Abstract: The various embodiments described herein generally relate to systems and methods for operating one or more self-driving vehicles. In some embodiments, the self-driving vehicles may include a vehicle processor being operable to: control the vehicle to navigate an operating environment in an initial vehicle navigation mode; monitor for one or more trigger conditions indicating a possible change for the vehicle navigation mode; detect a trigger condition; determine a prospective vehicle navigation mode associated with the detected trigger condition; determine whether to change from the initial vehicle navigation mode to the prospective vehicle navigation mode; and in response to determining to change from the initial vehicle navigation mode to the prospective vehicle navigation mode, adjust one or more vehicle attributes corresponding to the prospective vehicle navigation mode, otherwise continue to operate the vehicle in the initial vehicle navigation mode.

Abstract: A disclosed processing system includes a substrate placing stage, at least one measurer, and a determiner. The substrate placing stage is configured to place a substrate transferred by a transfer device thereon. The at least one measurer measures a load applied to the substrate placing stage from the substrate when the substrate is transferred from the transfer device onto the substrate placing stage. The determiner determines a suitability of a fixed state of the substrate to the transfer device based on the load measured by the at least one measurer.

Abstract: The various embodiments described herein generally relate to systems and methods for operating one or more self-driving vehicles. In some embodiments, the self-driving vehicles may include a vehicle processor being operable to: control the vehicle to navigate an operating environment in an initial vehicle navigation mode; monitor for one or more trigger conditions indicating a possible change for the vehicle navigation mode; detect a trigger condition; determine a prospective vehicle navigation mode associated with the detected trigger condition; determine whether to change from the initial vehicle navigation mode to the prospective vehicle navigation mode; and in response to determining to change from the initial vehicle navigation mode to the prospective vehicle navigation mode, adjust one or more vehicle attributes corresponding to the prospective vehicle navigation mode, otherwise continue to operate the vehicle in the initial vehicle navigation mode.

Abstract: This robot control device capable of controlling a robot according to a lead-through control in which the orientation of the robot is varied in accordance with the magnitude and the direction of forces detected by a force sensor provided in the robot, wherein the robot control device: identifies a first state in which an additional device is installed at a distal end of a wrist of the robot, and a second state in which the additional device is not installed at said location; and switches a load setting of the robot when the lead-through control is executed in the first and second states.

Abstract: Provided are a seat device for a vehicle and a control method thereof. The seat device for the vehicle includes: an electric device for moving a seat of the vehicle; a pinch detection unit that detects a pinched obstacle by detecting a load change of the electric device when the seat moves; an obstacle detection unit that detects whether the obstacle exists in a moving direction of the seat; and a control unit that reduces a pinch load on the obstacle caused by the seat when the obstacle exists.

Abstract: A hand-eye calibration method, apparatus, system, and storage medium for a robot are provided. The method includes: obtaining images of a target body of a calibration target acquired by an imaging device when the robot (110) is in different poses; for any pose, determining, based on at least one image collected in the pose, a first transformation relationship between a first coordinate system of the calibration target and a second coordinate system of the imaging device in the pose; obtaining a second transformation relationship between a third coordinate system and a fourth coordinate system of the robot (110); and determining, based on the first transformation relationships and the second transformation relationships corresponding to the different poses, a third transformation relationship between the second coordinate system and one of the third coordinate system and the fourth coordinate system. Further provided is a calibration target.

Abstract: This document describes trajectory planning in a three-dimensional (3D) search space with a space-time artificial potential field. An example system includes a processor that obtains an initial pose, a goal pose, and an obstacle map for an environment. The processor uses a parking trajectory algorithm to determine a trajectory by searching in a space-time artificial potential field. The trajectory includes a series of 3D waypoints, including two-dimensional (2D) positional coordinates and time coordinates, to navigate from the initial pose towards the goal pose. Operation of the host vehicle is then controlled to maneuver along the trajectory using an assisted-driving or autonomous-driving system. In this way, path searching is performed in the entire 3D search space rather than iterating between two 2D search planes. This allows motion planning for autonomous parking, especially with static and dynamic objects present, to determine an optimal trajectory in a single iteration.

Abstract: A method for modeling a working environment of a robot comprising providing a robot having a base, a reference point, a plurality of links by which the reference point is movably connected to the base, and sensors for detecting positions of or angles between the links, providing a controller adapted to associate a position of the reference point to detected positions or angles between of the links, installing the base in a working environment which is delimited by at least one surface, moving the reference point to at least one sample point of the at least one surface, determining the position of the sample point from positions of or angles between the links detected while the reference point is at the sample point, and inferring the position of the surface from the determined position.

Abstract: A method of parking a vehicle occupied by a disabled person includes: generating sensing data by sensing surroundings of the vehicle and searching for empty spaces using the sensing data; categorizing each of the empty spaces into a no-parking space, a first parking space for a disabled person with a wheelchair activity space, a second parking space for the disabled person without a wheelchair activity space, and a general parking space; selecting one of the first parking space for the disabled person, the second parking space for the disabled person, or the general parking space as a target parking space; determining a parking type and a parking trajectory based on a boarding position of the disabled person and the target parking space; and moving the vehicle to the target parking space based on the parking type and the parking trajectory. The parking type is front parking or rear parking.

Abstract: An sUAS operations device that allows a pilot to fly an sUAS. The device includes a sensor interface to receive signals from a sensor attached to the pilot to monitor physiological responses of the pilot during the flight. The system records a video of the flight and synchronizes it with the sensor feedback to allow correlation of the stress levels with the flight. The system also may provide feedback to the pilot during flight.

Abstract: A parameter calibration method includes: establishing a kinematic model function of the multi-link device, the kinematic model function comprising a parameter set; controlling the multi-link device to acquire N measurement points located on a first and a second planes of an object with a measurement tool, and recording N parameter sets as N initial parameter sets when the multi-link device acquires the N measurement points with the measurement tool, wherein the first and the second planes are parallel to each other and have a predetermined dimension; establishing a plurality of target functions associated with the N measurement points based on the N parameter sets and the kinematic model function; updating the N parameter sets based on the target functions to obtain N updated parameter sets; obtaining a parameter modification of the parameter set based on the N initial parameter sets and the N updated parameter sets.

Abstract: For control about a remote center of motion (RCM) of a surgical robotic system, possible configurations of a robotic manipulator are searched to find the configuration providing a greatest overlap of the workspace of the surgical instrument with the target anatomy. The force at the RCM may be measured, such as with one or more sensors on the cannula or in an adaptor connecting the robotic manipulator to the cannula. The measured force is used to determine a change in the RCM to minimize the force exerted on the patient at the RCM. Given this change, the configuration of the robotic manipulator may be dynamically updated. Various aspects of this RCM control may be used alone or in combination, such as to optimize the alignment of workspace to the target anatomy, to minimize force at the RCM, and/or to dynamically control the robotic manipulator configuration based on workspace alignment and force measurement.

Abstract: Methods and systems for assisting a vehicle in avoiding an object in a roadway and communicating associated information to trailing vehicles. Image data is sensed by a vehicle image sensor regarding a roadway. A computing system detects an object in the roadway based on the first image data. Feature extraction is performed to extract relevant features of the object, which is fed to an object classification model to determine a class of the object. A threat analysis is performed based on the determined class of the object, outputting a risk score. The first vehicle is commanded to take an action based on the risk score. The class of the object, the risk score, and/or the commanded action taken by the vehicle is communicated to a second vehicle that is approaching the object.

Abstract: A method and system for robot skill learning applicable to high precision assembly tasks employing a compliance controller. An actor-critic reinforcement learning controller is coupled to the compliance controller, where an actor neural network provides target position adjustment action data to the compliance controller based on robot state data feedback, and a critic neural network is used to train the actor. The critic neural network receives the robot state data feedback and reward data from the robot, along with the action data from the actor, and correlates optimal actions associated with states in order to maximize the reward. The critic then adjusts the parameters of the actor so that the actor produces effective actions in response to the state data, leading to rapid and reliable completion of the assembly task by the compliance controller/robot system. The critic is no longer used after the actor is adequately trained.

Abstract: The present disclosure relates to a computer-implemented method for learning operators for planning a behavior of an autonomous device. The method includes obtaining a set of training data including observations of a plurality of skills executable by the autonomous device in an interaction with at least one entity for addressing a first task, obtaining a predetermined set of data defining a hierarchy of entities including the at least one entity, learning a set of individual skills based on the obtained set of training data, generating a set of generalized skills by generalizing the learned set of individual skills based on the predetermined set of data that defining a hierarchy of entities, performing behavior planning of the autonomous device for addressing a second task different from the first task based on the generalized set of skills.

Abstract: A system for companion robot with 3D display device and a method are disclosed. In the system, a companion robot continuously senses a user behavior status and an input speech, converts the input speech to a text, transmits the text and the user behavior status to finite state machines of a server-end host to perform parsing and transition, so that the server-end host generates a chat message having an emotion label, transmits the chat message to an AI device, receives and stores the companion conversation message to a companion conversation list; the companion robot selects companion conversation message from the companion conversation list as an output message, and convert the output message to speech which is broadcasted by a speaker; while broadcasting the output message, the companion robot continuously obtains image data from a multi-source image and outputs the image data to a 3D display device for displaying.

Abstract: Systems and techniques for controlling a mobile robot. In an example, the system may include a processor and memory, including instructions, which when executed by the processor, cause the processor to determine a state of the mobile robot. The state of the mobile robot may be determined using at least one of: data provided by the mobile robot or data captured by one or more sensors proximate to or attached to the mobile robot. The system may determine a state of an object proximate to the mobile robot using the data captured by the one or more sensors, and identify information relating to one or more available stopping points. The system may identify a condition of the mobile robot that requires the mobile robot to stop and issue a command to the mobile robot to navigate to a particular one of the one or more available stopping points.

Abstract: Systems and methods for passive robot-mediated physical human-human interaction using hierarchical constraints. The system enforces constraints on both sides of a bilateral physical interaction with different priorities on each side in the presence of time-varying destabilizing factors such as control system limitations, human variability, hard contacts, relaxed user grasps, stiff control settings, and/or communication delays. A hierarchical optimization framework is provided to satisfy these constraints. A back-up passivity control may also be included to ensure optimization at both sides.

Abstract: The various embodiments described herein generally relate to systems and methods for operating one or more self-driving vehicles. In some embodiments, the self-driving vehicles may include a vehicle processor being operable to: control the vehicle to navigate an operating environment in an initial vehicle navigation mode; monitor for one or more trigger conditions indicating a possible change for the vehicle navigation mode; detect a trigger condition; determine a prospective vehicle navigation mode associated with the detected trigger condition; determine whether to change from the initial vehicle navigation mode to the prospective vehicle navigation mode; and in response to determining to change from the initial vehicle navigation mode to the prospective vehicle navigation mode, adjust one or more vehicle attributes corresponding to the prospective vehicle navigation mode, otherwise continue to operate the vehicle in the initial vehicle navigation mode.

Abstract: A computer-implemented method includes generating a joint-torque-limit model for the articulated arm based on allowable joint torque sets corresponding to a base pose of the base. The method also include receiving a first requested joint torque set for a first arm pose of the articulated arm and determining, using the joint-torque-limit model, an optimized joint torque set corresponding to the first requested joint torque set. The method also includes receiving a second requested joint torque set for a second arm pose of the articulated arm and generating an adjusted joint torque set by adjusting the second requested joint torque set based on the optimized joint torque set. The method also includes sending the adjusted joint torque set to the articulated arm.