Robot Control Patents (Class 700/245)
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Patent number: 11992944Abstract: Training and/or utilizing a hierarchical reinforcement learning (HRL) model for robotic control. The HRL model can include at least a higher-level policy model and a lower-level policy model. Some implementations relate to technique(s) that enable more efficient off-policy training to be utilized in training of the higher-level policy model and/or the lower-level policy model. Some of those implementations utilize off-policy correction, which re-labels higher-level actions of experience data, generated in the past utilizing a previously trained version of the HRL model, with modified higher-level actions. The modified higher-level actions are then utilized to off-policy train the higher-level policy model. This can enable effective off-policy training despite the lower-level policy model being a different version at training time (relative to the version when the experience data was collected).Type: GrantFiled: May 17, 2019Date of Patent: May 28, 2024Assignee: GOOGLE LLCInventors: Honglak Lee, Shixiang Gu, Sergey Levine
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Patent number: 11994871Abstract: There is provided a moving robot including a first light source module and a second light source module respectively project a first light section and a second light section, which are vertical light sections, in front of a moving direction, wherein the first light section and the second light section cross with each other at a predetermined distance in front of the moving robot so as to eliminate a detection dead zone between the first light source module and the second light source module in front of the moving robot to avoid collision with an object during operation.Type: GrantFiled: April 28, 2023Date of Patent: May 28, 2024Inventors: Shih-Chin Lin, Wei-Chung Wang, Guo-Zhen Wang
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Patent number: 11992941Abstract: Systems, methods, and devices are described for high accuracy molded navigation arrays. In a first embodiment, a navigation array is formed by molding, as a single component, an array having a plurality of marker regions. The marker regions include a reflective layer disposed thereon. In other embodiments, a navigation array is formed by molding over a frame having a plurality of marker elements. In still other embodiments, a navigation array is formed by molding over individual marker elements. In certain embodiments, a navigation array is formed by molding a frame with a plurality of voids and subsequently molding marker elements into each void where the marker elements include a reflective layer disposed thereon. In some embodiments, a navigation array is formed by molding a plurality of marker elements on a frame and disposing a reflective layer on the marker elements.Type: GrantFiled: December 6, 2021Date of Patent: May 28, 2024Assignee: DePuy Ireland Unlimited CompanyInventor: Hervé Collet
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Patent number: 11986263Abstract: The application discloses a power mechanism and a slave operating device. The power mechanism, for connecting to an operating arm, includes a body and a power mechanism. A side surface of the body defines a mounting groove. The mounting groove passes through a bottom surface of the body. A distal end of the operating arm is located out of the mounting groove. The power portion is disposed on the body for connecting to the operating arm and providing power for the operating arm. The above power mechanism enables the operating arm to be simpler and more rapid to install.Type: GrantFiled: March 11, 2019Date of Patent: May 21, 2024Assignee: Shenzhen Edge Medical CO., Ltd.Inventors: Jianchen Wang, Yuanqian Gao
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Patent number: 11986261Abstract: A method of placing a surgical robotic cart assembly includes, determining a first position of a first surgical robotic cart assembly relative to a surgical table, calculating a path for the first surgical robotic cart assembly towards a second position of the first surgical robotic cart assembly relative to the surgical table, wherein in the second position, the first surgical robotic cart assembly is spaced-apart a first safe distance from the surgical table, moving the first surgical robotic cart assembly autonomously towards the second position thereof, and detecting a potential collision along the path of the first surgical robotic cart assembly as the first surgical robotic cart assembly moves towards the second position thereof.Type: GrantFiled: April 1, 2019Date of Patent: May 21, 2024Assignee: COVIDIEN LPInventors: Dwight Meglan, Eric Meade, Samir Zahine, Renen Bassik, Mathew Livianu
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Patent number: 11983807Abstract: The present disclosure provides method and apparatus for automatically generating motions of an avatar. A message in a session between a user and an electronic conversational agent may be obtained, the avatar being a visual representation of the electronic conversational agent. At least one facial animation and/or body animation may be determined based on at least one part of the message. At least one motion of the avatar may be generated based at least on the facial animation and/or the body animation.Type: GrantFiled: July 10, 2018Date of Patent: May 14, 2024Assignee: Microsoft Technology Licensing, LLCInventors: Yueyang Chen, Xiang Xu, Ruihua Song, Shuo Wang, Hui Zhang, Di Li, Chengcheng Liu, Xiaoyu Qi
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Patent number: 11983013Abstract: An optimization system includes an optimization server and a management server, and the management server controls an AGV. The AGV transports a cargo and notifies the management server of a traveling state during traveling. The management server stores the traveling state of the AGV in a database. The optimization server estimates the traveling parameter to be used for the subsequent experimental traveling and repeats an experiment based on an experiment design for experimental traveling and the number of times of back-and-forth sway and the right-and-left sway width of the AGV when the AGV travels by using the traveling parameter estimated from the default value of the traveling parameter and an experiment result of the experimental traveling of the AGV. After the experiment ends, the optimization server optimizes the traveling parameter for each traveling state of the AGV based on the experiment result.Type: GrantFiled: August 25, 2021Date of Patent: May 14, 2024Assignee: SHARP KABUSHIKI KAISHAInventors: Hiroki Osawa, Thinh Nguyenquang
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Patent number: 11983972Abstract: An autonomous vehicle is tested using virtual objects. The autonomous vehicle is maneuvered, by one or more computing devices, the autonomous vehicle in an autonomous driving mode. Sensor data is received corresponding to objects in the autonomous vehicle's environment, and virtual object data is received corresponding to a virtual object in the autonomous vehicle's environment. The virtual object represents a real object that is not in the vehicle's environment. The autonomous vehicle is maneuvered based on both the sensor data and the virtual object data. Information about the maneuvering of the vehicle based on both the sensor data and the virtual object data may be logged and analyzed.Type: GrantFiled: January 27, 2021Date of Patent: May 14, 2024Assignee: Waymo LLCInventors: Carl Nygaard, James Stout, Jiajun Zhu
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Patent number: 11977365Abstract: A skill transfer mechanical apparatus includes an operating part, a controller, a motion information detector and an operation apparatus. The controller includes a basic motion instructing module, a learning module, a motion correcting instruction generator, a motion correcting instruction, and a motion information storing module. The learning module carries out machine learning of the motion correcting instruction stored in the motion correcting instruction storing module by using the motion information stored in the motion information storing module, and after the machine learning is finished, accepts an input of the motion information during the operation of the operating part, and outputs the automatic motion correcting instruction. The operating part moves the working part according to an automatic motion instruction based on the basic motion instruction and the automatic motion correcting instruction, and the manual motion correction.Type: GrantFiled: November 28, 2018Date of Patent: May 7, 2024Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHAInventors: Yasuhiko Hashimoto, Nobuyasu Shimomura, Masayuki Kamon, Shigetsugu Tanaka
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Patent number: 11975447Abstract: Systems and methods for determining safe and unsafe zones in a workspace—where safe actions are calculated in real time based on all relevant objects (e.g., some observed by sensors and others computationally generated based on analysis of the sensed workspace) and on the current state of the machinery (e.g., a robot) in the workspace—may utilize a variety of workspace-monitoring approaches as well as dynamic modeling of the robot geometry. The future trajectory of the robot(s) and/or the human(s) may be forecast using, e.g., a model of human movement and other forms of control. Modeling and forecasting of the robot may, in some embodiments, make use of data provided by the robot controller that may or may not include safety guarantees.Type: GrantFiled: February 2, 2023Date of Patent: May 7, 2024Assignee: Veo Robotics, Inc.Inventors: Clara Vu, Scott Denenberg, Abraham K. Feldman
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Patent number: 11969227Abstract: A medical instrument system comprises an instrument manipulator configured to control a position of a medical instrument with respect to a base. The instrument manipulator comprises an instrument carriage comprising a medical instrument connector configured to engage the medical instrument. The instrument carriage is configured to translate along a linear axis to advance or retract the medical instrument with respect to the base. The medical instrument system also comprises an insertion stage slideably engaged with the instrument carriage along the linear axis. The insertion stage has a drive assembly comprising a drive belt and a drive motor configured to drive the drive belt. The base is fixedly coupled to the drive belt. The medical instrument system also comprises a connecting element having a distal end fixedly coupled to the drive belt and a proximal end fixed to the instrument carriage.Type: GrantFiled: October 4, 2019Date of Patent: April 30, 2024Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Matthew D. Rohr Daniel, David W. Bailey
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Patent number: 11969900Abstract: A teaching apparatus includes a display unit having a simulation area in which a viewpoint for a virtual robot as a simulation model of a robot is changeably displayed and an operation area in which a plurality of operation signs for moving a control point of the virtual robot by changing a posture of the virtual robot are displayed, and a display control unit that controls actuation of the display unit, wherein the display control unit changes directions of the respective operation signs in the operation area to interlock with a change of the viewpoint for the virtual robot in the simulation area.Type: GrantFiled: November 24, 2020Date of Patent: April 30, 2024Assignee: SEIKO EPSON CORPORATIONInventor: Yuchi Kokubun
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Patent number: 11969902Abstract: Included is a method for a first robotic device to collaborate with a second robotic device, including: actuating, with a processor of the first robotic device, the first robotic device to execute a first part of a cleaning task; transmitting, with the processor of the first robotic device, information to a processor of the second robotic device upon completion of the first part of the cleaning task; receiving, with the processor of the second robotic device, the information transmitted from the processor of the first robotic device; and actuating, with the processor of the second robotic device, the second robotic device to execute a second part of the cleaning task upon receiving the signal; wherein the first robotic device and the second robotic device are surface cleaning robotic devices with a functionality comprising at least one of vacuuming and mopping.Type: GrantFiled: October 5, 2021Date of Patent: April 30, 2024Assignee: AI IncorporatedInventor: Ali Ebrahimi Afrouzi
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Patent number: 11963478Abstract: The present disclosure relates to a self-propelled robotic work tool (1), e.g. an automatic robotic lawn mower, and a corresponding method. The robotic tool comprises an inertia measurement unit (IMU 15) which generally obtains (25) measured IMU parameters regarding the robotic working tool's movement. A prediction algorithm (17) predicts (27,36) required motor currents for driving the robotic work tool's wheels (5) based on the measured IMU parameters. The predicted motor current is compared (29,37) to the actual current used and the difference constitutes an error (19), which is used in a collision detection unit (21). If the collision detection unit (21) senses that the actually used motor current is much higher than the predicted current, a collision may be indicated (31).Type: GrantFiled: June 12, 2019Date of Patent: April 23, 2024Assignee: HUSQVARNA ABInventor: Jonas Holgersson
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Patent number: 11964392Abstract: A method and a system generate global path planning of a robot according to a node specification principle that is defined based on social norms for an indoor space using an indoor map to assist human-friendly navigation of the robot.Type: GrantFiled: July 8, 2021Date of Patent: April 23, 2024Assignee: NAVER LABS CORPORATIONInventors: Seoktae Kim, Kahyeon Kim
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Patent number: 11960277Abstract: To make it possible to change the action of an unmanned vehicle by reflecting the importance of purposes that can change in response to a change in the situation. An unmanned vehicle (11) acts according to a plurality of purposes. A purpose importance input means (12) inputs the importance of each purpose in the unmanned vehicle (11). An action parameter determining means (13) determines a parameter for controlling the action of the unmanned vehicle (11) based on purpose importance information indicating the input importance of each purpose. An action controlling means (14) controls the action of the unmanned vehicle (11) in accordance with the parameter determined by the action parameter determining means (13).Type: GrantFiled: March 20, 2019Date of Patent: April 16, 2024Assignee: NEC CORPORATIONInventors: Masumi Ichien, Masatsugu Ogawa
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Patent number: 11958199Abstract: A robot control device that controls operation of a robot including a robot arm, a driving section configured to drive the robot arm, and a driving control section configured to receive electric power supplied to the driving section and output power to the driving section based on an input control signal, the robot control device including a logical operation circuit configured to perform a logical operation about a stop signal and output an operation result and a power interruption circuit configured to interrupt, based on the operation result, the electric power supplied to the driving control section or the control signal input to the driving control section to thereby interrupt the power of the driving section.Type: GrantFiled: September 1, 2021Date of Patent: April 16, 2024Assignee: SEIKO EPSON CORPORATIONInventors: Daisuke Higashi, Takahiro Kamijo, Tomonori Yamada, Motoki Ito
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Patent number: 11954910Abstract: Methods, apparatus, and systems for multi-resolution processing for video classification. A plurality of video frames of a video are obtained and a resolution for classifying each video frame of the plurality of video frames is determined by analyzing each video frame using a policy network. Based on the determined resolution, each video frame having a determined resolution is rescaled and each rescaled video frame is routed to a classifier of a backbone network that corresponds to the determined resolution. Each rescaled video frame is classified using the corresponding classifier of the backbone network to obtain a plurality of classifications and the classifications are averaged to determine an action classification of the video.Type: GrantFiled: December 26, 2020Date of Patent: April 9, 2024Assignees: International Business Machines Corporation, MASSACHUSETTS INSTITUTE OF TECHNOLOGY, MAInventors: Rameswar Panda, Yue Meng, Chung-Ching Lin, Rogerio Schmidt Feris, Aude Jeanne Oliva
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Patent number: 11945528Abstract: A hip joint mechanism includes: a hip joint frame; an upper leg movably connected to the hip joint frame; a hip actuator configured to drive the hip joint frame to rotate; two upper leg actuators mounted on the hip joint frame; two transmission mechanisms configured to transmit motion from the two upper leg actuators to the upper leg, wherein each of the upper leg actuators comprises a casing connected to the hip joint frame, and an output shaft connected to one corresponding transmission mechanism, each of the two transmission mechanisms comprises an output end; and three connecting mechanisms, wherein the output ends and the hip joint frame are movably connected to the upper leg through the three connecting mechanisms, the three connecting mechanisms are arranged at three vertices of a triangle.Type: GrantFiled: December 24, 2020Date of Patent: April 2, 2024Assignee: UBTECH ROBOTICS CORP LTDInventors: Liang Huang, Hongyu Ding, Youjun Xiong
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Patent number: 11938907Abstract: A robotic assembly configured to service an engine, wherein the robotic assembly includes an environmental capture device configured to provide information associated with an environment in which the engine is disposed to one or more computing devices, and wherein the one or more computing devices are configured to use the information to inspect the engine before and after repair operations associated with the service to check for repair equipment, or parts thereof, left in the engine after the repair.Type: GrantFiled: October 29, 2020Date of Patent: March 26, 2024Assignees: Oliver Crispin Robotics Limited, General Electric CompanyInventors: Andrew Crispin Graham, David Scott Diwinsky, Byron Andrew Pritchard, Jr., Julian Matthew Foxall
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Patent number: 11938640Abstract: A system and method for perceiving a dish, planning its handling, and controlling its motion, comprising: capturing at least one image of a region disposed to comprise said dish using at least one camera; classifying said image using a dish detection model to determine the presence of a dish; classifying said image using a dish identification model to determine the type of said dish; estimating the position and orientation of said dish using a dish localization model; picking up, holding, or dropping off said dish securely using said type, position, and orientation of said dish with a robotic arm, whereby said dish is detected, identified, and localized to securely move it from one location to another.Type: GrantFiled: March 15, 2021Date of Patent: March 26, 2024Assignee: Dishcare Inc.Inventor: Sri Rama Prasanna Pavani
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Patent number: 11940456Abstract: An automated apparatus can provide pre-analytical processing of samples, racking and forwarding to an adjacent analyzer for analysis. The apparatus may have a controller that implements an auto-learn process to teach robotic handlers the locations within the workspace(s) of the apparatus. A robotic sample handler may include a sensor configured to generate a detection signal when in a near vicinity of a fiducial beacon in the workspace of the apparatus for biological sample preparation, preprocessing and/or diagnostic assay performed by one or more analyzers of the automated apparatus. The controller may control the robotic sample handler to conduct a search pattern so that a location of the fiducial beacon may be detected and thereafter calculated to obtain a more accurate location of the beacon. The calculated positions may then serve as a basis for the controlled movement of samples by the robot to and from locations of the workspace.Type: GrantFiled: September 10, 2019Date of Patent: March 26, 2024Assignee: BECTON DICKINSON AND COMPANYInventors: Christopher John Tesluk, Kevin Bailey, Matthew Wesly, John Moore
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Patent number: 11943116Abstract: Embodiments described herein are directed at mapping and controlling network-enabled IoT devices housed in an environment via a graphical user interface (GUI) of an electronic device. The disclosed features include generating a digital map representing the 3D or the 2D position of the IoT devices in the environment. In some embodiments, the digital map can be overlaid on a layout of a physical floorplan of the environment also showing physical objects in the environment. Different IoT devices in the environment can be controlled via a GUI common to the different IoT devices. Additionally, the GUI can be used to select a group of IoT devices and perform group-wise control of the IoT devices in the group.Type: GrantFiled: December 30, 2020Date of Patent: March 26, 2024Assignee: DISH Network L.L.C.Inventor: Jesus Flores Guerra
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Patent number: 11941503Abstract: A hybrid inference facility receives a sequence of data items. For each data item, the facility: forwards the data item to a server; subjects it to a local machine learning model to produce a local inference result for the data item; and the local inference result to a queue; aggregates the inference results contained by the queue to obtain an output inference result; and removes the oldest inference result from the queue. The facility receives from the server cloud inference results each obtained by applying a server machine learning model to one of the data items forwarded to the server. For each received cloud inference result, the facility substitutes the cloud inference result in the queue for the local inference result for the same data item.Type: GrantFiled: November 11, 2020Date of Patent: March 26, 2024Assignee: EchoNous, Inc.Inventor: Fan Zhang
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Patent number: 11931899Abstract: Automation windows for RPA for attended or unattended robots are disclosed. A child session is created and hosted as a window including the UIs of applications of a window associated with a parent session. Running multiple sessions allows a robot to operate in this child session while the user interacts with the parent session. The user may thus be able to interact with applications that the robot is not using or the user and the robot may be able to interact with the same application if that application is capable of this functionality. The user and the robot are both interacting with the same application instances and file system. Changes made via the robot and the user in an application will be made as if a single user made them, rather than having the user and the robot each work with separate versions of the applications and file systems.Type: GrantFiled: March 17, 2022Date of Patent: March 19, 2024Assignee: UiPath, Inc.Inventor: Andrew Hall
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Patent number: 11931902Abstract: Techniques are disclosed to use robotic system simulation to control a robotic system. In various embodiments, a communication indicating an action to be performed by a robotic element is received from a robotic control system. Performance of the action by the robotic element is simulated. A state tracking data is updated to reflect a virtual change to one or more state variables as a result of simulated performance of the action. Successful completion of the action by the robotic element is reported to the robotic control system.Type: GrantFiled: September 28, 2020Date of Patent: March 19, 2024Assignee: Dexterity, Inc.Inventors: Zhouwen Sun, William Arthur Clary, Kevin Jose Chavez, Ben Varkey Benjamin Pottayil, Rohit Arka Pidaparthi, Roger Lam Hau, Samir Menon
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Patent number: 11927969Abstract: A system includes a robotic vehicle having a propulsion and a manipulator configured to perform designated tasks. The system also including a local controller disposed onboard the robotic vehicle and configured to receive input signals from an off-board controller. Responsive to receiving an input signal for moving in an autonomous mode, the local controller is configured to move the robotic vehicle toward one of the different final destinations by autonomously and iteratively determining a series of waypoints until the robotic vehicle has reached the one final destination. For each iteration, the local controller is configured to determine a next waypoint between a current location of the robotic vehicle and the final destination, determine movement limitations of the robotic vehicle, and generate control signals in accordance with the movement limitations.Type: GrantFiled: July 21, 2020Date of Patent: March 12, 2024Assignee: Transportation IP Holdings, LLCInventors: Ghulam Ali Baloch, Huan Tan, Balajee Kannan, Charles Theurer
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Patent number: 11926057Abstract: A robot system includes a robot including a hand portion which grips and takes out a workpiece from an accommodation unit in which a plurality of workpieces are accommodated, and transports the workpiece to a predetermined position; a robot control unit which controls conveyance operation of the robot of taking out the workpiece from the accommodation unit and transporting the workpiece to the predetermined position; and a conveyance condition setting unit which sets a conveyance condition regarding the conveyance operation and including, in the workpiece, at least a grip prohibited region that is prohibited from being gripped by the hand portion. The robot control unit controls the robot based on the conveyance condition set by the conveyance condition setting unit.Type: GrantFiled: June 14, 2018Date of Patent: March 12, 2024Assignee: YAMAHA HATSUDOKI KABUSHIKI KAISHAInventors: Kota Yamaguchi, Toshihiro Michizoe
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Patent number: 11926382Abstract: An assembly system is provided for automotive lamps and an operation method thereof. The assembly system includes two kinds of functional robots and many functional stations, and it uses the functional robots to transfer workpieces between the various functional stations to realize automatic gluing, fastening and whole lamp performance testing, etc., thereby reducing the amount of manual intervention and improving process integration. Further, the assembly system may provide an assembly system with a two-sided assembly line operating simultaneously, which greatly improves the working efficiency of thereof.Type: GrantFiled: March 19, 2021Date of Patent: March 12, 2024Assignee: Hella GmbH & Co. KGaAInventors: Miguel Lebrato-Rastrojo, Ludger-Josef Grüne, Ingo Engler, Thomas Albert Röbbecke, Jun Yue, Tao Hu, Wei Hu
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Patent number: 11927964Abstract: An autonomous work machine that works in a work area while autonomously traveling in the work area, comprises a specification unit configured to specify, based on information of a position detection unit configured to detect position information, a self-position of the autonomous work machine, a determination unit configured to determine, based on the self-position, whether the autonomous work machine has reached a perimeter portion of a no-work area positioned within the work area, and a control unit configured to control the autonomous work machine to do a lap along the perimeter portion in a case in which the autonomous work machine is determined to have reached the perimeter portion.Type: GrantFiled: May 7, 2021Date of Patent: March 12, 2024Assignee: HONDA MOTOR CO., LTD.Inventors: Naoki Kameyama, Keiji Muro, Minami Kigami
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Patent number: 11919161Abstract: A robotic grasp generation technique for machine tending applications. Part and gripper geometry are provided as inputs, typically from CAD files. Gripper kinematics are also defined as an input. Preferred and prohibited grasp locations on the part may also be defined as inputs, to ensure that the computed grasp candidates enable the robot to load the part into a machining station such that the machining station can grasp a particular location on the part. An optimization solver is used to compute a quality grasp with stable surface contact between the part and the gripper, with no interference between the gripper and the part, and allowing for the preferred and prohibited grasp locations which were defined as inputs. All surfaces of the gripper fingers are considered for grasping and collision avoidance. A loop with random initialization is used to automatically compute many hundreds of diverse grasps for the part.Type: GrantFiled: October 15, 2021Date of Patent: March 5, 2024Assignee: FANUC CORPORATIONInventor: Yongxiang Fan
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Patent number: 11921517Abstract: A method of controlling movement of a robotic cleaning device over an area to be cleaned. The method includes storing at least one representation of the area over which the robotic cleaning device is to move, receiving an instruction to execute a cleaning program, localizing, in response to the instruction, the robotic cleaning device relative to the stored representation, and moving over the area to be cleaned as stipulated by the cleaning program by taking into account the stored representation.Type: GrantFiled: September 26, 2017Date of Patent: March 5, 2024Assignee: Aktiebolaget ElectroluxInventors: Magnus Lindhé, Petter Forsberg, Niklas Nordin
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Patent number: 11921509Abstract: Provided is an information processing apparatus including: a motion control unit (107) that controls a motion of an autonomous moving body (10), in which, when transmitting/receiving internal data related to the autonomous moving body, the motion control unit causes the autonomous moving body to express execution of the transmission/reception of the internal data by an action.Type: GrantFiled: October 2, 2019Date of Patent: March 5, 2024Assignee: SONY GROUP CORPORATIONInventors: Sayaka Watanabe, Jianing Wu, Jingjing Guo, Natsuko Ozaki, Jun Yokono
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Patent number: 11924023Abstract: A technology is described for redundant network communication in a robot. An example of the technology can include a main robotic controller and a robotic component including a local controller and a controlled component that is operable based on a data signal comprising control instructions executed by the local controller. A command can be sent between the main robotic controller and the local controller. The command can be encoded in a first data signal and a second data signal. The first data signal can be sent over a first network channel, and the second data signal can be sent over a second network channel. The first data signal and the second data signal can be configured to be redundant data signals for the local controller sent respectively over the first network channel and the second network channel.Type: GrantFiled: November 17, 2022Date of Patent: March 5, 2024Assignee: Sarcos Corp.Inventors: Fraser M. Smith, Marc X. Olivier
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Patent number: 11911919Abstract: A method performed by a computing system is presented. The method may include the computing system receiving image information that represents an object surface associated with a flexible object, and identifying, as a grip region, a surface region of the object surface that satisfies a defined smoothness condition and has a region size that is larger than or equal to a defined region size threshold, wherein the grip region is identified based on the image information. The method may further include identifying, as a safety region, a three-dimensional (3D) region which surrounds the grip region in one or more horizontal dimensions, and which extends from the grip region along a vertical dimension that is perpendicular to the one or more horizontal dimensions. The method may further include performing robot motion planning based on the grip region and the safety region.Type: GrantFiled: March 5, 2021Date of Patent: February 27, 2024Assignee: MUJIN, INC.Inventors: Jose Jeronimo Moreira Rodrigues, Rosen Nikolaev Diankov, Jinze Yu, Ahmed Abouelela, Yoshiki Kanemoto
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Patent number: 11906952Abstract: Systems and methods for operating a mining machine with respect to a geofence. One system includes an electronic processor configured to determine a first virtual operation zone positioned around the mobile industrial machine, where the first virtual operation zone is a dynamic area around the mobile industrial machine. The electronic processor is also configured to modify a parameter of the first virtual operation zone.Type: GrantFiled: February 19, 2021Date of Patent: February 20, 2024Assignee: JOY GLOBAL SURFACE MINING INCInventor: Keshad Darayas Malegam
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Patent number: 11905000Abstract: A flying device includes a flight unit; and a flight control unit that performs, in a case where a flight position by the flight unit is out of a predetermined range, a control that is different from a control in a case where the flight position is within the predetermined range.Type: GrantFiled: March 23, 2017Date of Patent: February 20, 2024Assignee: NIKON CORPORATIONInventors: Katsuki Ohata, Takanori Shioda, Marie Shimoyama, Toru Kijima, Shinichi Miyauchi, Sho Nakamura, Ryo Tsubata, Masaki Kaneko
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Patent number: 11903660Abstract: Some embodiments are directed to a surgical robotic system for use in a surgical procedure, including a surgical arm having a movable arm part for mounting of a surgical instrument having at least one degree-of-freedom to enable longitudinal movement of the surgical instrument towards a surgical target. Some other embodiments are directed to a human machine interface for receiving positioning commands from a human operator for controlling the longitudinal movement of the surgical instrument, and an actuator configured for actuating the movable arm part to effect the longitudinal movement of the surgical instrument, and controlled by a processor in accordance with the positioning commands and a virtual bound. The virtual bound establishes a transition in the control of the longitudinal movement of the surgical instrument in a direction towards the surgical target. The virtual bound is determined, during use of the surgical robotic system, based on the positioning commands.Type: GrantFiled: April 21, 2021Date of Patent: February 20, 2024Assignee: PRECEYES B.V.Inventors: Maarten Joannes Beelen, Gerrit Jacobus Lambertus Naus, Hildebert Christiaan Matthijs Meenink, Marc Joseph Dominique De Smet
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Patent number: 11904462Abstract: A server 3 includes a user dynamic data recognition unit 3a1 that recognizes, during guidance, user dynamic data; a guidance request estimation unit 3c that estimates a guidance request of a user during the guidance, based on the user dynamic data; and a guidance action determination unit 3f that determines a guidance action to be taken by a robot 2 during the guidance, based on the estimated guidance request.Type: GrantFiled: August 28, 2019Date of Patent: February 20, 2024Assignee: HONDA MOTOR CO., LTD.Inventor: Haruomi Higashi
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Patent number: 11902939Abstract: A wireless communication network that includes a backhaul network interconnecting node devices for extending a radio coverage of a wireless fronthaul network by using a plurality of access points of the wireless fronthaul network, the communication channel is used for interconnecting said node devices. A node device of the backhaul network makes an evaluation of the transmission conditions of its radio environment; calculates a score representing a quality of transmission via this communication channel; transmits to said master node device a message requesting change of communication channel of the backhaul network when at least one other communication channel has obtained a better score than the communication channel selected by the master node device. On reception of the message, master node device obtains scores for the other node devices, and decides to change, or not, communication channel used in the backhaul network according to the scores obtained.Type: GrantFiled: May 27, 2021Date of Patent: February 13, 2024Assignee: SAGEMCOM BROADBAND SASInventors: Massinissa Lalam, Laurent Alarcon
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Patent number: 11897137Abstract: The present application relates to a method for robot control. The method includes: obtaining at least one parameter associated with a robot to be controlled by a controller; determining a first identity of the robot based on the at least one parameter; comparing the first identity with a pre-stored second identity; and in response to the first identity matching the second identity, controlling operations of the robot with the controller. The present application further discloses detection of a mismatch between the controller and the robot in an easy, safe and convenient way.Type: GrantFiled: August 28, 2020Date of Patent: February 13, 2024Assignee: ABB SCHWEIZ AGInventors: Bojun Ma, Wengui Pan, Yanjun Wang
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Patent number: 11897126Abstract: A module (200) for connecting a mobile robot (110) to associated equipment (400) is provided, as well as to a device (700, 800) for connecting equipment to a docking station (900, 1000). The module (200) has a housing (210) defining the exterior of said module (200). The module (200) comprises a plurality of locking members (220a, 220b, 220c, 220d) each being moveable between an idle position, in which the locking member (220a, 220b, 220c, 220d) is arranged fully within said housing (210), and a projecting position, in which at least a part of the locking member (220a, 220b, 220c, 220d) is extending outside the housing (210).Type: GrantFiled: September 28, 2018Date of Patent: February 13, 2024Assignee: Roeq ApSInventors: Michael Ejstrup Hansen, Benedikt Snævar Sigurgeirsson Lund, Carsten Sørensen
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Patent number: 11893989Abstract: A system and method for controlling an electronic eyewear device using voice commands receives audio data from a microphone, processes the audio data to identify a wake word, and upon identification of a wake word, processes the audio data to identify at least one action keyword in the audio data. The audio data is provided to one of a plurality of controllers associated with different action keywords or sets of action keywords to implement an action. For example, the audio data may be provided to a settings controller to adjust settings of the electronic eyewear device when the action keyword is indicative of a request to adjust a setting of the electronic eyewear device or to a navigation controller to navigate to the system information of the electronic eyewear device when the action keyword is indicative of a request to navigate to system information of the electronic eyewear device.Type: GrantFiled: July 13, 2021Date of Patent: February 6, 2024Assignee: Snap Inc.Inventor: Piotr Gurgul
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Patent number: 11892835Abstract: The present disclosure is directed to systems and techniques for controlling an autonomous vehicle. While the autonomous vehicle is travelling to a destination, the autonomous vehicle may encounter a situation preventing the autonomous vehicle from travelling to the destination. A control center may receive information from the autonomous device and use a graphical user interface to provide instructions with limited controls for the autonomous vehicle to navigate to an intermediate position. In such an intermediate position, the vehicle may make way for an emergency vehicle, obtain additional sensor data for continued autonomous planning, signal intent to other objects in the environment, and the like.Type: GrantFiled: July 26, 2019Date of Patent: February 6, 2024Assignee: ZOOX, INC.Inventors: Ravi Gogna, Meredith James Goldman
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Patent number: 11894253Abstract: A semiconductor wafer transport apparatus having a transport arm and at least one end effector. An optical edge detection sensor is coupled to the transport arm and is configured so as to register and effect edge detection of a wafer supported by the end effector. An illumination source illuminates a surface of the wafer and is disposed with respect to the optical edge detection sensor so that the surface directs reflected surface illumination, from the illumination source, toward the optical edge detection sensor, and optically blanks, at the peripheral edge of the wafer, background reflection light of a background, viewed by the optical edge detection sensor coincident with linear traverse of the wafer supported by the at least one end effector. The peripheral edge of the wafer is defined in relief in image contrast to effect edge detection coincident with traverse of the wafer supported by the end effector.Type: GrantFiled: April 5, 2022Date of Patent: February 6, 2024Assignee: Brooks Automation US, LLCInventor: Caspar Hansen
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Patent number: 11890760Abstract: A balancer abnormality detection system includes: a robot; a motor configured to operate the robot; a balancer provided in the robot and configured to generate assist torque which assists power of the motor with force generated by elastic bodies; and a controller configured to detect abnormality of the balancer by measuring a current value of the motor operated to keep a posture of the robot during standby of the robot and comparing the current value with a current command value of the motor necessary for keeping the posture of the robot.Type: GrantFiled: December 1, 2020Date of Patent: February 6, 2024Assignee: FANUC CORPORATIONInventor: Yuusei Onodera
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Patent number: 11887316Abstract: A method for motion recognition and embedding is disclosed. The method may include receiving a plurality of frames of an input video for extracting a feature vector of a motion in the plurality of frames, generating a plurality of sets of one or more motion component bits based on the feature vector and a plurality of classifiers, the plurality of sets corresponding to the plurality of classifiers, each set of one or more motion component bits representing a physical or mechanical attribute of the motion; and generating a motion code for a machine to execute the motion by combining the plurality of sets of one or more motion component bits. Other aspects, embodiments, and features are also claimed and described.Type: GrantFiled: July 12, 2021Date of Patent: January 30, 2024Assignee: UNIVERSITY OF SOUTH FLORIDAInventors: Yu Sun, David Andres Paulius, Maxat Alibayev
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Patent number: 11883118Abstract: A surgical navigation system may include a processor and a display. The processor may receive a patient image and sensor data captured by a sensor, receive a medical image, generate a hologram of the medical image, perform coregistration between the patient image and the hologram, superimpose the hologram on the patient image, and display the superimposed image. Coregistration may be performed manually via a user interaction, or automatically based on one or more fiducials in the medical image and sensor data related to the fiducials. The system may monitor a change in the environment and update the display correspondingly. For example, the system may monitor a movement of a body of the patient, monitor the size of an organ of the patient as the organ is being under operation, or a movement of the surgical instrument. The sensor may be an augmented reality (AR) sensor in an AR device.Type: GrantFiled: November 10, 2022Date of Patent: January 30, 2024Assignees: United States Government As Represented By The Department Of Veterans Affairs, Hennepin Healthcare Systems, Inc.Inventors: Uzma Samadani, Abdullah Bin Zahid, David P. Darrow
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Patent number: 11880204Abstract: A method includes obtaining, from an operator of a robot, a return execution lease associated with one or more commands for controlling the robot that is scheduled within a sequence of execution leases. The robot is configured to execute commands associated with a current execution lease that is an earliest execution lease in the sequence of execution leases that is not expired. The method includes obtaining an execution lease expiration trigger triggering expiration of the current execution lease. After obtaining the trigger, the method includes determining that the return execution lease is a next current execution lease in the sequence. While the return execution lease is the current execution lease, the method includes executing the one or more commands for controlling the robot associated with the return execution lease which cause the robot to navigate to a return location remote from a current location of the robot.Type: GrantFiled: March 19, 2021Date of Patent: January 23, 2024Assignee: Boston Dynamics, Inc.Inventors: Thomas Hopkins Miller, Christopher Bentzel
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Patent number: 11878418Abstract: A method for controlling at least one effector trajectory of an effector of a robot for solving a predefined task is proposed. A sequence of postures are acquired to modify at least one of a contact constraint topology and an object constraint topology. A set of constraint equations are generated based on at least one of the modified contact constraint topology and the modified object constraint topology. On the generated set of constraint equations, a constraint relaxation is performed to generate a task description including a set of relaxed constraint equations. The at least one effector trajectory is generated by applying a trajectory generation algorithm on the task description. An inverse kinematics algorithm is performed to generate a control signal from the at least one effector trajectory. At least one effector is controlled to execute the at least one effector trajectory based on the generated control signal.Type: GrantFiled: March 30, 2021Date of Patent: January 23, 2024Assignee: Honda Research Institute Europe GmbHInventor: Michael Gienger