. A transmissive sensor (32) is provided in a sensor jig (30) such that the projection segments of an optical axis (41) and an optical axis (42) on a projection plane intersect with each other and neither the project segment of the optical axis (41) nor the projection segment of the optical axis (42) is aligned with the X-direction and the Y-direction. During a position teaching operation, the sensor jig (30) is provided so as to be held by a wafer transport portion (24), thereby detecting target members (51, 52).

Abstract: Systems and methods that utilize optical sensors and non-optical sensors to determine the position and/or orientation of objects. A navigation system includes an optical sensor for receiving optical signals from markers and a non-optical sensor, such as a gyroscope, for generating non-optical data. A navigation computer determines positions and/or orientations of objects based on optical and non-optical data.

Abstract: The working support robot system of the present invention includes: a robot arm (11); a measuring unit (12) for measuring the worker's position; a work progress estimation unit (13) for estimating the work progress based on data input from the measuring unit (12) while referring to data on work procedure, and for selecting objects necessary for the next task when the work is found to have advanced to the next procedure; and an arm motion planning unit (14) for planning the trajectory of the robot arm (11) to control the robot arm (11) based on the work progress estimated by the work progress estimation unit (13) and selected objects. The working support robot system can deliver objects such as tools and parts to the worker according to the work to be performed by the worker.

Abstract: A method for manufacturing an aircraft component according to one embodiment of this disclosure includes providing a machining system including a controller, at least one sensor, and a tool for machining. The method further includes providing an aircraft component, and machining the aircraft component with the tool based on feedback from the at least one sensor.

Abstract: A control device (1) for a robot arm (8) which, if a person approach detection unit (3) detects approach of a person, performs control according to an impact between the robot arm (8) and the person. The control performed according to the impact is performed through an impact countermeasure motion control unit (4) and by setting individual mechanical impedances for respective joint portions of the robot arm (8) based on a movement of the person detected by a human movement detection unit (2).

Abstract: There is provided with an information processing apparatus. An image including a target object is acquired. A coarse position and orientation of the target object is acquired. Information of a plurality of models which indicate a shape of the target object with different accuracy is held. A geometrical feature of the target object in the acquired image is associated with a geometrical feature indicated by at least one of the plurality of models placed at the coarse position and orientation. A position and orientation of the target object is estimated based on the result of association.

Abstract: Method and device for the removal of a part of a crop, such as a leaf (14). To this end, the crop is approached from a low position with vision techniques and the stem (12) and the parts protruding therefrom are observed from beneath. Based upon the number of images observed, an arm is controlled and moved towards the relevant stalk (13). This movement is primarily parallel to the stalk and is performed from a low proximity position. When the stalk (13) is approached, the stalk (13) is positioned within an opening between two rotating parts (3). The stalk is grasped by way of rotation and the stalk is moved in respect of the arm so that the cutting point of the stalk is manipulated towards the arm. The stalk (13) is subsequently cut through and the leaf is disposed of.

Abstract: A semiconductor wafer manufacturing apparatus is equipped with a diagnostic module for diagnosing integrity of a transfer robot. The diagnostic module is attached to one side of a semiconductor wafer transfer chamber provided with the transfer robot, which side is also used for the purpose of maintenance, for example. One or more sensors are installed in the diagnostic module so that when the transfer robot is inserted into the diagnostic module, the position or shape of each end effector of the transfer robot is detected and compared against a pre-registered normal condition, thereby diagnosing the integrity of the end effector of the transfer robot, while performing wafer processing.

Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.

Abstract: A remote attaching and detaching device is provided, which includes a camera module to substitute a worker's vision in such an environment where the worker's direct access to the in-cell is extremely limited or impossible. In a remote attaching and detaching device including a camera module for monitoring operating environment of a slave arm of a remote robot working in hazardous environment, the remote attaching and detaching device includes a fixing module fixed to a proximity of a gripper provided on the slave arm, and the camera module is attachable to and detachable from the fixing module, and provides visual in-cell information or situation about surroundings of the gripper.

Abstract: Methods of and a system for providing a visual representation of force information in a robotic surgical system. A real position of a surgical end effector is determined. A projected position of the surgical end effector if no force were applied against the end effector is also determined. Images representing the real and projected positions are output superimposed on a display. The offset between the two images provides a visual indication of a force applied to the end effector or to the kinematic chain that supports the end effector. In addition, tissue deformation information is determined and displayed.

Abstract: Provided is a technique that enables a robot to be remotely controlled (by a server) and enables a robot component to access an external component (a component of a server) in order for cooperation of heterogeneous robots operating on the basis of different component models. A component integration apparatus for collaboration of a heterogeneous robot according to an embodiment of the present invention comprises: a standard interface unit that provides a common standard interface for controlling components that control the individual functions of the robot; an adapter component that transmits commands to enable external components to call the components through the standard interface unit; and a proxy component that transmits commands to enable the components to call the external components through the standard interface unit.

Abstract: The present invention determines the dimensions and volume of an object by using a novel 3-D camera that measures the distance to every reflective point in its field of view with a single pulse of light. The distance is computed by the time of flight of the pulse to each camera pixel. The accuracy of the measurement is augmented by capture of the laser pulse shape in each camera pixel. The camera can be used on an assembly line to develop quality control data for manufactured objects or on a moving or stationary system that weighs as well as dimensions the objects. The device can also ascertain the minimum size of a box required to enclose an object.

Abstract: A method and apparatus for applying sealant. The apparatus may comprise a sealant flow control system. The sealant flow control system may be configured to engage a nozzle of a sealant container to reduce a flow of sealant from the nozzle.

Abstract: A modular tire spraying system includes a downdraft spray booth for receiving a tire, a fluid delivery system disposed in the spray booth, a robot for transporting the tire to the spray booth, and a platform on which each of the spray booth, the fluid delivery system, and the robot is disposed. The fluid delivery system includes at least one spray gun for delivering a coating to the tire.

Abstract: A camera system that can be utilized in robotic surgery is presented. In particular, a method of setting a light level in a camera in a robotic system includes determining a location of at least one instrument end effectors within a field-of-view of the camera; determining a region-of-interest in the field-of-view based on the location of the at least one instrument tip; gathering luminance statistics in the region-of-interest; computing a luminance value from the luminance statistics; and adjusting an exposure in response to a comparison of the luminance value with a target luminance value.

Abstract: A structured light pattern including a set of patterns in a sequence is generated by initializing a base pattern. The base pattern includes a sequence of colored stripes such that each subsequence of the colored stripes is unique for a particular size of the subsequence. The base pattern is shifted hierarchically, spatially and temporally a predetermined number of times to generate the set of patterns, wherein each pattern is different spatially and temporally. A unique location of each pixel in a set of images acquired of a scene is determined, while projecting the set of patterns onto the scene, wherein there is one image for each pattern.

Abstract: An article take-out apparatus including, acquiring a reference container image including an open end face of a container by imaging operation by an camera, setting an image search region corresponding to a storage space of the container based on the reference container image, setting a reference plane including the open end face of the container, calculating a search region corresponding to the image search region based on a calibration data of the camera stored in advance, converting the search region to a converted search region, taking out 3D points included in the converted search region by projecting a plurality of 3D points measured by the 3D measuring device on the reference plane, and recognizing positions of articles inside the container using the 3D points.

Abstract: A mobile robot that includes a robot body, a drive system having one or more wheels supporting the robot body to maneuver the robot across a floor surface, and a riser having a proximal end and a distal end. The proximal end of the riser disposed on the robot body. The robot also includes a head disposed on the distal end of the riser. The head includes a display and a camera disposed adjacent the display.

Abstract: Via intuitive interactions with a user, robots may be trained to perform tasks such as visually detecting and identifying physical objects and/or manipulating objects. In some embodiments, training is facilitated by the robot's simulation of task-execution using augmented-reality techniques.

Abstract: Via intuitive interactions with a user, robots may be trained to perform tasks such as visually detecting and identifying physical objects and/or manipulating objects. In some embodiments, training is facilitated by the robot's simulation of task-execution using augmented-reality techniques.

Abstract: In accordance with various embodiments, a user interface embedded into a robot facilitates robot training via direct and intuitive physical interactions.

Abstract: Robots may manipulate objects based on sensor input about the objects and/or the environment in conjunction with data structures representing primitive tasks and, in some embodiments, objects and/or locations associated therewith. The data structures may be created by instantiating respective prototypes during training by a human trainer.

Abstract: Robots may manipulate objects based on sensor input about the objects and/or the environment in conjunction with data structures representing primitive tasks and, in some embodiments, objects and/or locations associated therewith. The data structures may be created by instantiating respective prototypes during training by a human trainer.

Abstract: A road guidance system for the blind. A plurality of RFID tags 10 are buried inside a pedestrian pavement 100 with information of said pavement 100 contained therein, along the pavement. A guide robot 20 has an RFID reader 21 for checking signals of said RFID tags 10 from said pavement 100 by passing therethrough, and an obstruction sensor 22 for sensing an obstruction. Wheels 23 are positioned on both sides of the guide robot. A controller 30 checks signals from said RFID reader 21 and said obstruction sensor 22 inside said guide robot 20, converts the checked information into voice signals and outputs the voice signals, and then controls the driving of said guide robot 20. A stick 40 is electrically connected to enable communication with said guide robot 20, thereby enabling safe loading and unloading.

Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

Abstract: The present invention relates to an apparatus for transferring a glove (100) from a conveyor (200) characterised by: a camera (10); a pick-up assembly (20) comprising a pair of inner grippers (21) and two pairs of outer grippers (22); a pair of sensors (30); a robotic arm (40) mounted with the pick-up assembly (20); a processor.

Abstract: A system and method for adjusting the position and orientation of a feed arm associated with a wafer handling robot. In one embodiment, the system includes a positioning plate detachably carried by the feed arm and insertable therewith into a wafer carrier. The positioning plate includes graphic alignment indicia. An alignment apparatus is provided configured for insertion into wafer-holding slots in the wafer carrier. The apparatus includes at least one digital image sensor. With the positioning plate and alignment apparatus located in the wafer carrier, an image of the alignment indicia is displayed on a video monitor by the image sensor for comparison to a reference mark superimposed on the monitor for determining the relative position and orientation of the feed arm with respect to the wafer carrier. Some embodiments of the apparatus further include a distance detection device to measure the distance to the plate.

Abstract: The systems and methods are directed to mechanical arms and manipulators, and more particularly, to optical distance sensors in use for approach, grasping and manipulation. The system may include a manipulator having an arm and a multi fingered end-effector coupled to the distal end of the arm. The end-effector may include an optical proximity sensor configured to detect the distance to an object prior to contact with the object. The end-effector may include an optical proximity sensor configured detect a measurement of force applied to the object by the manipulator post contact with the object. The measurement of force may be a range of force measurements including a minimum, a maximum and a measurement between or within the minimum and the maximum.

Abstract: A method of generating a 3D complex octree map. A plurality of points each having 3D location information are detected from a range image. A space having the detected plurality of points is represented using grids. If points in a grid forms a plane, the grid is not subdivided and planar information about the plane is stored. A space not forming a plane is subdivided, thereby enhancing the storage efficiency.

Abstract: A brain-based device (BBD) for moving in a real-world environment has sensors that provide data about the environment, actuators to move the BBD, and a hybrid controller which includes a neural controller having a simulated nervous system being a model of selected areas of the human brain and a non-neural controller based on a computational algorithmic network. The neural controller and non-neural controller interact with one another to control movement of the BBD.

Abstract: A robotic vehicle configured for autonomous or semi-autonomous operation in a rail environment is provided. The vehicle can process image data to move about the rail environment and perform one or more actions in the rail environment. The actions can include one or more actions related to decoupling and/or attaching rail vehicles, and can be implemented by performing three-dimensional image processing. The vehicle can be configured to move with any movement of a rail vehicle on which one or more actions are being performed. In an alternative embodiment, the various components configured to perform the action are implemented at a stationary location with respect to a rail line.

Abstract: A method for operating an autonomous moving cleaning apparatus includes the steps of: a microcontroller unit (MCU) provides a digital signal which is processed through an encoding technique to form an encrypted encoding data set; the MCU continuously sends out the encrypted encoding data set; data values in the encrypted encoding data set are converted to high or low voltages to activate a light emission member to generate flicker light; a light receiving member continuously receives a string of reflective light corresponding to the flicker light to form a corresponding high or low voltage which is converted to a corresponding digital signal sent to the MCU to be compared with the encrypted coding data set for decoding; and the MCU controls operations of a servomotor based on decoding correctness and the detected corresponding digital signal. Thus the autonomous moving cleaning apparatus can function steadily without being interfered by external lights.

Abstract: A remote control unit configured to wirelessly control a mobile robot moving through an environment and having a robot camera. The remote control unit comprises a privacy button operable by a local user and configured to engage a privacy mode of the mobile robot, and a wireless transmitter configured to emit a wireless control signal to the mobile robot based on input from a keypad of the RC unit. The wireless control signal is configured to cause the robot camera to block the field of view of the robot camera such that the environment of the mobile robot is obscured when the privacy mode of the mobile robot is engaged.

Abstract: There is provided a self-propelled electronic device for use on a base surface. The electronic device includes a chassis disposable over the base surface. The chassis includes a first surface facing the base surface when the chassis is disposed thereover. A light meter is configured to detect light incident toward the first surface and determine a luminance level thereof the detected light. A light source is configured to transition between an ON and OFF states dependent on the luminance level of the detected light. A line sensor is coupled to the chassis and is configured to sense a line segment on the base surface. A movement mechanism is coupled to the chassis and is placeable on the base surface. The movement mechanism is in operative communication with the line sensor to move on the base surface in a pattern corresponding to the line sensed on the base surface.

Abstract: A machine vision system for use with a system that takes frozen sample cores from samples that are in containers includes a camera. A processor is configured to receive image data from the camera and to determine locations where frozen sample cores have already been taken. A method of determining one or more locations where a frozen sample core have already been taken from frozen samples includes operating a robotic system to position one of the containers on a platform at a station for receiving the container while a frozen sample core is extracted from the frozen sample contained in the container. The camera is used to capture an image of the frozen sample. Contrast in the captured image is evaluated to identify one or more bore candidates. The processor uses the image to determine whether or not the bore candidates are real bores or artifacts.

Abstract: A load smart system for continuously loading preformed pouches into a fill-seal machine is provided. A plurality of pouches are disposed within a pouch delivery device, each of the pouches having an upper edge and an indicia. The fill-seal machine includes a rotating turret having a plurality of radially extending grippers. The rotating turret rotates the plurality of gripper pairs between a loading station, an opening station, a filling station, a sealing station, and an unloading station. A robotic transfer device is positioned between the pouch delivery device and the loading station of the fill-seal machine. The robotic transfer device includes an optical sensor positioned on a gripper member. During operation, the optical sensor scans the indicia to determine the pouch characteristics and a controlling station controls the gripper member to deposits the pouch within the gripper pairs at the loading station a predetermined distance from the upper edge of the pouch.

Abstract: A robot system includes a movable component with a mark thereon, a control unit that controls the movable component in a three-dimensional coordinate system on the basis of control information, a digital camera that outputs image data by imaging a range of movement of the mark, and a calibrator that creates a transformation parameter for correlating a two-dimensional coordinate system of the image data with the three-dimensional coordinate system on the basis of the image data obtained by imaging the mark at different positions and the control information.