Patents Examined by Adam Mott
  • Patent number: 9254570
    Abstract: A joint torque computing unit computes joint torque T1 necessary to set a joint angle ? of a joint to a target joint angle ra. A summing unit obtains a sum value U1 representing a sum of generated force command values ue1 and uf1 as to mono-articular driving actuators, based on target stiffness rs of the joint. An elastic torque computing unit obtains elastic torque TPC1 according to elasticity of the mono-articular driving actuators acting on the joint. A restricting unit restricts the total value of the joint torque T1 and the elastic torque TPC1, so as to satisfy restriction conditions of |T1+TPC1|<U1×r, where r represents the moment arm radius of the link. A generated force computing unit computes the generated force command values ue1 and uf1 of the mono-articular driving actuators, based on the total value (T1+TPC1) restricted by the restricting unit.
    Type: Grant
    Filed: April 3, 2014
    Date of Patent: February 9, 2016
    Assignee: Canon Kabushiki Kaisha
    Inventor: Kiyoshi Takagi
  • Patent number: 9254568
    Abstract: A robot control method of controlling a robot that has a flexible module including ‘n’ first nodes participating in pan motion and ‘n’ second nodes participating in tilt motion may include: measuring a translational motion distance, a pan motion angle, and a tilt motion angle of the flexible module; calculating state vectors of the ‘n’ first nodes and the ‘n’ second nodes using the measured translational motion distance; calculating operating angle distribution rates of the ‘n’ first nodes and operating angle distribution rates of the ‘n’ second nodes using the calculated state vectors of the ‘n’ first nodes and the calculated state vectors of the ‘n’ second nodes; and/or calculating operating angles of the ‘n’ first nodes and operating angles of the ‘n’ second nodes using the calculated operating angle distribution rates and the measured pan motion angle and tilt motion angle.
    Type: Grant
    Filed: January 13, 2014
    Date of Patent: February 9, 2016
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Ji Young Kim, Kwang Kyu Lee, Woong Kwon, Kyung Shik Roh, Ju Suk Lee, Seung Yong Hyung
  • Patent number: 9240123
    Abstract: Apparatuses and methods are provided for determining real time traffic conditions. A candidate road is divided into road segments by perpendicular bisectors. A spatial sliding window is positioned over at least a portion of a road segment, wherein the spatial sliding window corresponds to a front end of the road segment in a direction of travel of the road segment. Real time probe data is received from mobile devices in probe vehicles or on travelers of the at least portion of the road segment within the spatial sliding window. The real time probe data is analyzed, and a computer program assists in determining the real time traffic conditions of the at least portion of the road segment within the spatial sliding window. Based on the analysis, the real time traffic conditions are reported.
    Type: Grant
    Filed: December 13, 2013
    Date of Patent: January 19, 2016
    Assignee: HERE Global B.V.
    Inventor: Leon Stenneth
  • Patent number: 9228851
    Abstract: An in-vehicle system and method for selecting and displaying on a roadmap upcoming waypoints and associated information, including an estimated time to arrival at the waypoints. In an embodiment, driving history is stored and analyzed, including routes taken and previous destinations, and used to determine and display personalized waypoints.
    Type: Grant
    Filed: February 21, 2014
    Date of Patent: January 5, 2016
    Assignees: VOLKSWAGEN AG, AUDI AG
    Inventors: Marco Antonio Lobato Fregoso, Karric Kwong, Heiko Maiwand
  • Patent number: 9223312
    Abstract: Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.
    Type: Grant
    Filed: June 7, 2013
    Date of Patent: December 29, 2015
    Assignee: iRobot Corporation
    Inventors: Dhiraj Goel, Ethan Eade, Philip Fong, Mario E. Munich
  • Patent number: 9221177
    Abstract: A neuromuscular model-based controller for a robotic limb having at least one joint includes a neuromuscular model having a muscle model, muscle geometry and reflex feedback loop to determine at least one torque or impedance command to be sent to the robotic limb. One or more parameters that determine relation between feedback data and activation of the muscle model are adjusted consequent to sensory data from at least one of an intrinsic sensor and an extrinsic sensor. A controller in communication with the neuromuscular model is configured to receive the at least one torque or impedance command and controls at least one of position, torque and impedance of the robotic limb joint.
    Type: Grant
    Filed: April 18, 2013
    Date of Patent: December 29, 2015
    Assignee: Massachusetts Institute of Technology
    Inventors: Hugh M. Herr, Ken Endo, Pavitra Krishnaswamy, Jared Markowitz, Michael Frederick Eilenberg, Jing Wang
  • Patent number: 9193074
    Abstract: A multi-joint robot having a function for estimating an amount of decrease in inner pressure of a gas spring, by means of a simple and low-cost structure, and a method for estimating the amount of decrease in inner pressure of the gas spring. The gas pressure within a cylinder of the gas spring decreases in connection with the motion of a lower arm associated with the gas spring. In the present invention, an amount of decrease in inner pressure within the gas spring is estimated by using a current value of a servomotor, in view of the finding that the amount of decrease in inner pressure is generally proportional to an amount of decrease in torque, and the torque generated by the servomotor can be calculated based on the current value of the servomotor.
    Type: Grant
    Filed: March 28, 2014
    Date of Patent: November 24, 2015
    Assignee: Fanuc Corporation
    Inventor: Yu Hayashi
  • Patent number: 9182452
    Abstract: First and second microcomputers are connected to a ground. A first reference voltage generation circuit is connected between a first power supply and the first microcomputer, and supplies a first reference voltage to the first microcomputer when voltage of the first power supply is higher than the first reference voltage. A first monitoring circuit is connected between a second power supply and the first microcomputer, and supplies the first microcomputer with a first monitoring voltage for monitoring the second power supply. The first microcomputer includes a part configured to perform an operation based on the supplied first reference voltage and the supplied first monitoring voltage, wherein the operation includes detecting abnormality in the voltages of the first and second power supplies, and determining which one of the voltage of the first power supply and the voltage of the second power supply is abnormal.
    Type: Grant
    Filed: January 27, 2014
    Date of Patent: November 10, 2015
    Assignee: HITACHI AUTOMOTIVE SYSTEMS STEERING, LTD.
    Inventors: Makoto Kimura, Teruyuki Ohnishi
  • Patent number: 9107633
    Abstract: The invention relates to a medical work station which has a medical technology apparatus and a patient support device. The medical technology apparatus includes a medical technology device and at least one first robot, which has a first robot arm, having a plurality of members and a first control device that controls a motion of the first robot arm. The medical technology device is attached to a first attaching device of the first robot arm. The patient support device includes a patient table and a second robot, which has a second robot arm having a plurality of members, and a second control device that controls a motion of the second robot arm. The patient table is attached to a second attaching device of the second robot arm.
    Type: Grant
    Filed: April 29, 2011
    Date of Patent: August 18, 2015
    Assignee: KUKA Roboter GmbH
    Inventor: Michael Muller
  • Patent number: 9109914
    Abstract: A method and system for calculating an energy efficient route is disclosed. A route calculation application calculates one or more routes from an origin to a destination. For each of the routes, the route calculation application uses impedance factor data associated with each segment in the route. The impedance factor is calculated using probe data when the probe data is available for a road segment. When probe data is unavailable, the impedance factor is calculated using machine learning techniques that analyze the results of the impedance factor classifications for road segments having probe data.
    Type: Grant
    Filed: August 8, 2013
    Date of Patent: August 18, 2015
    Assignee: HERE Global B.V.
    Inventors: Praveen J. Arcot, Justin M. Spelbrink, Finn A. Swingley, Matthew G. Lindsay
  • Patent number: 9102059
    Abstract: A robot control method includes a first step of selecting a holding form in which a robot holds an object and a second step of determining whether the object can continue to be stably held when a predetermined external force is applied to the object in the selected holding form. In the second step, it is determined that the object can continue to be stably held when a force which should be generated by a contact portion to generate resistance to the predetermined external force is included in a friction cone of a force generated by driving the contact portion and enlarged by a suction force from the suction mechanism.
    Type: Grant
    Filed: January 23, 2014
    Date of Patent: August 11, 2015
    Assignee: Seiko Epson Corporation
    Inventors: Takashi Nammoto, Kazuhiro Kosuge, Kengo Yamaguchi, Yasuhisa Hirata
  • Patent number: 9095984
    Abstract: To realize a force control robot including a force sensor having a high sensitivity and a high rigidity, an end effector (1) including finger modules (100) for gripping a part is coupled to a robotic arm (3) through the intermediation of a force sensor (2), and the force sensor (2) detects an external force applied to the finger modules (100) based on displacement of the end effector (1) that occurs with a rotation center (C) on a longitudinal axis (Z) of the robotic arm (3) as a fulcrum, to thereby correct an operation of the robotic arm (3). An end effector housing (109) supports motors (105) for driving the finger modules (100) at a position on the robotic arm side with respect to the rotation center (C) of the force sensor (2). Accordingly, the rigidity of the sensor can be increased.
    Type: Grant
    Filed: May 13, 2011
    Date of Patent: August 4, 2015
    Assignee: CANON KABUSHIKI KAISHA
    Inventor: Yoshiyuki Miyazaki
  • Patent number: 9086280
    Abstract: An aircraft system includes a deviation module and a visual display. The deviation module is configured to receive a flight plan with a flight segment to a waypoint, the flight plan including a lateral profile, a vertical profile, and a time profile, the time profile including a predetermined time of arrival associated with the waypoint, receive a current lateral position and a current altitude, estimate an estimated time of arrival associated with the waypoint, compare the current lateral position to the lateral profile to generate lateral deviation, compare the current altitude to the vertical profile to generate vertical deviation, and compare the predetermined time of arrival to the estimated time of arrival to generate time deviation. The visual display is coupled to the deviation module and configured to display deviation symbology representing the lateral deviation, the vertical deviation, and the time deviation.
    Type: Grant
    Filed: September 7, 2011
    Date of Patent: July 21, 2015
    Assignee: HONEYWELL INTERNATIONAL INC.
    Inventors: Saravanakumar Gurusamy, Vishnu Vardhan Reddy Annapureddy, Santhosh Gautham, Dhivagar Palanisamy, Haricharan Reddy
  • Patent number: 9080891
    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: March 12, 2014
    Date of Patent: July 14, 2015
    Assignee: AT&T Intellectual Property I, L.P.
    Inventors: Michael Zubas, Mark Causey, Adrianne Binh Luu
  • Patent number: 9056394
    Abstract: Various disclosed embodiments include systems and methods for determining an efficient robot-base position. The method includes receiving available robot-base positions and determining valid robot-base positions from the available robot-base positions. The method includes generating for the valid robot-base positions respective directed graphs providing a plurality of robotic-paths. The method includes determining the shortest robotic-path between start and end nodes. The method includes determining and storing the efficient robot-base position from the valid robot-base positions, wherein the efficient robot-base position has the shortest, collision-free robotic-path between start and end nodes.
    Type: Grant
    Filed: September 27, 2012
    Date of Patent: June 16, 2015
    Assignee: Siemens Product Lifecycle Management Software Inc.
    Inventor: Moshe Hazan
  • Patent number: 9043022
    Abstract: A robot system includes a crane unit, a crane moving mechanism, a robot, and a controller. The crane unit is to suspend a workpiece. The crane unit moves in a horizontal direction via the crane moving mechanism. The robot is to move the crane unit in the horizontal direction via the crane moving mechanism. The controller is configured to control the crane unit to move upwardly to suspend the workpiece after controlling the robot to bring the crane unit into an engaging state in which the crane unit engages with the workpiece located at a first position. The controller is configured to control the crane unit suspending the workpiece to move downwardly to place the workpiece at a second position after controlling the robot to move the crane unit toward the second position while the crane unit suspends the workpiece.
    Type: Grant
    Filed: September 25, 2013
    Date of Patent: May 26, 2015
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Kohei Miyauchi, Yuusuke Hirano
  • Patent number: 9020752
    Abstract: The present invention relates to a method for positioning a user inside a building, wherein the user has a user carried device and the device is provided with a direction sensor and a movement sensor. The method includes providing the user carried device with a vector map of the building, wherein the vector map includes vectors and nodes representing possible movement paths for the user in the building; determining a starting point in the vector map, receiving movement information from the movement sensor, receiving direction information from the direction sensor, receiving a magnetic field map at the user carried device, wherein the magnetic field is detectable by the user carried device, and estimating a new position of the user based on the vector map, the movement information, the direction information and the property map.
    Type: Grant
    Filed: July 23, 2013
    Date of Patent: April 28, 2015
    Assignee: SenionLab AB
    Inventors: Christian Lundquist, Per Skoglar, Fredrik Gustafsson
  • Patent number: 9014971
    Abstract: A vehicle tracking system for tracking a position of at least one vehicle of a plurality of vehicles within a region, includes a plurality of identifiers, an imaging device, and a controller. At least one of the identifiers is provided on each of the vehicles. The imaging device is configured to generate image data including (i) region data representative of the region and (ii) identifier data representative of the identifiers located in the region. The controller is configured (i) to process the identifier data to generate position data representative of a position of each of the identifiers within the region, (ii) to process the identifier data to generate identification data that are unique to each identifier, and (iii) to output at least one of the image data, the position data, and the identification data to a monitor.
    Type: Grant
    Filed: July 9, 2012
    Date of Patent: April 21, 2015
    Assignee: Systec Corporation
    Inventor: Christopher Harris
  • Patent number: 9008840
    Abstract: Framework may be implemented for transferring knowledge from an external agent to a robotic controller. In an obstacle avoidance/target approach application, the controller may be configured to determine a teaching signal based on a sensory input, the teaching signal conveying information associated with target action consistent with the sensory input, the sensory input being indicative of the target/obstacle. The controller may be configured to determine a control signal based on the sensory input, the control signal conveying information associated with target approach/avoidance action. The controller may determine a predicted control signal based on the sensory input and the teaching signal, the predicted control conveying information associated with the target action. The control signal may be combined with the predicted control in order to cause the robotic apparatus to execute the target action.
    Type: Grant
    Filed: April 19, 2013
    Date of Patent: April 14, 2015
    Assignee: Brain Corporation
    Inventors: Filip Ponulak, Jean-Baptiste Passot, Eugene Izhikevich, Olivier Coenen
  • Patent number: 9008837
    Abstract: The invention relates to a method for creating a robot model (17) of an industrial robot (1) which has a robotic arm (2) having a plurality of successive limbs (3-8) which are adjustable by means of drives (11-16) via transmissions (5) in relation to axes (A1-A2), controlled by a control device (10) of the industrial robot (1). According to the invention, the robotic arm (2) is moved in a plurality of poses. At least one of the limbs (4) is moved in the same first movement direction (18) by means of the drive (11) thereof at least upon approaching the individual poses. In order to obtain the robot model (17), the robotic arm (2) is measured at each of the poses thereof.
    Type: Grant
    Filed: November 15, 2010
    Date of Patent: April 14, 2015
    Assignee: KUKA Roboter GmbH
    Inventors: Gernot Nitz, Dietmar Tscharnuter, Wolfgang Michel, Rene Rossig, Michael Muller