Patents Examined by Ian Jen
  • Patent number: 10310517
    Abstract: An autonomous aerial system for delivering a payload to a waypoint. The autonomous aerial system may comprise an aerial vehicle to transport the payload to the waypoint and an onboard supervisory control system operatively coupled with the aerial vehicle. The aerial vehicle may be configured to navigate to the waypoint and to land at a designated touchdown zone within a landing zone at the waypoint. The onboard supervisory control system having a processor operatively coupled with a non-volatile memory device and a sensor package. The processor may be configured to generate flight control signal data based at least in part on data received via the sensor package, the sensor package configured to (1) dynamically sense and avoid obstacles along a flight route to the waypoint, and (2) perceive physical characteristics of the landing zone.
    Type: Grant
    Filed: April 4, 2018
    Date of Patent: June 4, 2019
    Assignee: Aurora Flight Sciences Corporation
    Inventors: James D. Paduano, John B. Wissler, Michael D. Piedmonte, David A. Mindell
  • Patent number: 10300600
    Abstract: A robot control system includes an operation control unit, a learning control processing unit and a storage unit. Whenever the operation control unit performs a single learning control, the learning control processing unit stores the number of learning controls, which indicates how many learning controls have been performed, and obtained time-series vibration data in correspondence with each other in the storage unit. The learning control processing unit calculates a convergence determination value to determine whether or not a vibration of a certain portion of a robot converges based on the time-series vibration data at each number of learning controls stored in the storage unit, and determines the number of learning controls having a minimum convergence determination value, out of the calculated convergence determination values, as the optimal number of learning controls.
    Type: Grant
    Filed: January 2, 2018
    Date of Patent: May 28, 2019
    Inventors: Nobuaki Yamaoka, Hajime Suzuki, Kaimeng Wang
  • Patent number: 10293487
    Abstract: Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture.
    Type: Grant
    Filed: January 11, 2018
    Date of Patent: May 21, 2019
    Inventors: Satoru Shimizu, Kenta Kawamoto, Yoshiaki Iwai
  • Patent number: 10293486
    Abstract: A humanoid robot with a body joined to an omnidirectional mobile ground base, and equipped with: a body position sensor and a base position sensor to provide measures, actuators comprising at least 3 wheels located in the omnidirectional mobile base, extractors for converting the measures into useful data, a controller to calculate position, velocity and acceleration commands from the useful data using a robot model and pre-ordered position and velocity references, means for converting the commands into instructions for the actuators, wherein the robot model is a double point-mass model, and wherein the commands are based on a linear model predictive control law with a discretized time according to a sampling time period and a number of predicted samples, and expressed as a quadratic optimization formulation with: a weighted sum of objectives and a set of predefined linear constraints.
    Type: Grant
    Filed: April 17, 2015
    Date of Patent: May 21, 2019
    Inventors: Jory Lafaye, David Gouaillier, Pierre-Brice Wieber
  • Patent number: 10286556
    Abstract: A method and apparatus for performing an operation on a workpiece using a multi-axis compliant end-effector for attachment to a robotic device. The end-effector is positioned at a nominal location of a workpiece feature on which the operation is to be performed. The end-effector is passively aligned with the workpiece feature by contacting the end-effector with the workpiece feature. The operation is performed on the workpiece feature in response to aligning the end effector with the workpiece feature.
    Type: Grant
    Filed: October 16, 2016
    Date of Patent: May 14, 2019
    Assignee: The Boeing Company
    Inventors: James J. Troy, Daniel J. Wright, Scott W. Lea
  • Patent number: 10286567
    Abstract: A robot includes a moving mechanism, a sensor device and a control device. The sensor device senses a gesture of a user hand in a sensing zone thereof. The control device causes the moving mechanism to perform an action instruction that corresponds to the gesture when the gesture matches a piece of gesture data in a gesture database thereof.
    Type: Grant
    Filed: May 3, 2017
    Date of Patent: May 14, 2019
    Inventors: Che-Hsuan Chang, Chih-Hsuan Chen, Po-Chiao Huang, Zong-Sian Jiang
  • Patent number: 10286547
    Abstract: A robot control system comprising a plurality of robots and a worker terminal that is capable of sending operation commands to a plurality of robots, by using wireless communications. The worker terminal has: an identification part that identifies a target robot to be used for work, from among a plurality of robots; a reception part that receives operation instructions for the robot from a worker; and a wireless communications part that sends operation commands to only the robot identified as the target robot by the identification part, when an operation instruction is received by the reception part.
    Type: Grant
    Filed: June 19, 2015
    Date of Patent: May 14, 2019
    Assignee: OMRON Corporation
    Inventors: Ryuichiro Takaichi, Hiroyuki Inoue, Takamasa Yamaji, Teruki Yamada
  • Patent number: 10286558
    Abstract: Methods and systems for autonomously interacting with persons in a public environment to store and transport their personal material items are described herein. A service robot includes one or more secure storage cells, and is configured to collect items such as personal belongings, refuse, etc., from users and transport the collected items to different locations. The service robot maneuvers through a crowded environment autonomously, avoiding collisions with people and objects, and minimizing disturbances to traffic flow. Users indicate a desire to store and transport items to a desired location. In response, the service robot unlocks a lid of a storage cell, and the user is able to load material items. In some examples, access to the storage cell is controlled based on access codes. In some examples, access to the storage cell is controlled based on receipt of an electronic payment.
    Type: Grant
    Filed: April 19, 2017
    Date of Patent: May 14, 2019
    Assignee: Boston Incubator Center, LLC
    Inventors: Haruhiko Harry Asada, Kumiko Asada
  • Patent number: 10279478
    Abstract: The present invention relates to a system and a method for programming an industrial robot (3) to perform work in a robot cell including a plurality of workstations (4a-c).
    Type: Grant
    Filed: May 3, 2017
    Date of Patent: May 7, 2019
    Assignee: OpiFlex Automation AB
    Inventors: Batu Akan, Johan Frisk
  • Patent number: 10272571
    Abstract: An arrangement for determining the calibration position of a robot joint where the joint has a moveable joint element and a stationary joint element, where one of the joint elements has a holding structure and the other a force providing protrusion, a robot controller, a motor connected between the robot controller and the moveable joint element and a force receiving element adapted to form a kinematic coupling with the holding structure and the force providing protrusion, where the kinematic coupling has at least two areas of contact between the structure and the force receiving element and one area of contact between the force providing protrusion and the force receiving element, the force receiving element being fastenable to the holding structure for stretching out across a gap between the two robot joint elements for receiving a force from the force providing protrusion.
    Type: Grant
    Filed: November 12, 2014
    Date of Patent: April 30, 2019
    Assignee: ABB Schweiz AG
    Inventors: Torgny Brogårdh, Peter Fixell, Görgen Johansson, Hans Andersson, Sven Hanssen, Stig Moberg, Siim Viilup, Mats Olsson
  • Patent number: 10266203
    Abstract: The present invention relates to an aid steering control apparatus comprising: a sensing unit configured to sense at least one of a steering angle and a pinion angle, and a rack force; a change amount calculating unit configured to calculate at least one of a steering angle change amount, which is a change of the steering angle, and a pinion angle change amount, which is a change of the pinion angle, and a rack force change amount, which is a change of the rack force; a first carrier calculating unit configured to calculate a first carrier that is a rack force change amount for the steering angle change amount or a rack force change amount for the pinion angle change amount; and a compensating unit configured to calculate a rack force maximum value and a rack force minimum value, which are rack forces of points where a sign of the first carrier is changed by determining the sign of the first carrier, and to compensate for a steering torque based on a difference between the rack force maximum value and the rac
    Type: Grant
    Filed: December 7, 2016
    Date of Patent: April 23, 2019
    Inventor: Seung Gyu Hong
  • Patent number: 10268197
    Abstract: The present disclosure relates to a method of trajectory planning for yielding maneuvers for an ego vehicle (E). The method may include determining a longitudinal safety corridor for the ego vehicle (E) that allows the ego vehicle (E) to longitudinally position itself between two or more surrounding objects, determining a longitudinal trajectory for the ego vehicle (E) respecting bounds given by the longitudinal safety corridor, determining a lateral safety corridor for the ego vehicle (E) using the longitudinal trajectory to determine upper and lower bounds on a lateral position of the ego vehicle (E), and determining a lateral trajectory for the ego vehicle (E) respecting bounds given by the lateral safety corridor. The present disclosure also relates to an Advanced Driver Assistance System arranged to perform the method and a vehicle (E) comprising such a system.
    Type: Grant
    Filed: September 18, 2015
    Date of Patent: April 23, 2019
    Assignee: Volvo Car Corporation
    Inventors: Julia Nilsson, Mattias Erik Brannstrom
  • Patent number: 10258414
    Abstract: Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween.
    Type: Grant
    Filed: March 17, 2015
    Date of Patent: April 16, 2019
    Inventors: Patrick O'Grady, Tao Zhao, Christopher R. Burns, Jason Hemphill, Brian D. Hoffman, Simon P. Dimaio, Rodney Vance
  • Patent number: 10258214
    Abstract: A mobile robot configured to travel across a residential floor or other surface while cleaning the surface with a cleaning pad and cleaning solvent is disclosed. The robot includes a controller for managing the movement of the robot as well as the treatment of the surface with a cleaning solvent. The movement of the robot can be characterized by a class of trajectories that achieve effective cleaning. The trajectories include sequences of steps that are repeated, the sequences including forward and backward motion and optional left and right motion along arcuate paths.
    Type: Grant
    Filed: October 6, 2017
    Date of Patent: April 16, 2019
    Assignee: iRobot Corporation
    Inventors: Michael J. Dooley, James Philip Case, Nikolai Romanov
  • Patent number: 10259117
    Abstract: Robots may be instantiated on-demand and may be adaptive in response to an environment, application, or event change. The adapted robot may switch functions in order to perform selective operations within medicine, agriculture, military, entertainment, or manufacturing, among other things.
    Type: Grant
    Filed: August 2, 2016
    Date of Patent: April 16, 2019
    Assignee: AT&T Intellectual Property I, L.P.
    Inventors: Venson Shaw, Jeffrey Joseph Farah
  • Patent number: 10252725
    Abstract: A vehicle stop apparatus includes a brake, an operation switch, and a controller. The brake stops a vehicle. The operation switch is provided at a location that allows the operation switch to be operable by a seated occupant of the vehicle with an upper limb of the occupant. The controller controls activation of the brake. The controller performs the activation of the brake in response to an input received by the operation switch, and thereby causes the brake to stop the vehicle.
    Type: Grant
    Filed: December 21, 2016
    Date of Patent: April 9, 2019
    Inventor: Koji Numazawa
  • Patent number: 10254756
    Abstract: A cleaning robot including a main body, a moving assembly to move the main body, a cleaning tool provided at a bottom part of the main body to collect foreign substances on a floor, and an imager to collect images around the main body. The cleaning robot also including a controller to recognize motion of a hand by performing image processing of the collected images, identify a control command corresponding to the motion of the hand, plan a moving direction and a moving distance of the main body as movement information based on the control command, and control operations of the moving assembly and the cleaning tool based on the planned movement information. Since the user directly controls movement of the cleaning robot, it is possible to improve interactivity between human and cleaning robot, to reduce the effort by the user and increase convenience.
    Type: Grant
    Filed: April 19, 2017
    Date of Patent: April 9, 2019
    Inventors: Dong Hun Lee, Heum yong Park
  • Patent number: 10245732
    Abstract: A reception system includes: an imaging unit that captures an image; a reception information storage unit that stores an image of a visitor who visited in the past and information of a receiving person whom the visitor visited in the past in an associated manner; and an action performing unit that generates a question to the visitor based on a scenario regarding a response to the visitor and acquires information via a response to the question from the visitor, wherein the action performing unit changes a response presented to the visitor based on the scenario depending on whether or not the reception information storage unit stores an image that corresponds to the image captured by the imaging unit.
    Type: Grant
    Filed: March 27, 2017
    Date of Patent: April 2, 2019
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Hiroshi Kondo, Naoaki Sumida, Asuka Shiina, Shunichi Yamamoto, Kazuhiro Nakadai, Keisuke Nakamura
  • Patent number: 10239202
    Abstract: A method for robot interaction, preferably including: receiving a user input, determining a robot-associated response based on the user input, and presenting the robot-associated response. A system, preferably including: a robot, a conversation client, and a response module.
    Type: Grant
    Filed: September 14, 2018
    Date of Patent: March 26, 2019
    Assignee: Play-i, Inc.
    Inventors: Leisen Huang, Chris Rettstatt, Vikas Gupta, Kevin Liang, Steven Levis, Anthony Fudd, Tim Reardon
  • Patent number: 10232880
    Abstract: A method and a device for controlling the lane-keeping of a motor vehicle, wherein the motor vehicle has a lane-keeping assistant with at least the states inactive and active, which lane-keeping assistant is used to keep the vehicle in the driver's own lane. The method includes checking whether the vehicle has drifted into the opposite lane; checking whether there is opposing traffic in the opposite lane; activating the lane-keeping assistant if the vehicle has drifted and there is opposing traffic; controlling the lane-keeping assistant with respect to the oncoming object by active steering intervention, wherein the oncoming vehicle is interpreted as a lane boundary of the driver's own lane.
    Type: Grant
    Filed: August 14, 2015
    Date of Patent: March 19, 2019
    Assignee: Volkswagen Aktiengesellschaft
    Inventors: Sebastian Busch, Michael Wonke, Thomas Eigel