Patents Examined by Jaime Figueroa
  • Patent number: 11325256
    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot along a goal path. An initial Cartesian path is generated based on a goal path on a workpiece. Dynamic properties of the robot while the robot traverses an initial joint-space trajectory having an initial velocity profile are obtained. An adjusted velocity profile over the Cartesian path is generated based on the obtained dynamic properties. A trajectory is generated by combining the initial Cartesian path and the adjusted velocity profile.
    Type: Grant
    Filed: May 4, 2020
    Date of Patent: May 10, 2022
    Assignee: Intrinsic Innovation LLC
    Inventor: Andre Gaschler
  • Patent number: 11325248
    Abstract: A robotic device includes an end effector device, a first sensor, and a controller. The end effector device includes two fingers for gripping a workpiece. The first sensor detects a pressure distribution on a gripping position on the workpiece by the two fingers. The controller performs, based on a temporal variation in the pressure distribution when the workpiece is lifted, posture control including rotation of the end effector device.
    Type: Grant
    Filed: May 18, 2020
    Date of Patent: May 10, 2022
    Assignee: KYOCERA Document Solutions Inc.
    Inventor: Haruki Shoji
  • Patent number: 11325255
    Abstract: A method for controlling a robot includes: establishing a reference coordinate system; capturing a user's gaze direction of an indicated target; acquiring a sight line angle of the robot; acquiring a position of the robot; acquiring a linear distance between the robot and the user; calculating in real time a gaze plane in a user's gaze direction relative to the reference coordinate system based on the sight line angle of the robot, the position of the robot and the liner distance between the robot and the user; and smoothly scanning the gaze plane by the robot to search for the indicated target in the user's gaze direction.
    Type: Grant
    Filed: October 30, 2019
    Date of Patent: May 10, 2022
    Assignee: CLOUDMINDS ROBOTICS CO., LTD.
    Inventor: Lei Luo
  • Patent number: 11318609
    Abstract: A control device includes a control unit which executes a control force to a movable unit according to an output of a force detection unit. The control unit executes a stop control of the movable unit when a predetermined stop condition is satisfied. The stop control includes a second control which continues the force control to control the movable unit when the stop condition is satisfied during the execution of a first control including a force control.
    Type: Grant
    Filed: August 20, 2019
    Date of Patent: May 3, 2022
    Inventors: Kaoru Takeuchi, Nobuhiro Karito, Isamu Sejimo
  • Patent number: 11318613
    Abstract: Disclosed is a method and system for determining a motion path of a mechanical arm in which, after a kinematics model of a mechanical arm is established, multiple objective optimization functions are constructed according to the model, theoretical coordinates of a tail end of the arm, and an arm length. If a number of individuals in an evolutionary population, that makes both lateral and longitudinal error optimization functions in an optimization function monotonically increase or decrease, reaches the threshold, an optimal solution is determined using a single-objective evolutionary algorithm; otherwise, a multi-objective evolutionary algorithm is used. The multi- or single-objective evolutionary algorithms can be adaptively selected according to the number of individuals in the population that makes the lateral and longitudinal error optimization functions change.
    Type: Grant
    Filed: September 6, 2019
    Date of Patent: May 3, 2022
    Assignee: Xiangtan University
    Inventors: Juan Zou, Chan Fan, Xinghong Wu, Bin Deng, Qiuzhen Wang, Jinhua Zheng
  • Patent number: 11314251
    Abstract: The present disclosure provides a general purpose operating system (GPROS) that shows particular usefulness in the robotics and automation fields. The operating system provides individual services and the combination and interconnections of such services using built-in service extensions, built-in completely configurable generic services, and ways to plug in additional service extensions to yield a comprehensive and cohesive framework for developing, configuring, assembling, constructing, deploying, and managing robotics and/or automation applications. The disclosure includes GPROS extensions and features directed to use as an autonomous vehicle operating system. The vehicle controlled by appropriate versions of the GPROS can include unmanned ground vehicle (UGV) applications such as a driverless or self-driving car. The vehicle can likewise or instead include an unmanned aerial vehicle (UAV) such as a helicopter or drone.
    Type: Grant
    Filed: June 25, 2019
    Date of Patent: April 26, 2022
    Assignee: Perrone Robotics, Inc.
    Inventor: Paul J. Perrone
  • Patent number: 11312335
    Abstract: A vehicle theft-prevention apparatus can include a slip clutch mechanism, a locking mechanism, and a cylindrical body including a first portion and a second portion. The first portion can be configured to rotate about the second portion. The locking mechanism can be configured to engage based on rotation of the first portion relative to the second portion in a first direction, and disengage based on a rotation of the first portion relative to the second portion in a second direction. The slip clutch mechanism can be configured to prevent the locking mechanism from further engaging from rotation in the first direction relative to the second portion based on a magnitude of force applied.
    Type: Grant
    Filed: August 2, 2021
    Date of Patent: April 26, 2022
    Assignee: Keep Technologies, Inc.
    Inventors: David E. Moeller, Rahul Maran, Aditya Chavan
  • Patent number: 11312015
    Abstract: A system and method for moving an object against a working surface of a finishing machine that is set in a fixed position. The object is moved in a precise movement pattern while following a precise contact pressure pattern. The object is moved against the working surface of the finishing machine using a robot with an articulating arm. Other movement is provided by a dynamic platform upon which the robot rests. The dynamic platform includes a linear slide that enables the robot to reciprocally move. The dynamic platform also includes an active contact flange that acts upon the linear slide. The active contact flange is programmable and imparts the contact pressure pattern to the object through the linear slide and the robot. A rotary table can also be provided that selectively rotates the robot, the linear slide and the active contact flange.
    Type: Grant
    Filed: September 9, 2019
    Date of Patent: April 26, 2022
    Assignee: Reliabotics LLC
    Inventors: Steven Evers, Frank Thissen, Chris Robinson
  • Patent number: 11312021
    Abstract: When a predetermined stop condition is satisfied when a movable unit is in contact with an object in force control, a control apparatus stops the movable unit, and, when a predetermined restart condition is satisfied after stoppage of the movable unit, the control apparatus executes separation control to separate the movable unit from the object, and then, executes resetting of the force detection unit and restarts the force control after execution of the resetting. In another aspect, when a predetermined stop condition is satisfied when the movable unit is in contact with an object in the force control, the control apparatus performs separation control to separate the movable unit from the object, and then, stops the movable unit, and, when a predetermined restart condition is satisfied after stoppage of the movable unit, the control apparatus executes resetting of the force control, and then, restarts the force control.
    Type: Grant
    Filed: August 21, 2019
    Date of Patent: April 26, 2022
    Inventor: Isamu Sejimo
  • Patent number: 11308720
    Abstract: A vehicular imaging system includes an imaging device comprising an array of photo-sensing pixels and a control having an image processor operable for processing image data captured by the imaging device. The control utilizes edge detection in processing captured image data by the image processor for detecting objects present exterior of the vehicle. Responsive at least in part to processing at the control of captured image data by the image processor, the control detects an object of interest present in the field of view of the imaging device. In detecting the object of interest present in the field of view of the imaging device and responsive at least in part to processing at the control of captured image data by the image processor, shadows present in the field of view of the imaging device are discerned and distinguished from the object of interest.
    Type: Grant
    Filed: December 16, 2019
    Date of Patent: April 19, 2022
    Assignee: MAGNA ELECTRONICS INC.
    Inventor: Michael J. Higgins-Luthman
  • Patent number: 11307571
    Abstract: A method for operating a vehicle includes, with aid of one or more processors, individually or collectively, receiving a parameter regarding operation of the vehicle, processing the parameter regarding the operation of the vehicle, and varying a restriction affecting operation of the vehicle based on the processing of the parameter.
    Type: Grant
    Filed: November 30, 2018
    Date of Patent: April 19, 2022
    Assignee: SZ DJI TECHNOLOGY CO., LTD.
    Inventors: Zhenzhou Lai, Chang Geng, Xi Chen, Bogao Xu, Lei Wang
  • Patent number: 11305424
    Abstract: A control system and method for generalized admittance control (AC) is provided. The control system includes circuitry communicatively coupled to a robotic manipulator. The circuitry receives, from a sensor system of the robotic manipulator, contact force measurements associated with a physical interaction of the robotic manipulator with an object. The circuitry determines a surface portion of the robotic manipulator on which the physical interaction with the object occurs and samples a set of interaction points from the surface portion. The circuitry computes a generalized velocity for AC of the robotic manipulator by minimizing a cost function. The cost function includes a relationship between the contact force measurements and an approximation term which models application of an actual contact force of the physical interaction on the sampled set of interaction points. The circuitry generates a set of joint control instructions based on generalized velocity to control motion of the robotic manipulator.
    Type: Grant
    Filed: August 24, 2020
    Date of Patent: April 19, 2022
    Assignee: Honda Motor Co., Ltd.
    Inventor: Katsu Yamane
  • Patent number: 11298828
    Abstract: Disclosed is a calibration device including: a position information acquiring unit (101) for acquiring position information showing the position and the posture of control target equipment; a force information acquiring unit (102) for acquiring information about a force applied to the control target equipment from a detection result of a force sensor (5) disposed in the control target equipment; a first estimating unit (104) for estimating the force applied to the control target equipment from the acquired position information by using a physical model, to acquire estimated force information; and a second estimating unit (105) for estimating a linear or nonlinear model on the basis of the acquired position information, the acquired force information, and the acquired estimated force information.
    Type: Grant
    Filed: April 10, 2020
    Date of Patent: April 12, 2022
    Assignee: Mitsubishi Electric Corporation
    Inventors: Takashi Nammoto, Koji Shiratsuchi
  • Patent number: 11298832
    Abstract: [Problem] To provide a main mold and core setting device and a main mold and core setting method which enable core setting work, hitherto implemented by a core setting operator using subtle hand sensation, to be completely reproduced by automation.
    Type: Grant
    Filed: July 13, 2018
    Date of Patent: April 12, 2022
    Assignee: SINTOKOGIO, LTD.
    Inventors: Masahiko Nagasaka, Hiroyasu Makino, Takumi Kobayashi, Koji Ito
  • Patent number: 11292132
    Abstract: The present disclosure relates to robot path planning. Depth information of a plurality of obstacles in an environment of a robot are obtained at a first time instance. A static distance map is generated based on the depth information. A path is computed for the robot based on the static distance map. At a second time instant, depth information of one or more obstacles is obtained. A dynamic distance map is generated based on the one or more obstacles, wherein for each obstacle that satisfies a condition: a vibration range of the obstacle is computed based on a position of the obstacle and the static distance map, and the obstacle is classified as a dynamic obstacle or a static obstacle based on a criterion associated with the vibration range. A repulsive speed of the robot is computed based on the dynamic distance map to avoid the dynamic obstacles.
    Type: Grant
    Filed: May 26, 2020
    Date of Patent: April 5, 2022
    Assignee: EDDA TECHNOLOGY, INC.
    Inventors: Yuanfeng Mao, Guo-Qing Wei, Li Fan, Xiaolan Zeng, Jianzhong Qian
  • Patent number: 11285602
    Abstract: An adjustment support device includes: a storage unit for storing, with force state data and position data in an operation when performing force control of the industrial robot as a state variable and with data indicating a result of determining whether a result of the force control is success or failure based on predetermined criteria as determination data, a learning model generated by machine learning; an analysis unit for analyzing the learning model to analyze, for a control parameter used when the force control of the industrial robot has failed, an adjustment method of the control parameter for improving a degree of success of the force control; and an adjustment determination unit for determining, based on a result of the analysis by the analysis unit, an adjustment method of the control parameter in the force control used when the force control has failed and outputting the adjustment method.
    Type: Grant
    Filed: June 2, 2020
    Date of Patent: March 29, 2022
    Assignee: FANUC CORPORATION
    Inventors: Mikito Hane, Takashi Satou
  • Patent number: 11285607
    Abstract: In some aspects, a system comprises a computer hardware processor and a non-transitory computer-readable storage medium storing processor-executable instructions for receiving, from one or more sensors, sensor data relating to a robot; generating, using a statistical model, based on the sensor data, first control information for the robot to accomplish a task; transmitting, to the robot, the first control information for execution of the task; and receiving, from the robot, a result of execution of the task.
    Type: Grant
    Filed: July 15, 2019
    Date of Patent: March 29, 2022
    Assignee: Massachusetts Institute of Technology
    Inventors: Daniela Rus, Jeffrey Lipton, Aidan Fay, Changhyun Choi
  • Patent number: 11285920
    Abstract: A vehicle theft-prevention apparatus can include a locking mechanism configured to engage to secure the vehicle theft-prevention apparatus into a vehicle and disengage to unsecure the vehicle theft-prevention apparatus from the vehicle. The vehicle theft-prevention apparatus can include a clutch mechanism configured to prevent the locking mechanism from further engaging based on a magnitude of force applied. The clutch mechanism can include a first portion configured to rotate about an axis and comprising at least one aperture, a second portion configured to rotate about the axis and comprising a track, and at least one article configured to pass through the at least one aperture and travel along the track.
    Type: Grant
    Filed: August 2, 2021
    Date of Patent: March 29, 2022
    Assignee: Keep Technologies, Inc.
    Inventors: David E. Moeller, Rahul Maran, Aditya Chavan
  • Patent number: 11279322
    Abstract: A vehicle theft-prevention apparatus can a motor unit configured to rotate based on an electrical signal. A shaft of the motor unit can be coupled to a cam. The cam can move a connection plate between an engaged position and a disengaged position. When the connection plate is in the engaged position, a locking mechanism can move between a locked position and an unlocked position. When the connection plate is in the disengaged position, the locking mechanism can maintain a current position.
    Type: Grant
    Filed: August 2, 2021
    Date of Patent: March 22, 2022
    Assignee: Keep Technologies, Inc.
    Inventors: David E. Moeller, Rahul Maran, Aditya Chavan
  • Patent number: 11280874
    Abstract: A process described herein may be used to determine a first asset's position in a GNSS-limited environment. The process includes transmitting a current position for each of at least three additional assets in wireless messages by wireless transmitters. The current position for each of the at least three additional assets is determined using previously received position data and one more additional measurement generated by instruments on board the additional assets. The transmitted messages are received at a device of the first asset and a processor on the device implements pre-programmed instructions to access the current position for each of the three additional assets and determine the first asset's position using the current position for each of the three additional assets.
    Type: Grant
    Filed: November 30, 2020
    Date of Patent: March 22, 2022
    Assignee: Science Applications International Corporation
    Inventor: George Fortney