Patents Examined by Adam Mott
  • Patent number: 10024664
    Abstract: A navigation system includes an image acquisition device for acquiring a range image of a target vehicle, at least one processor, a memory including a target vehicle model and computer readable program code, where the processor and the computer readable program code are configured to cause the navigation system to convert the range image to a point cloud having three dimensions, compute a transform from the target vehicle model to the point cloud, and use the transform to estimate the target vehicle's attitude and position for capturing the target vehicle.
    Type: Grant
    Filed: September 30, 2014
    Date of Patent: July 17, 2018
    Assignee: The United States of America as represented by the Administrator of the National Aeronautics and Space Administration
    Inventors: Nathaniel Gill, John M. Van Eepoel, Joseph M. Galante
  • Patent number: 9833907
    Abstract: Example implementations may relate to a computing device configured to operate a robotic system. In particular, the device receives input data that is generated by a hand-holdable controller including a knob, where the knob includes touch sensors arranged to detect touch on surfaces of the knob. Based on the input data, the device detects that the controller is within a first threshold distance from a first component of the robotic system and responsively operates the first component of the robotic system based on the input data. The device then receives subsequent input data that is generated by the controller. Based on the subsequent input data, the device subsequently detects that the controller is within a second threshold distance from a second component of the robotic system and responsively operates the second component of the robotic system based on the subsequent input data.
    Type: Grant
    Filed: June 22, 2015
    Date of Patent: December 5, 2017
    Assignee: X Development LLC
    Inventors: Jeffrey Linnell, Anthony Sean Jules
  • Patent number: 9802309
    Abstract: Example embodiments may relate to robot-cloud interaction. In particular, a cloud-based service may receive a query from a first robotic system including sensor data, a request for instructions to carry out a task, and information associated with a configuration of the first robotic system. The cloud-based service may then identify stored data including a procedure previously used by a second robotic system to carry out the task and information associated with a configuration of the second robotic system. The cloud-based service may then generate instructions for the first robotic system to carry out the task based at least in part on the sensor data, the procedure used by the second robotic system to carry out the task, the information associated with the configuration of the first robotic system, and the information associated with the configuration of the second robotic system.
    Type: Grant
    Filed: July 21, 2015
    Date of Patent: October 31, 2017
    Assignee: X Development LLC
    Inventors: James Joseph Kuffner, Jared Stephen Russell
  • Patent number: 9796413
    Abstract: An electric power steering apparatus including a steering wheel returning control section for driving a motor by a compensation current command value. The apparatus calculates a target returning torque based on a steering angle and a vehicle speed, corrects the target returning torque with a steering torque and an assist torque, multiplies by a transmission characteristic corresponding to a virtual steering system characteristic based on a correction torque and a viscosity coefficient, multiplies a deviation between a target steering angle speed and an actual steering angle speed by a vehicle speed gain and a steering torque gain to obtain a steering wheel returning control gain, and performs control calculation with respect to the steering wheel returning control gain, performs an output limit in response to the vehicle speed gain and the steering torque gain, and obtain a steering wheel returning control current.
    Type: Grant
    Filed: May 13, 2015
    Date of Patent: October 24, 2017
    Assignee: NSK LTD.
    Inventor: Tetsuya Kitazume
  • Patent number: 9792546
    Abstract: A robot may be trained by a user guiding the robot along target trajectory using a control signal. A robot may comprise an adaptive controller. The controller may be configured to generate control commands based on the user guidance, sensory input and a performance measure. A user may interface to the robot via an adaptively configured remote controller. The remote controller may comprise a mobile device, configured by the user in accordance with phenotype and/or operational configuration of the robot. The remote controller may detect changes in the robot phenotype and/or operational configuration. The remote controller may comprise multiple control elements configured to activate respective portions of the robot platform. Based on training, the remote controller may configure composite controls configured based two or more of control elements. Activation of a composite control may enable the robot to perform a task.
    Type: Grant
    Filed: June 14, 2013
    Date of Patent: October 17, 2017
    Assignee: Brain Corporation
    Inventors: Jean-Baptiste Passot, Oleg Sinyavskiy, Filip Ponulak, Patryk Laurent, Borja Ibarz Gabardos, Eugene Izhikevich, Vadim Polonichko
  • Patent number: 9776325
    Abstract: Described is system for tele-robotic operations over time-delayed communication links. Sensor data is acquired from at least one sensor for sensing surroundings of a robot having at least one robotic arm for manipulating an object. A three-dimensional model of the sensed surroundings is generated, and the sensor data is fit to the three-dimensional model. Using the three-dimensional model, a user demonstrates a movement path for the at least one robotic arm. A flow field representing the movement path is generated and combined with obstacle-repellent forces to provide force feedback to the user through a haptic device. The flow field comprises a set of parameters, and the set of parameters are transmitted to the robot to execute a movement of the at least one robotic arm for manipulating the object.
    Type: Grant
    Filed: November 6, 2013
    Date of Patent: October 3, 2017
    Assignee: HRL Laboratories, LLC
    Inventors: Heiko Hoffmann, David W. Payton, Vincent De Sapio
  • Patent number: 9778062
    Abstract: Map information is exchanged between communication devices. A map of a geographical area is received. The map includes embedded interactive links that graphically represent points of interest within the geographical area. An embedded interactive link that graphically represents at least one point of interest is highlighted within the map. Responsive to selection of another embedded interactive link within the map that graphically represents another point of interest within the geographical area, the other embedded link within the map is highlighted. The map is transmitted, with the other embedded interactive link that graphically represents the other point of interest highlighted.
    Type: Grant
    Filed: July 2, 2015
    Date of Patent: October 3, 2017
    Assignee: AT&T Mobility II LLC
    Inventors: Michael Zubas, Mark Causey, Adrianne Binh Luu
  • Patent number: 9776509
    Abstract: A method and an apparatus are described for adaptive cruise control in a road vehicle, as well as a road vehicle including such an apparatus. One of four control regions is determined and a set of control parameters chosen in dependence of the detected control region. An acceleration command is provided, based on the chosen set of control parameters, using a sliding surface and a control law that ensures convergence to the sliding surface.
    Type: Grant
    Filed: January 19, 2016
    Date of Patent: October 3, 2017
    Assignee: Volvo Car Corporation
    Inventors: Stefan Solyom, Oskar Nordin
  • Patent number: 9764477
    Abstract: A system, method and computer-readable storage devices are for processing natural language commands, such as commands to a robotic arm, using a Tag & Parse approach to semantic parsing. The system first assigns semantic tags to each word in a sentence and then parses the tag sequence into a semantic tree. The system can use statistical approach for tagging, parsing, and reference resolution. Each stage can produce multiple hypotheses, which are re-ranked using spatial validation. Then the system selects a most likely hypothesis after spatial validation, and generates or outputs a command. In the case of a robotic arm, the command is output in Robot Control Language (RCL).
    Type: Grant
    Filed: December 1, 2014
    Date of Patent: September 19, 2017
    Assignee: AT&T Intellectual Property I, L.P.
    Inventors: Svetlana Stoyanchev, Srinivas Bangalore, John Chen, Hyuckchul Jung
  • Patent number: 9758183
    Abstract: Methods, program products, and systems for building a location fingerprint database for a transit system are described. The transit system can be a subway system including underground train stations and routes where location determination using GPS signals is difficult or impossible. A sampling device can measure signals, e.g., radio frequency (RF) signals detected at the stations or on the routes. A location server can construct a location fingerprint for each of the stations and the routes. Each location fingerprint can represent expected signal measurements by a user device if the user device is located at the respective station or route. The location server can provide the location fingerprint to a user device for the user device to determine a location of the user device within the station or on the route.
    Type: Grant
    Filed: September 30, 2014
    Date of Patent: September 12, 2017
    Assignee: Apple Inc.
    Inventors: David Benjamin Millman, Johan Olav Bergerengen, Robert Mayor, Brian Stephen Smith
  • Patent number: 9740203
    Abstract: A drive assist apparatus includes an arrival window time calculation unit configured to calculate an arrival window time before the vehicle arrives at a switching completion point, a driving concentration degree estimation unit configured to estimate a driving concentration degree of a driver based on a state of the driver when the arrival window time is equal to or shorter than a predetermined time, and a stimulation providing unit configured to provide a stimulus to the driver according to the driving concentration degree. In a case where the driving concentration degree is equal to or less than a threshold value set in advance, the stimulation providing unit provides a stimulus to the driver, which is stronger than that in a case where the driving concentration degree is greater than the threshold value, or provides a stronger stimulus to the driver in accordance with reduction in the driving concentration degree.
    Type: Grant
    Filed: January 19, 2016
    Date of Patent: August 22, 2017
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Jun Sato, Masahiro Iwasaki
  • Patent number: 9724824
    Abstract: A method of optimizing social interaction between a robot and a human. The method comprises generating then executing a robot motion script for interaction with a human by a robot based on a characteristic detected by at least one of a plurality of sensors on the robot. The method further comprises detection, by at least one sensor of the robot, a reaction of the human during a first period. The robot then analyzes the reaction of the human and assigns a positive or negative classification to the reaction based on pre-defined mapping stored in the memory of the robot. The method further comprises modifying the robot motion script to incorporate a pre-defined modification based on the determination of a negative classification of the human reaction. The method further comprises executing the modified robot motion script during a second period to obtain an improved interaction with the human.
    Type: Grant
    Filed: July 8, 2015
    Date of Patent: August 8, 2017
    Assignee: Sprint Communications Company L.P.
    Inventors: Brandon Annan, Joshua R. Cole, Deborah M. Gilbert, Dhananjay Indurkar
  • Patent number: 9724826
    Abstract: Methods, apparatus, systems, and computer-readable media are provided for determining one or more spatial constraints associated with an object to be acted upon by a robot; determining a plurality of candidate physical arrangements of the object that satisfy the one or more spatial constraints; calculating, for one or more of the plurality of candidate physical arrangements of the object, a candidate physical arrangement cost that would be incurred as a result of the robot acting upon the object in the candidate physical arrangement; and selecting, from the plurality of candidate physical arrangements, a candidate physical arrangement associated with a candidate physical arrangement cost that satisfies a criterion.
    Type: Grant
    Filed: May 28, 2015
    Date of Patent: August 8, 2017
    Assignee: X DEVELOPMENT LLC
    Inventor: Mario Prats
  • Patent number: 9718186
    Abstract: A robot includes a work tool that performs a work to a work point, and a moving unit that moves the work tool and changes the posture thereof. A console receives an operation to designate the coordinates of arbitrary two or three points on an inclined surface. Upon this operation, a processor calculates a direction of the work tool toward the work point from a work start point based on the coordinates of the arbitrary two or three points, next, a control unit moves the work tool to the work start point, directs the posture of the work tool toward the work point in accordance with the calculation by the processor, and causes the work tool to start a process to the work point.
    Type: Grant
    Filed: April 10, 2015
    Date of Patent: August 1, 2017
    Assignee: JANOME SEWING MACHINE CO., LTD.
    Inventors: Kenichiro Hiruma, Masakazu Shimbara, Yoshikazu Suganuma
  • Patent number: 9718523
    Abstract: A robotic submersible includes a housing having a body and a tail. In another aspect, a pump and a pump tank adjust the buoyancy of a submersible housing. In a further aspect, a first linear actuator controls the pump and/or a buoyancy, and/or a second linear actuator controls a position of a battery and/or adjusts a center of gravity. Another aspect includes a pump and at least one linear actuator that control gliding movements of the housing. In still a further aspect, a motor couples a tail with a body, such that the motor controls the movements of the tail to create a swimming movement. Moreover, an additional aspect provides a controller selectively operating the pump, first actuator, second actuator, and motor to control when swimming and gliding movements occur.
    Type: Grant
    Filed: October 23, 2014
    Date of Patent: August 1, 2017
    Assignee: Board of Trustees of Michigan State University
    Inventors: Xiaobo Tan, Feitian Zhang, Jianxun Wang, John Thon
  • Patent number: 9722640
    Abstract: A method and system for determining position and/or pose of an object. A robotic device moves throughout an environment and includes a master transceiver tag and, optionally, additional tags. The environment includes a plurality of anchor nodes that are configured to form a network. A master anchor node is in communication with at least a portion of the plurality of anchor nodes and is configured to transmit a ranging message as a UWB signal, receive a ranging message response from each other anchor node in the network, generate a reference grid representing physical locations of the plurality of anchor nodes within the network based upon the received ranging message responses, and distribute the reference grid to each of the other anchor nodes. The master transceiver tag receives the reference grid information and, based upon further calculations, determines a specific position and pose of the robotic device within the environment.
    Type: Grant
    Filed: January 6, 2015
    Date of Patent: August 1, 2017
    Assignee: Discovery Robotics
    Inventor: Larry J. Williams
  • Patent number: 9707951
    Abstract: A rail vehicle braking device has at least one electrodynamic brake, which comprises a drive unit, which has at least one drive motor and a power supply unit for supplying the drive motor when the drive unit is in a traction mode. The rail vehicle braking device has at least two brake control units in order to increase the safety of the electrodynamic brake. In a first braking mode, a first brake control unit in an active state controls the power supply unit for providing a braking effect, a first brake effect monitoring unit and a switching unit, which serves to switch, depending on a brake effect parameter in the first braking mode, into a second braking mode, in which the second brake control unit in an active state controls the power supply unit for providing a brake effect.
    Type: Grant
    Filed: February 28, 2013
    Date of Patent: July 18, 2017
    Assignee: Siemens Aktiengesellschaft
    Inventors: Till Foerster, Stefan Hassler, Reiner Heilmann, Jean-Pascal Schwinn, Thorsten Stuetzle, Manfred Wiesand
  • Patent number: 9702117
    Abstract: In controlling a work vehicle including a boom supported by a vehicle body and configured to turn, and a bucket supported by a side, away from the vehicle body, of the boom and configured to turn according to an operation of an actuator, an operation amount for raising the boom or a rising speed of the boom, and an operable amount that the actuator is able to operate before the bucket reaches the stopper based on the posture of the boom and the posture of the bucket, are obtained, and an operating speed of the actuator is limited according to the operable amount of the actuator before the bucket reaches the stopper, and based on the operation amount for raising the boom or the rising speed of the boom obtained, a limit amount of the operating speed of the actuator is changed.
    Type: Grant
    Filed: May 30, 2014
    Date of Patent: July 11, 2017
    Assignee: Komatsu Ltd.
    Inventors: Masaaki Imaizumi, Minoru Wada, Yoshiaki Saito
  • Patent number: 9682477
    Abstract: The disclosure includes a method and a robot for projecting the one or more graphics on the surface of a user environment. The method may include determining robot velocity data describing one or more of an angular velocity and a linear velocity of the robot. The method may include determining graphical data describing one or more graphics for projection on the surface of a user environment based on the angular velocity and the linear velocity of the robot. The one or more graphics may include one or more arrows describing a past behavior of the robot and a pending behavior of the robot. The method may include projecting the one or more graphics on the surface of the user environment so that a user present in the user environment with the robot may have access to information describing the past and pending behavior of the robot.
    Type: Grant
    Filed: March 24, 2015
    Date of Patent: June 20, 2017
    Inventor: Emrah Akin Sisbot
  • Patent number: 9682475
    Abstract: A robot program modification system comprises a robot control apparatus and a program modification apparatus. The robot control apparatus has an information acquisition unit which executes an operation program and acquires robot detection information from a robot, and a communication unit which transmits the robot detection information to the program modification apparatus. The program modification apparatus has a simulation unit which performs simulation on the basis of the operation program, and a program modification unit which modifies the operation program on the basis of the robot detection information so that a result of the simulation satisfies an evaluation basis decided in advance.
    Type: Grant
    Filed: July 8, 2015
    Date of Patent: June 20, 2017
    Assignee: FANUC CORPORATION
    Inventors: Yoshiharu Nagatsuka, Yanxue Liang, Norio Takei