Patents Examined by Dale Moyer
  • Patent number: 11173595
    Abstract: This new utility patent application discloses a self-balanced swiveling obstacle-crossing robot for transmission lines comprising a front running gear, a rear running gear, a front weight-shifting mechanism, a rear weight-shifting mechanism, a swiveling mechanism and a controller.
    Type: Grant
    Filed: January 11, 2020
    Date of Patent: November 16, 2021
    Inventor: Bradley Jiping Xu
  • Patent number: 11167415
    Abstract: A control apparatus controls a horizontal articulated robot including a base, a first arm provided at the base and pivoting around a first axis relative to the base, a second arm provided at the first arm and pivoting around a second axis relative to the first arm, a shaft provided in the second arm and linearly moving in directions along a third axis, a motor that drives linear motion of the shaft, a position detector that detects a position of the motor, and an inertial sensor provided in the second arm, and includes a control section that feeds back output of the inertial sensor to control of the motor and drives the motor.
    Type: Grant
    Filed: July 19, 2019
    Date of Patent: November 9, 2021
    Inventor: Tomokazu Hirabayashi
  • Patent number: 11167419
    Abstract: A transfer robot includes one arm, another arm, and a motor. The one arm has a first connection portion. The other arm has a second connection portion that is connected to the first connection portion of the one arm via a shaft such that the other arm is rotatable relatively with respect to the one arm around a shaft axis of the shaft. The motor is provided inside the first connection portion of the one arm. The motor includes a rotor rotatable around the shaft axis to rotate the one arm or the other arm around the shaft axis.
    Type: Grant
    Filed: June 10, 2019
    Date of Patent: November 9, 2021
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Osamu Harada, Toshiyuki Harada, Kentaro Yotsuji
  • Patent number: 11161247
    Abstract: An operation instruction list including starting points and ending points of trajectories of a plurality of robot arms is generated (a trajectory definition data generation process). Order of generation of trajectories is determined in accordance with the operation instruction list (a generation order determination process). A trajectory of a specific robot arm included in the operation instruction list is generated in accordance with a starting point and an ending point such that the trajectory avoids obstacle spaces registered in the obstacle memory when trajectories of other robot arms are generated (a trajectory generation process). A sweeping space in which a structure of the arm sweeps when the robot arm is operated along the generated trajectory is added to the obstacle memory as an obstacle space to be avoided by the other robot arm (an obstacle registration process).
    Type: Grant
    Filed: January 9, 2019
    Date of Patent: November 2, 2021
    Assignee: Canon Kabushiki Kaisha
    Inventor: Yasuharu Maeda
  • Patent number: 11154985
    Abstract: A method includes receiving input data indicative of tactile input at a bidirectional jog control device associated with a seven-degree-of-freedom (7DOF) robotic arm, where the 7DOF robotic arm is in a first arm configuration with an end effector of the 7DOF robotic arm positioned at a first pose in an environment. Based on the input data, the method further includes determining a direction to jog the 7DOF robotic arm through a null space while keeping the end effector fixed at the first pose in the environment. The method additionally includes controlling the 7DOF robotic arm to jog through the null space in the determined direction to a second arm configuration, where the end effector is positioned at the first pose in the environment when the 7DOF robotic arm is in the second arm configuration.
    Type: Grant
    Filed: July 2, 2019
    Date of Patent: October 26, 2021
    Assignee: X Development LLC
    Inventor: Marc Strauss
  • Patent number: 11148287
    Abstract: The system can include a set of joints, a controller, and a model engine; and can optionally include a support structure and an end effector. Joints can include: a motor, a transmission mechanism, an input sensor, and an output sensor. The system can enable articulation of the plurality of joints.
    Type: Grant
    Filed: April 13, 2021
    Date of Patent: October 19, 2021
    Assignee: Orangewood Labs Inc.
    Inventors: Abhinav Kumar, Aditya Bhatia, Akash Bansal, Anubhav Singh, Ashutosh Prakash, Aman Malhotra, Harshit Gaur, Prasang Srivasatava, Ashish Chauhan
  • Patent number: 11148298
    Abstract: An arrangement for an articulated arm robot having an articulated arm and having a measurement arm formed in a parallel kinematic system is provided. The articulated arm includes: joints, each of which has a joint axis; actuators, each actuator being associated with one of the joints; link elements, which connect the joints in a serial articulated arm arrangement; and a mount for an end effector, which mount is arranged at an end of the articulated arm and is configured to hold an end effector. The measurement arm includes: measurement arm joints, each of which has a measurement arm joint axis, which extends coaxially to the joint axis of an associated joint of the articulated arm; rotary encoders, each encoder being associated with one of the measurement arm joints; and measurement arm link elements, which connect the measurement arm joints in a serial measurement arm arrangement.
    Type: Grant
    Filed: July 11, 2018
    Date of Patent: October 19, 2021
    Inventors: Alina Grädener, Leo Rokeach
  • Patent number: 11140889
    Abstract: A robotic orchard spraying system having autonomous delivery vehicles (ADV), each autonomously delivering an amount of a premixed solution over a non-overlapping path verified by a forward-looking sensor, video, or both. Also, a mobile control center, configured to wireles sly inform the autonomous delivery vehicle of the path within the areas and to confirm that the autonomous delivery vehicle is following the path within the area. Additionally, a mapper vehicle generates the path within the area, the mapper vehicle being configured to communicate information about the path and the area to the command center. The mapper vehicle senses the path with a forward-looking LiDAR sensor, and senses the area with a GPS sensor. Moreover, a nurse truck has a reservoir of premixed solution for replenishing a tank of the ADV. ADVs and the control center communicate over a radio network, which may be a mesh network, a cellular network, or both.
    Type: Grant
    Filed: November 28, 2018
    Date of Patent: October 12, 2021
    Assignee: Crinklaw Farm Services, Inc.
    Inventors: David Curtis Crinklaw, Chase Schapansky, Richard Vaccari, Jeremy Bischel, Ryan Johnson
  • Patent number: 11130545
    Abstract: A bicycle control device is provided for a bicycle that includes a front wheel, a drive train and a suspension. The drive train includes an input unit to which driving force is input, a rear wheel to which the driving force is transmitted, and a transmission mechanism that transmits the driving force that is input to input unit to the rear wheel. The bicycle control device includes an electronic controller that changes an operation state of the suspension in accordance with movement of at least one of the input unit, the transmission mechanism, the front wheel and the rear wheel in a state in which the rear wheel is not rotated by the driving force that is input to the input unit.
    Type: Grant
    Filed: June 11, 2018
    Date of Patent: September 28, 2021
    Assignee: Shimano Inc.
    Inventor: Toshio Tetsuka
  • Patent number: 11123868
    Abstract: Provided is a robot system that can accurately sense contact between an arm of a robot or an instrument attached to the arm and another object.
    Type: Grant
    Filed: April 24, 2018
    Date of Patent: September 21, 2021
    Assignee: NACHI-FUJIKOSHI CORP.
    Inventors: Hiroyuki Nakashima, Masayasu Futagawa
  • Patent number: 11112807
    Abstract: Provided is a method of modeling behavior for a self-driving vehicle, e.g., as a follower vehicle. Also provided is a vehicle configured to execute the behavior model to cooperatively navigate at least one structural element in an environment. The structural element can be or include a door, a vestibule, and/or an elevator, as examples. The behavior model can be formed by a method that includes tracking and measuring leader-follower interactions and actions with at least one structural element of an environment, representing the leader behaviors and the follower behavior in a behavior model, and electronically storing the behavioral model. The leader-follower interactions and actions can include leader behaviors and follower behaviors, including starts, stops, pauses, and movements of the leader, follower vehicle, and/or objects.
    Type: Grant
    Filed: May 1, 2019
    Date of Patent: September 7, 2021
    Assignee: PIAGGIO FAST FORWARD, INC.
    Inventors: Mitchell Weiss, Jeffrey Schnapp, Gregory Stewart Lynn, Rossitza Kotelova
  • Patent number: 11103992
    Abstract: A wire-driven manipulator including a driver, a first deforming section including a first distal member, a plurality of first guide members, and a plurality of first wires, and a second deforming section provided between the first deforming section and the driver with the second deforming section including a second distal member, a plurality of second guide members, and a plurality of second wires. The plurality of first wires are fixed to the first distal member, and at least one of the plurality of first wires is further fixed to the plurality of first guide members and other wires of the plurality of the first wires are slidable with respect to the plurality of first guide members. The plurality of second wires are fixed to the second distal member, and at least one of the plurality of second wires is further fixed to the plurality of second guide members and the other wires of the plurality of the first wires are slidable with respect to the plurality of second guide members.
    Type: Grant
    Filed: February 21, 2018
    Date of Patent: August 31, 2021
    Assignee: Canon Kabushiki Kaisha
    Inventors: Yusuke Tanaka, Kiyoshi Takagi
  • Patent number: 11104321
    Abstract: The invention relates to a method and to a system for putting into service a brake system having specified approval prerequisites, in particular wherein the brake system is a pneumatic and/or hydraulic braking system, in particular a pneumatic and/or hydraulic braking system of a rail vehicle, wherein the control data set for the brake system is set on the basis of a real reference operation and a virtual test operation in such a way that the specified approval prerequisites are achieved.
    Type: Grant
    Filed: August 2, 2016
    Date of Patent: August 31, 2021
    Inventors: Torsten Grunwald, Stefan Aurich, Stefan Schneider, Frank Günther, Matthias Kropp
  • Patent number: 11100791
    Abstract: Provided is a method, device, and computer-readable medium for controlling a robot graphic user interface (“RGUI”) on a mobile device. The method can include determining a distance, a position, or both of the mobile device with respect to a first robot; and causing, by a processor, a first RGUI to be displayed on a display of the mobile device based on the determining.
    Type: Grant
    Filed: April 21, 2020
    Date of Patent: August 24, 2021
    Assignee: THE JOHNS HOPKINS UNIVERSITY
    Inventors: Kelleher Guerin, Gregory Hager
  • Patent number: 11097415
    Abstract: Methods and systems for connection-driven generation of robotic user interfaces and modification of robotic properties include detecting a connection of a robotic peripheral to a robot; obtaining a peripheral property set corresponding to the robotic peripheral, wherein the peripheral property set includes one or more properties of the robotic peripheral; modifying, based on the peripheral property set, a robotic property set that includes one or more properties of the robot to provide a modified robotic property set; generating, during runtime, a robotic graphical user interface (“RGUI”) dynamically based on the peripheral property set, wherein the RGUI provides at least one user-accessible interface to control the robot and the robotic peripheral; and controlling, based on the modified robotic property set, the robot and the robotic peripheral in response to user input received via the RGUI.
    Type: Grant
    Filed: July 24, 2019
    Date of Patent: August 24, 2021
    Assignee: THE JOHNS HOPKINS UNIVERSITY
    Inventors: Kelleher Guerin, Gregory Hager
  • Patent number: 11090813
    Abstract: A system includes a robot, a ROS base station, and a holocontrol client, the robot communicatively linked to the ROS base station and the ROS base station communicatively linked to the holocontrol client.
    Type: Grant
    Filed: May 10, 2019
    Date of Patent: August 17, 2021
    Assignee: Brown University
    Inventor: Samir Yitzhak Gadre
  • Patent number: 11077555
    Abstract: Included is a method for preventing a mobile robotic device from becoming stuck during a work session including: selecting, by a control system of the mobile robotic device, one or more actions to navigate through a workspace, wherein each action transitions the mobile robotic device from a current state to a next state; actuating, by the control system of the mobile robotic device, the mobile robotic device to execute the selected one or more actions; detecting, by the control system of the mobile robotic device, whether a collision is incurred by the mobile robotic device for each action executed; and, calculating and assigning, by the control system of the mobile robotic device, more than one level of rewards for each action executed based on collisions incurred by the mobile robotic device and completion of the action.
    Type: Grant
    Filed: January 7, 2019
    Date of Patent: August 3, 2021
    Assignee: AI Incorporated
    Inventor: Ali Ebrahimi Afrouzi
  • Patent number: 11077559
    Abstract: A support robot and control system for timely and efficiently providing at least one of a tool, a part, a component, an electrical supply, and an air supply within an assembly line operation. The support robot and system may include a detection unit for detecting user and a motion planning unit for controlling the motion of the robot based on data received from the detection unit. The support robot may further include an input unit for receiving input from a user. The system may estimate work progress of a user via a work progress estimation unit. The work progress estimation unit may determine work production based on at least an output from the detection unit and information obtained from a work progress database. The system may further include a robot location adjustment unit. The robot location adjustment unit may adjust the location of the robot based on information received from the motion planning unit.
    Type: Grant
    Filed: December 5, 2018
    Date of Patent: August 3, 2021
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Derrick Ian Cobb, Eric C. Baker, Richard Wolfgang Geary, David Bryan Betz
  • Patent number: 11077871
    Abstract: A control system includes a communication device onboard a vehicle system approaching or entering an airflow restricted area along a route and one or more processors. The communication device configured to receive status messages that contain data parameters representative of ambient conditions within the airflow restricted area. The processors are configured to monitor the ambient conditions and determine different power output upper limits that a trail propulsion vehicle of the vehicle system can generate within the airflow restricted area based on the ambient conditions and different power outputs generated by a lead propulsion vehicle of the vehicle system. The processors further configured to communicate instructions to control the lead propulsion vehicle within the airflow restricted area to generate the power output of the different power outputs that results in the greatest total available power output of the vehicle system as the vehicle system travels within the airflow restricted area.
    Type: Grant
    Filed: December 6, 2018
    Date of Patent: August 3, 2021
    Assignee: TRANSPORATION IP HOLDINGS, LLC
    Inventors: Thomas Michael Lavertu, Roy James Primus, Jennifer Lynn Jackson
  • Patent number: 11077561
    Abstract: A method and apparatus for selecting an initial point for industrial robot commissioning, the initial point being located above a touchscreen for industrial robot commissioning. The method including: calculating a nominal posture of a work object relative to the industrial robot by a nominal posture calculating module; and selecting an initial point according to the nominal posture by an initial point selecting module. The method and apparatus can automatically select the initial point so as to further increase automation of the commissioning process and reduce workloads.
    Type: Grant
    Filed: July 30, 2019
    Date of Patent: August 3, 2021
    Assignee: ABB Schweiz AG
    Inventors: Hao Gu, Cheng Li