Patents Examined by Byron Xavier Kasper
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Patent number: 12138802Abstract: The present application provides a kinematics modeling method, apparatus and device for a multi-degree-of-freedom mechanism and a storage medium. The method includes: constructing a point coordinate system, and constructing the transformation matrix; constructing transformation matrices of two rotating axes and the transformation matrix; constructing the forward kinematics model based on the transformation matrices of the point coordinate system, the two rotating axes and the workpiece coordinate system; solving the motor value of the rotating axis through the rotation matrix of the end-effector, using the translation matrix of the end-effector as a non-homogeneous linear equation set, solving the motor value of linear axis.Type: GrantFiled: July 10, 2024Date of Patent: November 12, 2024Assignee: GUANGDONG UNIVERSITY OF TECHNOLOGYInventors: Jian Gao, Disai Chen, Yuheng Luo, Lanyu Zhang, Zhuojun Zheng, Guoqing Wu, Xin Chen
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Patent number: 12130630Abstract: The motion detecting device that detects motion of an operator's finger for remotely operating a multi-articulated robot includes a device main body that is installed such that the finger is placed thereon, a contact part that follows a shape of the finger in the device main body and is in contact with the finger, and a detection part that detects the motion of the finger on the basis of a pressing state of the finger against the contact part.Type: GrantFiled: November 16, 2020Date of Patent: October 29, 2024Assignee: MELTIN Inc.Inventors: Masahiro Kasuya, Tatsuya Seki
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Patent number: 12129132Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data image data associated with a plurality of items present in a workspace is received. The sensor data is used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workspace and place each item singly in a corresponding location in a singulation conveyance structure. The plan includes performing an active measure to change or adapt to a detected state or condition associated with one or more items in the workspace.Type: GrantFiled: March 15, 2021Date of Patent: October 29, 2024Assignee: Dexterity, Inc.Inventors: Zhouwen Sun, Harry Zhe Su, Talbot Morris-Downing, David Leo Tondreau, III, Toby Leonard Baker, Timothy Ryan, Ayush Sharma, Raphael Georg Wirth, Cyril Nader
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Patent number: 12118588Abstract: An advertising method for a shuttle comprises by a controller, responsive to identifying a drop-off location and a business paying to influence a route traveled by the shuttle, selecting one of a plurality of routes to the drop-off location according to a priming estimate indicating that points of interest along the one share more characteristics with the business relative to others of the plurality; and commanding the shuttle to travel the one.Type: GrantFiled: January 15, 2018Date of Patent: October 15, 2024Assignee: Ford Global Technologies, LLCInventors: Perry Robinson MacNeille, Yimin Liu
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Patent number: 12109713Abstract: A remote robot system and a method of controlling a remote robot system capable of responding appropriately according to a user are provided. A remote robot system includes: a robot configured to perform a predetermined operation including collection of local information near the robot; a guide terminal capable of remotely operating the operation of the robot; and a participant terminal capable of remotely communicating with the guide terminal, in which the participant terminal includes: a display panel configured to output the local information acquired from the robot to the user; and an interest detection unit configured to detect user's interest in the output local information.Type: GrantFiled: April 7, 2022Date of Patent: October 8, 2024Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventor: Yuji Onuma
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Patent number: 12104910Abstract: A method includes inputting a source into a weighted and undirected graph having a plurality of nodes and edges, inputting a target, inputting a plurality of objectives, searching the graph using a rapidly exploring random tree algorithm to determine a solution path that meets an existence constraint and an order constraint, determining a plurality of paths between the source and the target that intersects with each one of the plurality of objectives at least once that conforms with the existence constraint, assigning a travel cost for each of the determined plurality of paths, determining a visiting order of the plurality of objectives that reduces the assigned travel cost by the RRT* algorithm asymptotically decreasing with an allocated computation time by rewiring each one of the plurality of objectives and outputting the solution path to form a connected graph having the plurality of nodes.Type: GrantFiled: April 29, 2022Date of Patent: October 1, 2024Assignees: Toyota Research Institute, Inc., Toyota Jidosha Kabushiki Kaisha, The Regents of the University of MichiganInventors: Jiunn-Kai Huang, Yingwen Tan, Dongmyeong Lee, Vishnu R. Desaraju, Jessy W. Grizzle
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Path generation device, path generation method, and recording medium storing path generation program
Patent number: 12090666Abstract: A path generation device including an acquisition unit, a setting unit, and a path generation unit. The acquisition unit is configured to acquire pose information relating to an initial pose and a target pose of a robot, position information relating to a position of the robot, obstacle information including a position of an obstacle present in a range of interference with the robot, and specification information relating to a specification including a shape of the robot. The setting unit is configured to, based on a positional relationship between the robot and the obstacle, set a clearance amount representing an amount of clearance to avoid the interference for at least one out of the robot or an obstacle present in a range of interference with the robot.Type: GrantFiled: November 27, 2019Date of Patent: September 17, 2024Assignee: OMRON CORPORATIONInventors: Norikazu Tonogai, Haruka Fujii, Takeshi Kojima -
Patent number: 12076860Abstract: A control method for a robot includes: determining a desired zero moment point (ZMP) of the robot; obtaining a position of a left foot and a position of a right foot of the robot, and calculating desired support forces of the left foot and the right foot according to the desired ZMP, the positions of the left foot and the right foot; obtaining measured support forces of the left foot and the right foot, and calculating an amount of change in length of the left leg and an amount of change in length of the right leg according to the desired support forces of the left foot and the right foot, the measured support forces of the left foot and the right foot; and controlling the robot to walk according to the amount of change in length of the left leg and the right leg.Type: GrantFiled: December 23, 2021Date of Patent: September 3, 2024Assignee: UBTECH ROBOTICS CORP LTDInventors: Ligang Ge, Yizhang Liu, Chunyu Chen, Zheng Xie, Youjun Xiong
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Patent number: 12053885Abstract: A robot control method includes: determining a planned capture point and a measured capture point of the robot so as to calculate a capture point error of the robot; obtaining positions of a left foot and a right foot of the robot, and a planned zero moment point (ZMP) of the robot so as to calculate desired support forces of the left foot and the right foot; calculating desired torques of the left foot and the right foot according to the capture point error, the desired support forces of the left foot and the right foot; obtaining measured torques of the left foot and the right foot so as to calculate desired poses of the left foot and the right foot; and controlling the robot to walk according to the desired poses of the left foot and the desired pose of the right foot.Type: GrantFiled: December 23, 2021Date of Patent: August 6, 2024Assignee: UBTECH ROBOTICS CORP LTDInventors: Ligang Ge, Yizhang Liu, Chunyu Chen, Zheng Xie, Youjun Xiong
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Patent number: 12043240Abstract: A method for detecting an erroneous velocity data using a controller in communication with a velocity sensor onboard a vehicle includes receiving a time-series velocity data from the velocity sensor, calculating a time-series acceleration data using the time-series velocity data, calculating a time-series jerk data using the time-series acceleration data, calculating a saturated (numerically bounded) jerk data using the time-series jerk data, calculating an estimated acceleration data using the saturated jerk data, calculating a difference between the estimated acceleration data and the time-series acceleration data, and determining whether the difference is greater than a threshold value. The erroneous velocity data is detected in response to the difference being greater than the threshold value.Type: GrantFiled: December 13, 2021Date of Patent: July 23, 2024Assignee: GOODRICH CORPORATIONInventors: Suk-Min Moon, Marc Georgin, Emad Al-Tabakha, Kaman Thapa Magar
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Patent number: 12022985Abstract: This application provides a method for controlling a robot cleaner, a robot cleaner, and a storage medium. The method for controlling the robot cleaner includes the steps of: acquiring a weight of the water tank, comparing the weight of the water tank with a setting value to acquire a comparison result, determining a remaining usable time of the robot cleaner according to the comparison result, and controlling the robot cleaner according to the remaining usable time. Since the weight of the water tank is not easily interfered by other factors, the acquiring of weight has a high accuracy, thereby the remaining usable time determined according to the weight of the water tank has a high accuracy, and then the robot cleaner is controlled according to the remaining usable time with higher accuracy. The control accuracy of the robot cleaner thus can be improved.Type: GrantFiled: December 14, 2021Date of Patent: July 2, 2024Assignee: SHENZHEN FLY RODENT DYNAMICS INTELLIGENT TECHNOLOGY CO., LTD.Inventors: Hao Zhang, Ruijun Yan, Li Lei
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Patent number: 11999058Abstract: A robotic arm is inserted into a passage of a part to be examined. Operator instructions defining a tip motion for a tip of the robotic arm, sensor readings, and an environmental map are received. The operator instructions, the environmental map and sensor readings are applied to a previously trained machine learning model to produce control signals. The control signals to an actuator on the arm to control a movement of the robotic arm allowing the robotic arm to automatically gain traction in the passage and automatically move according to the movement.Type: GrantFiled: April 4, 2022Date of Patent: June 4, 2024Assignees: General Electric Company, OLIVER CRISPIN ROBOTICS LIMITEDInventors: Andrew Crispin Graham, Julian Matthew Foxall, Rafael S. Brada, Guy Ben-Yosef
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Patent number: 11998296Abstract: Disclosed herein are apparatus and method for resisting external articulation of one or more joints of a manipulator assembly when the joints are approaching mechanical limits. For example, an articulable system may include a joint mechanism, an actuator coupled to the joint mechanism, a sensor system for sensing a joint state and a controller. The controller can operate the articulable system in an external articulation facilitation mode. The controller can command the actuator to resist movement of the joint in response to the joint state indicating the joint is moving toward a mechanical limit location with a joint velocity meeting a first velocity criterion. The controller can also command the actuator resist movement of the joint at a second joint position when the joint velocity meets a second criterion.Type: GrantFiled: July 30, 2019Date of Patent: June 4, 2024Assignee: Intuitive Surgical Operations, Inc.Inventors: Arjang Hourtash, Goran Lynch
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Patent number: 11965314Abstract: A method for actuating the movement of a boom, or an attachment, in a work vehicle includes determining a joystick position difference between the actual component of the position of the joystick along a boom, or attachment, actuation axis in a first time instant and a neutral position of the joystick along the boom, or attachment, actuation axis, determining a first position of the boom, or attachment, along the boom travel path in the first time instant, and a second position of the boom, or attachment, along the boom travel path in a second time instant, and determining a boom, or attachment, position difference between the second position and the first position. If the determined boom, or attachment, position difference is lower than a threshold and the determined joystick position difference is higher than a joystick position difference threshold, the method also includes slowing movement of the boom, or attachment.Type: GrantFiled: November 1, 2021Date of Patent: April 23, 2024Assignee: CNH Industrial America LLCInventors: Adriano Garramone, Andrea Gravili, Stefano Liberti, Antonio Venezia
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Patent number: 11964395Abstract: The invention relates to a method to calibrate a handling device (18) including a handling robot or parallel kinematic robot (24), with a tool head (28) suspended from at least two parallel kinematically movable arms (26). Each of the at least two arms comprises an upper arm, which is movable between two end positions about a defined upper-arm swivel axis (38). Each of the at least two arms also comprises a lower arm (40), which is swivelably mounted on the upper arm. The upper arms are brought into approximately corresponding angular positions by detection of load torques and/or of angle positions. First one, than another of the upper arms is brought into one of the two end positions, and the angular position reached is detected and used for the position initialization or angle initialization of the particular upper arm, whereupon the upper arm is returned.Type: GrantFiled: May 16, 2019Date of Patent: April 23, 2024Assignee: Krones AktiengesellschaftInventors: Christian Dany, Arsalan Mehdi, Erhard Beer, Manuel Kollmuss
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Patent number: 11958448Abstract: A lifting system for generating a lifting force on a portion of a vehicle includes a vehicle wheel and a force-generating mechanism structured to be received inside a rim cavity of the wheel. The force-generating mechanism is also structured to be operably connected to a frame of a vehicle. A bearing member is operably connected to the force-generating mechanism. The bearing member is structured to transmit a force generated by the force-generating mechanism to a surface in physical contact with the bearing member. The bearing member is also structured for operably connecting the wheel to the force-generating mechanism. Force applied by the force-generating mechanism may be sufficient to lift a portion of the vehicle off of a ground surface, or the force may only be sufficient to apply a parking brake force without lifting the vehicle.Type: GrantFiled: June 11, 2021Date of Patent: April 16, 2024Assignee: Toyota Motor Engineering & Manufacturing North America, Inc.Inventors: Robert C. MacArthur, Shigenori Shibata, Corey Zwegers, Rachel M. Menchak, Claudia A. Ma, Adam R. VanAntwerp
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Patent number: 11951638Abstract: A method for determining a standard depth value of a marker includes obtaining a maximum depth value of the marker. A reference depth value of the marker is obtained based on a depth image of the marker, and a Z-axis coordinate value of the marker is obtained based on a color image of the marker. When the reference depth value and the Z-axis coordinate value are both less than the maximum depth value, and a difference between the reference depth value and the Z-axis coordinate value is not greater than 0, the depth reference value is set as the standard depth value of the marker; and when the difference is greater than 0, the Z-axis coordinate value is set as the standard depth value of the marker.Type: GrantFiled: December 29, 2020Date of Patent: April 9, 2024Assignee: Chiun Mai Communication Systems, Inc.Inventors: Tung-Chun Hsieh, Chung-Wei Wu, Chih-Wei Li, Chia-Yi Lin
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Patent number: 11951637Abstract: A calibration apparatus includes a processor, an alignment device, and an arm. The alignment device captures images in a three-dimensional space, and a tool is arranged on a flange of the arm. The processor records a first matrix of transformation between an end-effector coordinate-system and a robot coordinate-system, and performs a tool calibration procedure according to the images captured by the alignment device for obtaining a second matrix of transformation between a tool coordinate-system and the end-effector coordinate-system. The processor calculates relative position of a tool center point of the tool in the robot coordinate-system based on the first and second matrixes, and controls the TCP to move in the three-dimensional space for performing a positioning procedure so as to regard points in an alignment device coordinate-system as points of the TCP, and calculates the relative positions of points in the alignment device coordinate-system and in the robot coordinate-system.Type: GrantFiled: June 4, 2021Date of Patent: April 9, 2024Assignee: DELTA ELECTRONICS, INC.Inventors: Cheng-Hao Huang, Shi-Yu Wang, Po-Chiao Huang, Han-Ching Lin, Meng-Zong Li
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Patent number: 11945469Abstract: Techniques for representing sensor data and predicted behavior of various objects in an environment are described herein. For example, an autonomous vehicle can represent prediction probabilities as an uncertainty model that may be used to detect potential collisions, define a safe operational zone or drivable area, and to make operational decisions in a computationally efficient manner. The uncertainty model may represent a probability that regions within the environment are occupied using a heat map type approach in which various intensities of the heat map represent a likelihood of a corresponding physical region being occupied at a given point in time.Type: GrantFiled: November 25, 2020Date of Patent: April 2, 2024Assignee: Zoox, Inc.Inventors: Rasmus Fonseca, Marin Kobilarov, Mark Jonathon McClelland, Jack Riley
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Patent number: 11940804Abstract: The present disclosure is directed to a computer system and techniques for automatically annotating objects in map data used for navigating an autonomous vehicle. Generally, the computer system is configured to obtain LiDAR data points for an environment around an autonomous vehicle, project the LiDAR data points onto image data, detect a target object in the image data, extract a subset of the LiDAR data points that corresponds to the detected target object, register the detected target object in map data if the extracted subset of the LiDAR data points satisfies registration criteria, and navigate the autonomous vehicle in the environment according to the map data.Type: GrantFiled: December 9, 2020Date of Patent: March 26, 2024Assignee: Motional AD LLCInventors: Zhongtao Liu, James Esper, Jong Ho Lee