Abstract: A touch sensing method and a serial manipulator using the same are disclosed. A serial manipulator using the method may detect and localize external torques by obtaining a torque value of each joint of a serial manipulator through a torque sensor at the joint; obtaining a preset joint angle of each joint from the serial manipulator; calculating a Jacobian matrices of the serial manipulator based on the joint angle of the joints; estimating joint torques of the serial manipulator based on the torque value of each joint and the Jacobian matrices; calculating an error between the torque value of each joint and the estimated joint torque corresponding to the joint; and determining a link of the serial manipulator that is connected to the joint with the minimum calculated error as having been touched.

Abstract: A system includes a vehicle and a vehicle control system configured to autonomously control one or more operations of the vehicle. The system also includes a navigation receiver configured to identify a location of the vehicle and to provide the identified location to the vehicle control system. To identify the location of the vehicle, the navigation receiver is configured to identify whether navigation signals received by the navigation receiver are spoofed based on angles of arrival for the navigation signals and to suppress any of the navigation signals determined to be spoofed. The navigation receiver may be configured to suppress any of the navigation signals determined to be spoofed in order to prevent an illicit actor from misdirecting the vehicle to an undesired location and/or to prevent an illicit actor from causing the vehicle to make course corrections based on an incorrect current location of the vehicle.

Abstract: A determination value calculated based on a distance from a work point of a tip of robot arm (10) to virtual straight line (30) passing through an axis of second joint (J2) and an axis of third joint (J3) is compared with a predetermined threshold. A method of calculating deflection compensation amounts for second joint (J2) and third joint (J3) is changed depending on whether the determination value is larger or smaller than the threshold. Second joint (J2) and third joint (J3) are caused to pivot based on the calculated deflection compensation amounts.

Abstract: A method and a system for automatically securing the operation of a robot system and corresponding components of the system, wherein operation is controlled by a mobile operating device. The robot system receives presence signals transmitted from a mobile operating device via a short-range first signal connection and an operating signal transmitted via a second signal connection designed to be independent of the first signal connection. The operating signal contains a safety-relevant control command for the robot system. The control command is released for execution by the robot system only if a presence check has ascertained that the last received presence signal satisfies a presence criterion specified with respect to the determination of a spatial proximity of the operating device to the robot system. A configuration signal derived from the result of the presence check is transmitted back to the operating device for configuration based on the result.

Abstract: A sampling method includes: obtaining topographical information about a predetermined wide area by using a first sensor on a work machine; selecting a candidate area within the wide area, the candidate area is less than an area of the wide area, and setting a movement route based on the information about the wide area, the movement route allows a distal end portion of an arm provided on the work machine to reach a preparation position without coming into contact with an obstacle, the preparation position being located above the candidate area; moving the distal end portion of the arm along the movement route to the preparation position, and obtaining topographical information about the candidate area by using a second sensor on the distal end portion of the arm; and specifying a sampling point based on the information about the candidate area and performing sampling at the specified sampling point.

Abstract: A method for controlling a motor vehicle having at least one park lock. A drive train of the motor vehicle has a drive motor, wheel, and a transmission. An operating element actuates the park lock, which can assume a blocking position, in which the park lock blocks the drive train and/or a part of the drive train, and a release position. After actuation of the operating element, the park lock is switched from the release position into the blocking position (or vice versa). Here, the speed of the motor vehicle is determined. After actuation of the operating element and if the park lock assumes the release position beforehand, it is checked whether the speed is greater than a predefined first threshold value. If this check was successful, a first warning signal is produced; and the switching of the park lock into the blocking position is performed.

Abstract: Spatial regions potentially occupied by a robot (or other machinery) or portion thereof and a human operator during performance of all or a defined portion of a task or an application are computationally estimated. These “potential occupancy envelopes” (POEs) may be based on the states (e.g., the current and expected positions, velocities, accelerations, geometry and/or kinematics) of the robot and the human operator. Once the POEs of human operators in the workspace are established, they can be used to guide or revise motion planning for task execution.

Abstract: The present disclosure relates to a gripping apparatus mounted to a robot arm for controllably placing an object on a surface. A gripper assembly supports a pair of gripping clamps which are configured to grip and release the object. The gripper assembly is mounted to the robot arm via a connector body. A sensor is configured to either measure a relative movement between the gripper assembly and the connector body, or to measure a force between the gripper assembly and the connector body. A controller is configured to stop the robot arm when the sensor indicates the measured relative movement or measured force exceeds a predefined threshold.

Abstract: A lab system identifies a set of steps associated with a protocol for a lab meant to be performed by a robot within the lab using equipment and reagents. The lab system renders, within a user interface, a virtual representation of the lab, a virtual robot, and virtual equipment and reagents. Responsive to operating in a first mode, the lab system simulates the identified set of steps identify virtual positions of the virtual robot within the lab as the virtual robot performs the steps and modifies the virtual representation of the lab to mirror the identified positions of the virtual robot in real-time. Responsive to operating in a second mode, the lab system identifies positions of the robot within the lab as the robot performs the identified set of steps and modifies the virtual representation of the lab to mirror the identified positions of the robot in real-time.

Abstract: A substrate transfer device includes: a support part configured to support a substrate to be transferred and provided with a plurality of engagement portions which are engaged with an edge of the substrate on a first side of the substrate; a gripping part configured to move toward or away from the plurality of engagement portions and provided with a plurality of contact portions which come into contact with the edge of the substrate on a second side of the substrate when moving toward the plurality of engagement portions; a plurality of detection parts provided in the plurality of contact portions, respectively, and configured to detect distortion amounts of the plurality of contact portions; and a determination part configured to determine a gripping situation of the substrate based on detection results obtained by the plurality of detection parts.

Abstract: A system for trajectories imitation for robotic manipulators is provided. The system includes an interface configured to receive a plurality of task descriptions, wherein the interface is configured to communicate with a real-world robot, a memory to store computer-executable programs including a robot simulator, a training module and a transfer module, and a processor, in connection with the memory. The processor is configured to perform training using the training module, for the task descriptions on the robot simulator, to produce a plurality of source policy with subgoals for the task descriptions. The processor performs training using the training module, for the task descriptions on the real-world robot, to produce a plurality of target policy with subgoals for the task descriptions, and update the parameters of the transfer module from corresponding trajectories with the subgoals for the robot simulator and real-world robot.

Abstract: The present invention relates to a collision-free path generating method for a robot and an end effector quipped thereon to move. The method includes steps of configuring a virtual working environment, containing a plurality of virtual objects at least including the robot, the end effector and a target object consisting of a plurality of basic members and mapped from a working environment in a reality, in a robot simulator; selecting a level of detail and a pre-determined shape for a collider covering the plurality of virtual objects to determine boundaries for the plurality of objects; randomly sampling a combination of robot configurations; and based on the determine boundaries and the randomly sampled combination of robot configurations, performing a heuristic based pathfinding algorithm to compute a collision-free path for the robot and the end effector quipped thereon to move to the target object accordingly.

Abstract: A robot device according to various embodiments comprises a camera, a robot arm, and a control device electrically connected to the camera and the robot arm, wherein the control device can be configured to collect a robot arm control record about a random operation, acquire, from the camera, a camera image in which a working space of the robot arm is photographed, implement an augmented reality model by rendering a virtual object corresponding to an object related to objective work in the camera image, and update a control policy for the objective work by performing image-based policy learning on the basis of the augmented reality model and the control record.

Abstract: The present invention relates to a near-site robotic construction system. The system includes a work station situated on a near-site position in a close proximity to a building foundation on which a building is under construction and providing shelter and workspace for at least one robot to work; and a computer-assisted cloud based near-site robotic construction platform installed on a cloud server system and configured to provide for a user to operate through a web browser, import and extract a building information modelling data, and plan a predetermined motion command set partly based on the extracted building information modelling data, wherein the at least one robot is configured to work in accordance with the predetermined motion command set to prefabricate a plurality of components for the building in the work station on the near-site position.

Abstract: Systems, methods, and computer-readable media are disclosed for robotic system camera calibration and localization using robot-mounted registered patterns. In one embodiment, an example robotic system may include a robotic manipulator, and a picking assembly coupled to the robotic manipulator, where the picking assembly is configured to grasp and release items, and where the picking assembly includes a housing having a first flat surface. Example robotic systems may include a first calibration pattern disposed on the first flat surface of the housing, a first camera configured to image the first calibration pattern, and a controller configured to calibrate the robotic system.

Abstract: A method determines a blockage of a sensor of a plurality of sensors of an ego vehicle. The method determines a prior blockage probability of the sensor of the plurality of sensors; receives sensor data of the sensor of the plurality of sensors; determines a performance of the sensor based on the received sensor data; calculates a posterior blockage probability based on the prior blockage probability of the sensor and the performance of the sensor; and determines the blockage of the sensors using the calculated posterior blockage probability.

Abstract: Various embodiments of the present technology generally relate to robotic devices and artificial intelligence. More specifically, some embodiments relate to an artificial neural network training method that does not require extensive training data or time expenditure. The few-shot training model disclosed herein includes attempting to pick up items and, in response to a failed pick up attempt, transferring and generalizing information to similar regions to improve probability of success in future attempts. In some implementations, the training method is used to robotic device for picking items from a bin and perturbing items in a bin. When no picking strategies with high probability of success exist, the robotic device may perturb the contents of the bin to create new available pick-up points. In some implementations, the device may include one or more Computer-vision systems.

Abstract: A humanoid robot control method, a mobile machine using the same, and a computer readable storage medium are provided. The method includes: mapping posture information of leg joints of a human body to leg joint servos of a humanoid robot to obtain an expected rotation angle and an expected rotation angular velocity of non-target optimized joint servos of the leg joint servos and an expected rotation angle and an expected rotation angular velocity of target optimized joint servos of the leg joint servos; obtaining an optimization objective function corresponding to the target optimized joint servos of the leg joint servos; optimizing the expected rotation angle and the expected rotation angular velocity of the target optimized joint servos to obtain a corrected expected rotation angle and a corrected expected rotation angular velocity of the target optimized joint servos; and controlling each of the leg joint servos of the humanoid robot.

Abstract: A procedure for a positioning of an aircraft is provided. An airspace user initiates using of a service provided by an air traffic manager and sends identifying data to the air traffic manager, the air traffic manager registers an aircraft identifier, carries out a standalone positioning. As the aircraft identifier, an International Mobile Subscriber Identity (IMSI) number of a code card connected to a switched on on-board device and placed on board the aircraft is used, the airspace user logs in to a cellular network contracted by the air traffic manager, time stamps emitted by at least three cellular base stations are recorded, then observed time difference of arrival data proportionate to a distance from the at least three cellular base stations are calculated, the observed time difference of the arrival data are sent through the cellular network to a location based server.

Abstract: A proximity detection system includes a proximity sensor that is a capacitive sensor mounted on a mounting position on a robot, the proximity sensor being configured to detect proximity between the mounting position and an object; and a shield signal output unit configured to apply a shield signal for preventing the proximity sensor from detecting proximity of another position of the robot other than the mounting position.