Abstract: A method of identifying stairs from footfalls includes receiving a plurality of footfall locations of a robot traversing an environment. Each respective footfall location indicates a location where a leg of the robot contacted a support surface. The method also includes determining a plurality of candidate footfall location pairs based on the plurality of footfall locations. The candidate footfall location pair includes a first and a second candidate footfall location. The method further includes clustering the first candidate footfall location into a first cluster group based on a height of the first candidate footfall location and clustering the second candidate footfall location into a second cluster group based on a height of the second candidate footfall location. The method additionally includes generating a stair model by representing each of the cluster groups as a corresponding stair and delineating each stair based on a respective midpoint between each adjacent cluster group.

Abstract: A method includes receiving sensor data of an environment about a robot and generating a plurality of waypoints and a plurality of edges each connecting a pair of the waypoints. The method includes receiving a target destination for the robot to navigate to and determining a route specification based on waypoints and corresponding edges for the robot to follow for navigating the robot to the target destination selected from waypoints and edges previously generated. For each waypoint, the method includes generating a goal region encompassing the corresponding waypoint and generating at least one constraint region encompassing a goal region. The at least one constraint region establishes boundaries for the robot to remain within while traversing toward the target destination. The method includes navigating the robot to the target destination by traversing the robot through each goal region while maintaining the robot within the at least one constraint region.

Abstract: A method for online authoring of robot autonomy applications includes receiving sensor data of an environment about a robot while the robot traverses through the environment. The method also includes generating an environmental map representative of the environment about the robot based on the received sensor data. While generating the environmental map, the method includes localizing a current position of the robot within the environmental map and, at each corresponding target location of one or more target locations within the environment, recording a respective action for the robot to perform. The method also includes generating a behavior tree for navigating the robot to each corresponding target location and controlling the robot to perform the respective action at each corresponding target location within the environment during a future mission when the current position of the robot within the environmental map reaches the corresponding target location.

Abstract: A payment card is provided with a display. A card may be provided to a user with a number of inactivated products. The products may be assigned to the user at card issuance. A user may then activate these products online or via phone. Accordingly, a user may be provided with a cross-selling platform for new products. Discounts, fee waivers, and/or value may be added to an account when an inactivated product is activated.

Abstract: Systems and methods related to roadmaps for mobile robotic devices are provided. A computing device can determine a roadmap that includes a first intersection associated with first and second edges. The computing device can determine an edge interaction region (EIR) surrounding the first intersection that includes portions of the first and second edges, where a traversal region on the first edge portion can overlap a traversal region on the second edge portion. The computing device can determine first and second sub-edges of the first edge; the first sub-edge within the EIR and the second sub-edge outside the EIR. The computing device can receive a request to determine a route, determine the route specifying travel along the first sub-edge with a first rule set and along the second sub-edge with a second rule set, and provide the route.

Abstract: An example implementation involves controlling robots with non-constant body pitch and height. The implementation involves obtaining a model of the robot that represents the robot as a first point mass rigidly coupled with a second point mass along a longitudinal axis. The implementation also involves determining a state of a first pair of legs, and determining a height of the first point mass based on the model and the state of the first pair of legs. The implementation further involves determining a first amount of vertical force for at least one leg of the first pair of legs to apply along a vertical axis against a surface while the at least one leg is in contact with the surface. Additionally, the implementation involves causing the at least one leg of the first pair of legs to begin applying the amount of vertical force against the surface.

Abstract: Provided are embodiments of control devices capable of simultaneously measuring six degrees of freedom and electronic systems comprising the control devices. In some embodiments, the control devices are useful for controlling and/or directing movement of vehicles and virtual entities through operation of the control device with a computer processor, computer interface and, optionally a display.

Abstract: This specification discloses an aircraft maintenance kit. The aircraft maintenance kit comprises a plurality of packages with each package of the plurality of packages comprising a unique aircraft maintenance zone designation and at least one maintenance zone component. Each unique aircraft maintenance zone designation preferably corresponds to a unique maintenance zone of the aircraft. Preferably, the aircraft maintenance kit also comprises an aircraft schematic comprising a plurality of aircraft schematic zones. Each aircraft schematic zone preferably comprises a unique aircraft schematic zone designation corresponding to one of the unique aircraft maintenance zone designations.

Abstract: A method for operating a robot includes receiving a drive command to drive the robot across a work surface. The drive command includes a work mode command or a travel mode command. In response to receiving the work mode command, the method includes operating the robot in a work mode. In the work mode, the robot dynamically balances on a right drive wheel and a left drive wheel on the work surface, while keeping a non-drive wheel off of the work surface. In response to receiving the travel mode command, the method includes operating the robot in a travel mode. In the travel mode, the robot statically balances on the right drive wheel, the left drive wheel, and the non-drive wheel in contact with the work surface.

Abstract: Disclosed is a distal radio ulnar joint prosthesis system, and the method of use for the same, the system comprising an ulnar stem component, and ulnar head component, a set screw, and a sigmoid notch component, the system providing a prosthesis for replacement of the distal radio ulnar joint to restore the pronation-supination motion of the forearm as well as stability between the ulna and radius; a DRUJ prosthesis adapted for rotational alignment of the replacement joint along the axis of forearm rotation; a DRUJ prosthesis which allows for the use of a number of different sized heads having differing geometries; a DRUJ prosthesis adapted for variable pivoting alignment between the replacement distal ulnar head and the ulna; and a DRUJ prosthesis adapted for adjustment in the alignment between the articulating surface of the ulnar head and the sigmoid notch.

Abstract: An example robot includes: a leg having an upper leg member and a lower leg member coupled to the upper leg member at a knee joint; a screw actuator disposed within the upper leg member, where the screw actuator has a screw shaft and a nut mounted coaxial to the screw shaft such that the screw shaft is rotatable within the nut; a motor mounted at an upper portion of the upper leg member and coupled to the screw shaft; a carrier coupled and mounted coaxial to the nut such that the nut is disposed at a proximal end of the carrier; and a linkage coupled to the carrier, where the linkage is coupled to the lower leg member at the knee joint.

Abstract: This specification discloses an article of manufacture. The article of manufacture has at least one structural blank and at least one guide. The structural blank has a plurality of oriented fiber plies in a thermoplastic matrix. The guide has a plurality of random dispersed fibers in a thermoplastic matrix. The guide is affixed to the structural blank by injection molding and over molding the guide onto the structural blank. The article of manufacture can take a number of forms for use in industries such as aircraft, automobiles, motorcycles, bicycles, trains or watercraft.

Abstract: A robotic device includes a control system. The control system receives a first measurement indicative of a first distance between a center of mass of the machine and a first position in which a first leg of the machine last made initial contact with a surface. The control system also receives a second measurement indicative of a second distance between the center of mass of the machine and a second position in which the first leg of the machine was last raised from the surface. The control system further determines a third position in which to place a second leg of the machine based on the received first measurement and the received second measurement. Additionally, the control system provides instructions to move the second leg of the machine to the determined third position.

Abstract: A user is provided with a GUI that may allow the user to change functionality associated with a non-powered card, a powered card or other device (e.g., a mobile telephonic device). The functionality associated with the device may be displayed by the GUI as a list of third-party applications that may be executed when the user's card or other device is used to complete a purchase transaction. The GUI allows the user to purchase/redeem goods and/or services from a third-party vendor after the purchase transaction is completed or may allow the goods and/or services to be purchased/redeemed without first requiring a purchase transaction. A fulfillment system hosted by a remote facility administers the goods/services delivery by tracking user information, mailing information, and delivery status tracking information.

Abstract: A method for negotiating stairs includes receiving image data about a robot maneuvering in an environment with stairs. Here, the robot includes two or more legs. Prior to the robot traversing the stairs, for each stair, the method further includes determining a corresponding step region based on the received image data. The step region identifies a safe placement area on a corresponding stair for a distal end of a corresponding swing leg of the robot. Also prior to the robot traversing the stairs, the method includes shifting a weight distribution of the robot towards a front portion of the robot. When the robot traverses the stairs, the method further includes, for each stair, moving the distal end of the corresponding swing leg of the robot to a target step location where the target step location is within the corresponding step region of the stair.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating a spatio-temporal object inventory based on object observations from mobile robots and determining, based on the spatio-temporal object inventory, monitoring parameters for the mobile robots for one or more future time periods. Some implementations relate to using the spatio-temporal object inventory to determine a quantity of movements of objects that occur in one or more areas of the environment when one or more particular criteria are satisfied—and using that determination to determine monitoring parameters that can be utilized to provide commands to one or more of the mobile robots that influence one or more aspects of movements of the mobile robots at future time periods when the one or more particular criteria are also satisfied.

Abstract: An example implementation involves receiving measurements from an inertial sensor coupled to the robot and detecting an occurrence of a foot of the legged robot making contact with a surface. The implementation also involves reducing a gain value of an amplifier from a nominal value to a reduced value upon detecting the occurrence. The amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value. The implementation further involves increasing the gain value from the reduced value to the nominal value over a predetermined duration of time after detecting the occurrence. The gain value is increased according to a profile indicative of a manner in which to increase the gain value of the predetermined duration of time. The implementation also involves controlling at least one actuator of the legged robot based on the modulated output during the predetermined duration of time.

Abstract: An apparatus, system, and method provide hi-hat control for use as an electronic controller for a drum/cymbal hi-hat instrument. The hi-hat controller is an interface for field mounting, e.g., retrofit, for use with existing hi-hat foot pedals to provide a seamless conversion of an acoustic hi-hat foot pedal into an input device for use with electronic drum modules and other signal generating devices.

Abstract: A card is provided with a light sensor operable to receive information via light emitted from a display screen or another source of light. Accordingly, a mobile telephonic device or portable computer (e.g., tablet computer) may communicate information to a card via light pulses. Information communicated via light may include, for example, points balances, credit balances, debit balances, transaction history, software updates, coupons, promotions, advertisements or any other type of information.

Abstract: An example system is disclosed for thermal management of batteries. The system may include a cell bank that includes first and second cell frame sections, a heat bus, and thermal interface material. The first and second cell frame sections may define opposite surfaces of the cell bank. Each cell frame section may include recesses to align battery cells for welding and provided conductive connections between the cells to create a string of cells with a combined power output. Each recess may include a divider between the battery cells to preload the cells against a thermal junction during assembly. The heat bus may be provided between the cell frame sections. The heat bus may include heat pipes that extend between the battery cells and across the cell frame sections. The thermal interface material may be positioned to transfer heat from the cells to the heat pipes at their thermal junction.