Patents Examined by Ryan Rink
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Patent number: 11826909Abstract: A driving mechanism that relatively displaces first and second links includes a motor, a reduction gear, and a torque sensor including a hollow portion, wherein the reduction gear includes an input shaft that is rotated by drive of the motor, the torque sensor is arranged between the reduction gear and the first link, and the input shaft penetrates through the hollow portion of the torque sensor.Type: GrantFiled: May 24, 2019Date of Patent: November 28, 2023Assignee: Canon Kabushiki KaishaInventor: Yohji Nakajima
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Patent number: 11822342Abstract: An autonomous off-road vehicle (AOV) accesses a pile plan map indicating a plurality of locations within a geographic area at which piles are to be installed. The AOV generates an obstacle map indicating locations of obstacles within the geographic area. The AOV autonomously navigates to a first location of the plurality of locations using the pile plan map. In response to driving a pile into the ground at the first location, the AOV modifies the obstacle map to include a representation of the pile at the first location. The AOV autonomously navigates to a second location of the plurality of locations using the pile plan map. In response to driving a pile into ground at the second location, the AOV modifies the obstacle map that includes the representation of the pile at the first location to further include a representation of the pile at the second location.Type: GrantFiled: December 21, 2022Date of Patent: November 21, 2023Assignee: BUILT ROBOTICS INC.Inventors: Noah Austen Ready-Campbell, Andrew Xiao Liang, Gaurav Jitendra Kikani
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Patent number: 11813756Abstract: A robot motion planning technique for component assembly operations. Inputs to the motion planning technique include geometric models of the components being assembled, and initial and target configurations. The method begins at a tightly-constrained target or final configuration and plans in the direction of a loosely-constrained initial configuration. A randomly-sampled waypoint configuration is proposed, followed by a local search for feasible configurations which generates nodes that extend a path toward the initial configuration while sliding through the tightly-constrained region. The local search can be repeated multiple times for a given randomly-sampled configuration. When a completed path is found, the action sequence is trimmed to eliminate unnecessary extraneous motions in the loosely-constrained region. The disclosed method dramatically reduces the number of unproductive configurations evaluated and finds assembly solutions much faster in comparison to known tree-based motion planning methods.Type: GrantFiled: April 9, 2021Date of Patent: November 14, 2023Assignee: FANUC CORPORATIONInventors: Yu Zhao, Tetsuaki Kato
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Patent number: 11807291Abstract: A method can be used to adapt a steering torque for controlling a feedback actuator of a steer-by-wire motor vehicle steering system. The method may involve providing a basic steering torque, providing a rack-force-based steering torque, determining a difference between the basic steering torque and the rack-force-based steering torque, and if the difference exceeds a predetermined limit value adapting the basic steering torque to the rack-force-based steering torque and transmitting a resulting steering torque to control the feedback actuator. However, if the difference remains below the predetermined limit value, then the method may involve transmitting the basic steering torque to control the feedback actuator.Type: GrantFiled: August 6, 2019Date of Patent: November 7, 2023Assignees: thyssenkrupp Presta AG, thyssenkrupp AGInventor: Manuel Rohrmoser
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Patent number: 11801100Abstract: A system includes a control device, a manipulator configured to support a tool having a tool frame; and at least one processor coupled to the control device and the manipulator. The at least one processor configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method also includes determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also includes determining, in response to an input received at the control device, an output movement for the tool based on the estimated frame transform. The method also includes causing movement of the tool based on the output movement.Type: GrantFiled: February 22, 2022Date of Patent: October 31, 2023Assignee: Intuitive Surgical Operations, Inc.Inventors: Tao Zhao, Giuseppe Maria Prisco, John R. Steger, David Q. Larkin
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Patent number: 11796332Abstract: Techniques for generation of an optimal trajectory for a vehicle include receiving, using one or more processors of the vehicle, an instruction for the vehicle to travel from an initial spatiotemporal location to a destination spatiotemporal location. One or more processors are used to generate a trajectory including travel segments. The trajectory begins at the initial spatiotemporal location and terminates at the destination spatiotemporal location. Each travel segment begins at a first spatiotemporal location and terminates at a second spatiotemporal location. Each travel segment is associated with operational metrics. The operational metrics are associated with navigating the vehicle from the first spatiotemporal location to the second spatiotemporal location. Each operational metric is optimized across the travel segments to generate the trajectory.Type: GrantFiled: October 17, 2019Date of Patent: October 24, 2023Assignee: Motional AD LLCInventors: Kostyantyn Slutskyy, Dmytro S. Yershov
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Patent number: 11780084Abstract: A mode setting unit sets any one of operation modes in an operation mode group including at least a coaching mode and a learning mode. In the coaching mode, a control unit receives a posture instruction and controls a storage unit to store the posture instruction. In the learning mode, the control unit derives a control mode of a drive mechanism by learning while reflecting, in a posture of the robotic device, the posture instruction received in the coaching mode.Type: GrantFiled: January 16, 2018Date of Patent: October 10, 2023Assignee: Sony Interactive Entertainment Inc.Inventors: Teiji Yutaka, Takeshi Yamagishi
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Patent number: 11768496Abstract: An obstacle avoidance moving method of a self-moving robot includes storing a coordinate of a first obstacle point and a coordinate of a second obstacle point. The coordinate of the first obstacle point and the coordinate of the second obstacle point are formed by detecting an obstacle by the self-moving robot when moving along a first direction. The method further includes performing a serpentine pattern moving according to the coordinate of the first obstacle point and the coordinate of the second obstacle point. The method accurately determines obstacle position and provides a concise moving path, and greatly improves the working efficiency of the self-moving robot.Type: GrantFiled: August 3, 2021Date of Patent: September 26, 2023Assignee: ECOVACS ROBOTICS CO., LTD.Inventor: Jinju Tang
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Patent number: 11738772Abstract: Techniques for determining a speed for a vehicle as it traverses an environment with pedestrians are discussed herein. For example, a vehicle computing system may implement techniques to determine an action for a vehicle to take based on a detected pedestrian in an environment. The vehicle computing system may receive sensor data of an environment from a sensor associated with a vehicle, determine, based at least in part on the sensor data, an object in the environment and receive a predicted object trajectory associated with the object. The vehicle computing system may then determine, based on the predicted object trajectory, a distance between a simulated vehicle passing location and a predicted object location, determine, based on the distance, a speed, determine, based on the distance and the speed, a trajectory for the vehicle to follow, and control the vehicle based on the trajectory.Type: GrantFiled: December 18, 2020Date of Patent: August 29, 2023Assignee: Zoox, Inc.Inventors: Andrew E. Beller, Ari Joseph Goldberg
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Patent number: 11733053Abstract: An apparatus and method for alerting an operator of a carbon impact is disclosed. The apparatus may include at least a processor, and a memory communicatively connected to the at least a processor. The memory contains instructions configuring the at least a processor to receive operation data of transport vehicle, calculate carbon emission data, wherein calculating carbon emission data includes classifying carbon emissions data to one or more carbon emissions groups and comparing carbon emission data to a preconfigured operational threshold. The memory further contains instructions configuring the at least a processor to display alert related to carbon emissions data as presentation content.Type: GrantFiled: November 4, 2022Date of Patent: August 22, 2023Assignee: PITT-OHIOInventor: Justine A. Russo
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Patent number: 11708094Abstract: A method of maintaining vehicle formation includes receiving a desired formation distance between a lead vehicle and a follower vehicle; receiving a pre-planned path for the follower vehicle; and defining a dynamic zone around a current position of the lead vehicle. The dynamic zone has a boundary characterized by a first radius from the current position of the lead vehicle. The first radius can be substantially equal to the desired formation distance. The method further includes determining a next speed of the follower vehicle based on a current position of the follower vehicle with respect to the boundary of the dynamic zone; determining a commanded curvature of the follower vehicle based on the current position of the follower vehicle with respect to the pre-planned path; and outputting the next speed and the commanded curvature to a control system of the follower vehicle for navigation of the follower vehicle.Type: GrantFiled: December 29, 2020Date of Patent: July 25, 2023Assignee: Trimble Inc.Inventors: Justin Creaby, Joshua Rands, Brandon Sights
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Patent number: 11709502Abstract: Apparatus and methods related to routing robots are provided. A roadmap of an environment that includes first and second robots can be received. The roadmap can be annotated with unidirectional lanes connecting conflict regions, where each lane ends so to avoid blocking a conflict region. First and second routes for the respective uses of the first and second robots can be determined, where both the first and second routes include a first lane connected to a first conflict region. A first, higher priority and a second, lower priority can be assigned to the respective first and second robots. It can be determined that the second robot following the second route will block the first robot on the first lane. Based on the first priority being higher than the second priority, the computing device can alter the second route to prevent the second robot from blocking the first robot.Type: GrantFiled: April 2, 2020Date of Patent: July 25, 2023Assignee: Boston Dynamics, Inc.Inventor: Tatiana Kichkaylo
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Patent number: 11709489Abstract: A method for controlling an autonomous, mobile robot which is designed to navigate independently in a robot deployment area, using sensors and a map. According to one embodiment, the method comprises detecting obstacles and calculating the position of detected obstacles based on measurement data received by the sensors, and controlling the robot to avoid a collision with a detected obstacle, the map comprising map data that represents at least one virtual blocked region which, during the control of the robot, is taken into account in the same way as an actual, detected obstacle.Type: GrantFiled: February 27, 2018Date of Patent: July 25, 2023Assignee: Robart GmbHInventors: Harold Artes, David Conti, Christoph Freudenthaler, Dominik Seethaler, Reinhard Vogel
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Patent number: 11685047Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for distributing skill templates for robotic demonstration learning. One of the methods includes receiving, from the user device by a skill template distribution system, a selection of an available skill template. The skill template distribution system provides a skill template, wherein the skill template comprises information representing a state machine of one or more tasks, and wherein the skill template specifies which of the one or more tasks are demonstration subtasks requiring local demonstration data. The skill template distribution system trains a machine learning model for the demonstration subtask using a local demonstration data to generate learned parameter values.Type: GrantFiled: May 21, 2020Date of Patent: June 27, 2023Assignee: Intrinsic Innovation LLCInventors: Bala Venkata Sai Ravi Krishna Kolluri, Stefan Schaal, Benjamin M. Davis, Ralf Oliver Michael Schönherr, Ning Ye
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Patent number: 11687092Abstract: A hand-held surface cleaning device includes circuitry to communicate with a robotic surface cleaning device to cause the same to target an area/region of interest for cleaning. Thus, a user may utilize the hand-held surface cleaning device to perform targeted cleaning and conveniently direct a robotic surface cleaning device to focus on a region of interest. Moreover, the hand-held surface cleaning device may include sensory such as a camera device for extracting three-dimensional information from a field of view. This information may be utilized to map locations of walls, stairs, obstacles, changes in surface types, and other features in a given location. Thus, a robotic surface cleaning device may utilize the mapping information from the hand-held surface cleaning device as an input in a real-time control loop, e.g., as an input to a Simultaneous Localization and Mapping (SLAM) routine.Type: GrantFiled: April 23, 2019Date of Patent: June 27, 2023Assignee: SharkNinja Operating LLCInventors: Jason B. Thorne, Andre D. Brown, David S. Clare, Nicholas Sardar, Christopher P Pinches, Samuel Emrys James, Michael James Douglas
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Patent number: 11679894Abstract: A navigation controller system and method for retrieving control of a remotely controlled device includes an onboard primary controller supportable on a remotely controlled device and adapted to control operation thereof, a base controller adapted to communicate with the onboard primary controller by a first mode of communications to provide instructions to control and operate the remotely controlled device, and an auxiliary controller module supportable on the remotely controlled device either separately from or integrated into the onboard primary controller and adapted to communicate with the base controller by a second mode of communications not the same as the first mode of communications so that the auxiliary controller module acts as a backup to disable, disconnect or otherwise take over control from the onboard primary controller when it is rendered non-responsive to communications from the base controller.Type: GrantFiled: August 17, 2021Date of Patent: June 20, 2023Inventor: Rayomond H. Chinoy
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Patent number: 11679804Abstract: A limiting system for constraining a commanded steering angle for a vehicle including an electric power steering (EPS) system includes a controller in electronic communication with at least one other system of the vehicle. The controller executes instructions to receive a plurality of trajectory planning inputs that are each expressed as an array including a plurality of values, where the plurality of trajectory planning inputs includes a trajectory velocity array, a trajectory acceleration array, and a trajectory curvature array. The controller also executes instructions to determine a maximum rate of steering angle change based on the corresponding ideal rate of change of the commanded steering angle and the maximum rate change allowed by the EPS system.Type: GrantFiled: June 1, 2021Date of Patent: June 20, 2023Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLCInventors: Avshalom Suissa, Audrey Devin Porter
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Patent number: 11675360Abstract: There is provided an information processing apparatus and an information processing method that can provide more useful information for an action plan of an autonomous mobile body, the information processing apparatus including an action recommendation unit configured to present a recommended action recommended to an autonomous mobile body, to the autonomous mobile body that performs an action plan based on situation estimation. The action recommendation unit determines the recommended action on the basis of an action history collected from a plurality of the autonomous mobile bodies, and on the basis of a situation summary received from a target autonomous mobile body that is a target of recommendation. The information processing method includes presenting, by a processor, a recommended action recommended to an autonomous mobile body, to the autonomous mobile body that performs an action plan based on situation estimation.Type: GrantFiled: July 24, 2018Date of Patent: June 13, 2023Assignee: SONY CORPORATIONInventors: Tomoo Mizukami, Naoki Fujiwara, Takuma Morita
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Patent number: 11660750Abstract: Systems and methods for performing a task in an operation environment of an aerial device with an autonomous or semi-autonomous robot are described. In some embodiments, a robot is disposed at an end of a boom of an aerial device. The robot may comprise cameras, actuators, sensors, processors, and manipulators that work together to perform tasks fully autonomously or semi-autonomously. Furthermore, the robot may comprise tools for performing the tasks and computer-executable instructions for performing the tasks may be based on the various sensory inputs, the tools, and the tasks to be performed.Type: GrantFiled: July 28, 2022Date of Patent: May 30, 2023Assignee: Altec Industries, Inc.Inventors: Jonathan Westin Sykes, Timothy J. Mourlam, David Lindquist, William Naber, Robert Nichols
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Patent number: 11654552Abstract: Provided are systems and methods for training a robot. The method commences with collecting, by the robot, sensor data from a plurality of sensors of the robot. The sensor data may be related to a task being performed by the robot based on an artificial intelligence (AI) model. The method may further include determining, based on the sensor data and the AI model, that a probability of completing the task is below a threshold. The method may continue with sending a request for operator assistance to a remote computing device and receiving, in response to sending the request, teleoperation data from the remote computing device. The method may further include causing the robot to execute the task based on the teleoperation data. The method may continue with generating training data based on the sensor data and results of execution of the task for updating the AI model.Type: GrantFiled: July 29, 2020Date of Patent: May 23, 2023Assignee: TruPhysics GmbHInventor: Albert Groz