Patents Examined by Rachid Bendidi
  • Patent number: 10661442
    Abstract: A calibration article is provided for calibrating a robot and 3D camera. The calibration article includes side surfaces that are angled inward toward a top surface. The robot and camera are calibrated by capturing positional data of the calibration article relative to the robot and the camera. The captured data is used to generate correlation data between the robot and the camera. The correlation data is used by the controller to align the robot with the camera during operational use of the robot and camera.
    Type: Grant
    Filed: February 3, 2017
    Date of Patent: May 26, 2020
    Assignee: ABB Schweiz AG
    Inventors: Jianjun Wang, Remus Boca, Biao Zhang
  • Patent number: 10654332
    Abstract: An automatic tilting vehicle comprises left and right front wheels and a rear wheel. A control unit controls a vehicle tilting device so that the tilt angle of the vehicle becomes the target tilt angle. The control device is configured to swingingly vibrates the vehicle in the lateral direction by tilting the vehicle by the vehicle tilting device, to estimate a height of the center of gravity of the vehicle based on a resonance period of swinging vibration of the vehicle, and to correct the target tilt angle such that a perpendicular passing through the estimated center of gravity passes within a range of a triangle formed by connecting grounding points of the left and right front wheels and a grounding point of the rear wheel.
    Type: Grant
    Filed: November 22, 2017
    Date of Patent: May 19, 2020
    Inventors: Yoshikazu Kameda, Takahito Ishino, Hirotaka Kamano, Osamu Yasuike
  • Patent number: 10632620
    Abstract: A motion control method for a robot is disclosed. The robot includes a determining module, a merging module, and a controlling module. The determining module determines whether at least two motion tasks executed in an adjacent sequence satisfy a merging condition. The merging module merges the at least two motion tasks to a new motion task, when the merging condition is satisfied. The controlling module controls the robot to perform the new motion task.
    Type: Grant
    Filed: February 15, 2017
    Date of Patent: April 28, 2020
    Inventors: Youjun Xiong, Jiawen Hu, Gaobo Huang
  • Patent number: 10632995
    Abstract: A system includes a processor and a memory. The memory stores instructions executable by the processor to determine a vehicle launch path based on a specified speed and vehicle physical attributes, and upon detecting an object in the launch path, to deactivate the vehicle launch.
    Type: Grant
    Filed: June 15, 2018
    Date of Patent: April 28, 2020
    Assignee: Ford Global Technologies, LLC
    Inventors: Anthony Melatti, Patrick Lawrence Jackson Van Hoecke, Danielle Rosenblatt, Hamid M. Golgiri
  • Patent number: 10618513
    Abstract: In a parking assist method executed using a parking assist ECU configured to control a subject vehicle to move along a targeted parking route to a target parking position, the control amount of a yaw angle of the subject vehicle with respect to the targeted parking route is increased in accordance with the decrease in a remaining distance to the target parking position of the subject vehicle.
    Type: Grant
    Filed: September 13, 2016
    Date of Patent: April 14, 2020
    Assignees: Nissan Motor Co., Ltd., Renault S.A.S.
    Inventors: Yasuhiro Suzuki, Yasuhisa Hayakawa
  • Patent number: 10618176
    Abstract: A force detector provided between a robot arm and a robot hand detects forces Fx, Fy, and Fz. A robot controller performs a filtering process for the forces Fx and Fy by a first low-pass filter of a cutoff frequency Fc1, moves the robot hand so that the forces Fx and Fy become smaller, corrects a trajectory of the robot arm, performs a filtering process for the force Fz by a second low-pass filter of a cutoff frequency Fc2 having a frequency higher than the cutoff frequency Fc1, performs a threshold value determination for the force Fz, and stops the movement of the robot hand when the force Fz exceeds a threshold value during a fitting operation.
    Type: Grant
    Filed: December 14, 2017
    Date of Patent: April 14, 2020
    Assignee: Canon Kabushiki Kaisha
    Inventor: Toshiya Takahashi
  • Patent number: 10613527
    Abstract: An interactive mobile robot system and a method for creating an invisible track for a mobile robot. The system and method allow the creation of invisible tracks by guiding objects. They also allow the use of such invisible tracks for the semi-autonomous or autonomous control of toys, including model cars and model trains, or of mobile robots to move them along a real-world path. The system includes a mobile robot, receiver circuitry to receive one or more position signals, and processing circuitry. The processing circuitry is configured to determine position information associated with the mobile robot based on the one or more position signals. The processing circuitry is further configured to create an invisible track based on the position information, to determine a current position of the mobile robot, and to generate control signals based on the current position of the mobile robot and the invisible track.
    Type: Grant
    Filed: August 18, 2015
    Date of Patent: April 7, 2020
    Assignee: Verity Studios AG
    Inventors: Raffaello D'Andrea, Markus Waibel, Mark Mueller, Markus Hehn
  • Patent number: 10606265
    Abstract: A method of controlling at least one actuator for controlling an aircraft. The method comprises data acquisition steps performed using at least two mutually distinct sensors, the sensors being suitable for taking mutually distinct measurements of at least one flight parameter of the aircraft. Calculation steps generate at least two mutually distinct control laws for controlling the actuator(s). The control laws are functions of the respective measurements. The method controls the actuator(s) sequentially with a first control law in alternation with a second control law.
    Type: Grant
    Filed: November 26, 2018
    Date of Patent: March 31, 2020
    Inventor: Thierry Vieux
  • Patent number: 10603791
    Abstract: An apparatus comprises a holding unit configured to hold data related to a worker; an obtaining unit configured to obtain measurement data for recognizing the worker; a recognizing unit configured to recognize the worker based on the data related to the worker and the measurement data; a determination unit configured to determine work information about a work which the worker and a robot perform on a target object together, corresponding to the recognized worker, based on a physical feature of the recognized worker; and a controlling unit configured to control the robot based on the work information so that the worker and the robot perform a work on the target object together.
    Type: Grant
    Filed: January 10, 2018
    Date of Patent: March 31, 2020
    Inventors: Yusuke Nakazato, Kazuhiko Kobayashi, Masahiro Suzuki
  • Patent number: 10583557
    Abstract: A robotic system includes a jointed mechanism, position sensors, and a controller. The mechanism has an end-effector, and further includes actively-controlled joints and passive joints that are redundant with the actively-controlled joints. The position sensors are operable for measuring joint positions of the passive joints. The controller is in communication with the position sensors, and is programmed to execute a method to selectively control the actively-controlled joints in response to the measured joint positions using force control and/or a modeled impedance of the robotic mechanism. Possible control modes in impedance control include an Autonomous Mode in which an operator does not physically interact with the end-effector and a Cooperative Control Mode in which the operator physically interacts with the end-effector.
    Type: Grant
    Filed: February 10, 2017
    Date of Patent: March 10, 2020
    Assignee: GM Global Technology Operations LLC
    Inventors: Muhammad E. Abdallah, James W. Wells
  • Patent number: 10576643
    Abstract: A soft robotic device with one or more sensors is described. The sensor may be embedded in the soft body of the soft robotic device, attached to the soft body of the soft robotic device, or otherwise linked to the soft body of the soft robotic device.
    Type: Grant
    Filed: August 21, 2015
    Date of Patent: March 3, 2020
    Assignee: President and Fellows of Harvard College
    Inventors: Joshua Aaron Lessing, George M. Whitesides, Ramses V. Martinez, Dian Yang, Bobak Mosadegh, Kevin C. Galloway, Firat G├╝der, Alok Suryavamsee Tayi
  • Patent number: 10569421
    Abstract: To improve production efficiency while maintaining stability of an operation of a robot arm. A dust position determination unit determines whether there is a read error based on a read result of a detection head of an encoder. In a case where the dust position determination unit determines that there is a read error, an error determination unit judges in which region, among an allowable region and a non-allowable region, the read error occurs. In a case where the read error is judged to occur in the allowable region, the error determination unit continues an operation of the robot arm.
    Type: Grant
    Filed: February 9, 2017
    Date of Patent: February 25, 2020
    Assignee: Canon Kabushiki Kaisha
    Inventor: Kenji Shino
  • Patent number: 10564651
    Abstract: A control system includes an airborne flight control system and a smart terminal; the airborne flight control system is configured to acquire a first position information, and send the first position information to the smart terminal; the smart terminal is configured to acquire a second position information, and obtain a yaw angle and at least one of a horizontal flight speed and a vertical flight speed according to the second position information and the first position information sent by the airborne flight control system, and send the yaw angle and at least one of the horizontal flight speed and the vertical flight speed to the airborne flight control system, wherein the first position information is the position information of an aircraft where the airborne flight control system is located, and the second position information is the position information of the smart terminal.
    Type: Grant
    Filed: April 9, 2015
    Date of Patent: February 18, 2020
    Inventor: Huazhi Hu
  • Patent number: 10565808
    Abstract: A method for guiding an operator of a mobile working machine (or a device coupled to the machine) to a position to be located for fault-remedying, defect-eliminating or maintenance work, by determining data in respect of the position that is to be located on the working machine (or the device coupled to the machine) using a diagnosis system, transmitting the data to a portable device in respect of the position that is to be located, and outputting direction instructions to the position based on the data, by virtue of the portable device in order to guide the portable device to the position that is to be located.
    Type: Grant
    Filed: July 20, 2017
    Date of Patent: February 18, 2020
    Assignee: Deere & Company
    Inventor: Martin Bueermann
  • Patent number: 10548679
    Abstract: A method of controlling a movement of a medical instrument comprises receiving an input instruction from an operator input device movement and determining a control factor based on the input instruction. The method also comprises receiving a motion scaling parameter determined from the control factor and mapping the input instruction to an output instruction for a medical instrument movement. The mapping includes applying the motion scaling parameter to the input instruction to create the output instruction. The method also includes moving the medical instrument according to the output instruction.
    Type: Grant
    Filed: August 19, 2015
    Date of Patent: February 4, 2020
    Inventors: Christopher R. Carlson, Federico Barbagli
  • Patent number: 10543874
    Abstract: Vehicles are disclosed that are configured to carry loads in a stabilized manner, such that the load is maintained in a substantially constant position or orientation relative to a predetermined reference point or frame even as the vehicle moves. A stabilization controller in such a vehicle receives information about movement of the vehicle relative to the reference point or plane from one or more sensors on the vehicle, and uses the information to control one or more movable objects by which the load is secured to the vehicle so as to maintain a relatively constant relationship between the load and the reference point or plane.
    Type: Grant
    Filed: May 17, 2018
    Date of Patent: January 28, 2020
    Assignee: PAHA DESIGNS, LLC
    Inventor: Benjamin Meager
  • Patent number: 10520323
    Abstract: Aspects of the present disclosure relate generally to systems and methods for assessing validity of a map using image data collected by a laser sensor along a vehicle path. The method may compile image data received from the laser sensor. The map subject to assessment may define an area prohibiting entry by a vehicle.
    Type: Grant
    Filed: October 10, 2017
    Date of Patent: December 31, 2019
    Assignee: Waymo LLC
    Inventor: Andrew Hughes Chatham
  • Patent number: 10514687
    Abstract: Systems and methods for simultaneously and economically providing high speed and precision robotic operations with operational safety include directly performing training movements of a desired task on a collaborative robot, recording data corresponding to the training movements, and transmitting the recorded data to a conventional robot to cause the conventional robot to autonomously execute the training movements in accordance with the received data.
    Type: Grant
    Filed: January 8, 2016
    Date of Patent: December 24, 2019
    Inventors: Rodney Brooks, Michael Caine
  • Patent number: 10501088
    Abstract: A road surface state determination apparatus of the present disclosure includes an acquisition interface configured to acquire an image representing a road surface imaged by a camera, and a controller configured to determine whether the road surface is wet or dry on the basis of a spatial change in luminance of pixels in a continuous region included in the image.
    Type: Grant
    Filed: August 29, 2016
    Date of Patent: December 10, 2019
    Assignee: KYOCERA Corporation
    Inventors: Atsushi Yoshikawa, Takatoshi Nakata, Tomohiro Mitsugi
  • Patent number: 10501069
    Abstract: Disclosed are a method of controlling a transmission for reducing clutch abrasion and an automatic transmission controlled by the method. The method is applied to a hybrid vehicle, and controls an automatic transmission having an independent flow control valve and an engine clutch cooling channel for the cooling of an engine clutch mounted thereon. The method includes a hybrid starter generator (HSG) state determination step of determining a state of an HSG, a driving motor cranking execution step of cranking an engine using a driving motor when the state of the HSG is a state in which the HSG does not operate in the HSG state determination step, and a cooling execution step of supplying an additional flow to the engine clutch cooling channel by driving the independent flow control valve, wherein the cooling execution step is performed simultaneously with the driving motor cranking execution step.
    Type: Grant
    Filed: November 2, 2018
    Date of Patent: December 10, 2019
    Assignee: HYUNDAI AUTRON CO., LTD.
    Inventors: Jongik Choi, Jun Hyung Kim