Patents Examined by Sohana Tanju Khayer
  • Patent number: 11027428
    Abstract: A simulation apparatus that allows a virtual robot arm displayed on a display device to act, includes a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to receive drag operation on a distal end of the virtual robot arm from an input device, and change an attitude of the virtual robot arm based on the drag operation.
    Type: Grant
    Filed: April 12, 2018
    Date of Patent: June 8, 2021
    Inventors: Masanobu Nishitani, Tsutomu Hagihara
  • Patent number: 11016491
    Abstract: This specification describes trajectory planning for robotic devices. A robotic navigation system can obtain, for each of multiple time steps, data representing an environment of a robot at the time step. The system generates a series of occupancy maps for the multiple time steps, and uses the series of occupancy maps to determine occupancy predictions for one or more future time steps. Each occupancy prediction can identify predicted locations of obstacles in the environment of the robot at a different one of the future time steps. A planned trajectory can be determined for the robot using the occupancy predictions, and the robot initiates travel along the planned trajectory.
    Type: Grant
    Filed: January 26, 2018
    Date of Patent: May 25, 2021
    Assignee: X Development LLC
    Inventor: David Millard
  • Patent number: 11014234
    Abstract: A control device includes: a processor wherein the processor is configured to generate one or more second control signals obtained by reducing at least one frequency component from a first control signal, output one control signal among the first control signal and the one or more second control signals, receive an instruction indicating execution of a reduction in the frequency component, generate a driving signal for driving a robot based on the control signal output from the processor and output the driving signal, output the first control signal when a first condition including non-input of the instruction indicating the execution of the reduction in the frequency component is satisfied, and output the second control signal when a second condition including input of the instruction indicating the execution of the reduction in the frequency component is satisfied.
    Type: Grant
    Filed: March 30, 2018
    Date of Patent: May 25, 2021
    Inventor: Shunsuke Toshimitsu
  • Patent number: 11007650
    Abstract: A robot procurement apparatus stores a deficient or surplus number of robots in each of service areas where robots provide services and performs a procurement process of determining a procurement target robot to a dispatch destination service area that is the service area to which the robot is to be dispatched based on the deficient or surplus number of robots in the dispatch destination service area and the deficient or surplus number of robots in any service area other than the dispatch destination service area. The robot procurement apparatus sets the deficient or surplus number of robots in each of the service areas based on load of the robot in the service area.
    Type: Grant
    Filed: March 23, 2018
    Date of Patent: May 18, 2021
    Assignee: HITACHI, LTD.
    Inventors: Jingze Dai, Hideya Yoshiuchi
  • Patent number: 10981272
    Abstract: Methods, systems, and apparatus, including computer-readable media, for robot grasp learning. In some implementations, grasp data describing grasp attempts by robots is received. A set of the grasp attempts that represent unsuccessful grasp attempts is identified. Based on the set of grasp attempts representing unsuccessful grasp attempts, a grasp model based on sensor data for the unsuccessful grasp attempts. After training the grasp model, a performance level of the trained grasp model is verified based on one or more simulations of grasp attempts. In response to verifying the performance level of the trained grasp model, the trained grasp model is provided to one or more robots.
    Type: Grant
    Filed: December 18, 2017
    Date of Patent: April 20, 2021
    Assignee: X Development LLC
    Inventors: Umashankar Nagarajan, Devesh Yamparala
  • Patent number: 10962166
    Abstract: Calibration of a hexapod structure includes measuring a head pose of the hexapod structure relative to a base of the hexapod structure. Calibration of the hexapod structure also includes for each strut, independently increasing a length of each strut by a predefined amount from an original length and repeating the measuring of the head pose relative to the base. Calibration of the hexapod structure further includes for each strut, independently decreasing a length of each strut by a predefined amount from the original length and repeating the measuring of the head pose relative to the base. Additionally, calibration of the hexapod structure includes moving each strut back to the original length, and estimating joint errors for each strut prior to calibrating of the hexapod structure.
    Type: Grant
    Filed: August 2, 2018
    Date of Patent: March 30, 2021
    Assignee: United States of America as Represented by the Administrator of the National Aeronautics and Space Administration
    Inventor: Yong Liu
  • Patent number: 10946521
    Abstract: A movement planning apparatus includes: an acquiring unit configured to acquire an environmental map in which a no-entry area is indicated for each of turning angles that a moving robot may have; and a planning unit configured to search for a moving path that allows at least one search branch to be extended from a departure point to a destination point based on the environmental map without making a change in the turning angle become discontinuous and without passing the no-entry area, and determine the turning angle on the moving path to the destination point based on a predetermined condition.
    Type: Grant
    Filed: June 27, 2018
    Date of Patent: March 16, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Hidenori Yabushita, Nobuyuki Matsuno
  • Patent number: 10919156
    Abstract: A robot arm having a compound joint between a first limb of the arm and a second limb of the arm, the second limb of the arm being distal of the first limb, the arm comprising: a coupler element coupled to the first limb of the arm by a first revolute joint having a first rotation axis and to the second limb of the arm by a second revolute joint having a second rotation axis; first and second rotational position sensors for sensing the configuration of the arm about the first and second joints respectively; first and second torque sensors for sensing the torque applied about the first and second joints respectively; a control unit for controlling the operation of the arm; a first communications unit borne by the arm and located proximally of the coupler and a second communications unit borne by the arm and located distally of the coupler, each communications unit being capable of encoding data received from one or more of the position and/or torque sensors in a first data format into data packets and transmit
    Type: Grant
    Filed: July 22, 2016
    Date of Patent: February 16, 2021
    Assignee: CMR Surgical Limited
    Inventors: Paul Christopher Roberts, Edward John Mottram, Andrew Murray Scholan
  • Patent number: 10807245
    Abstract: A method for characterising the environment of a robot, the robot having a flexible arm having a plurality of joints, a datum carried by the arm, a plurality of drivers arranged to drive the joints to move and a plurality of position sensors for sensing the position of each of the joints, the method comprising: contacting the datum carried by the arm with a first datum on a second robot in the environment of the first robot, wherein the second robot has a flexible arm having a plurality of joints, and a plurality of drivers arranged to drive those joints to move; calculating in dependence on the outputs of the position sensors a distance between a reference location defined in a frame of reference local to the robot and the first datum; and controlling the drivers to reconfigure the first arm in dependence on at least the calculated distance.
    Type: Grant
    Filed: February 27, 2018
    Date of Patent: October 20, 2020
    Assignee: CMR SURGICAL LIMITED
    Inventor: Luke David Ronald Hares
  • Patent number: 10792812
    Abstract: A control device includes a processor that is configured to execute computer-executable instructions so as to control driving of a robot capable of performing work including a screw-tightening process for tightening a screw, wherein the processor is configured to: receive an input of at least one of characteristics of an object including the screw used in the screw-tightening process; calculate, on the basis of the characteristics received, a value concerning screw-tightening torque at a time of the tightening of the screw by the robot; and cause a display to display the value concerning the screw-tightening torque.
    Type: Grant
    Filed: January 26, 2018
    Date of Patent: October 6, 2020
    Assignee: Seiko Epson Corporation
    Inventor: Junya Ueda
  • Patent number: 10772689
    Abstract: To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.
    Type: Grant
    Filed: March 22, 2018
    Date of Patent: September 15, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Daniel H. Gomez, Nicola Diolaiti, David Q. Larkin, Tabish Mustufa, Probal Mitra, Paul E. Lilagan
  • Patent number: 10773728
    Abstract: Provided are a signal processing system and a signal processing method for sensors of a vehicle. More particularly, the signal processing system includes: a vehicle sensor unit 100 including the plurality of sensors previously provided in the vehicle and transmitting sensing information acquired through the sensors; an arithmetic and control unit 200 receiving sensing information from the vehicle sensor unit 100, and comparing and analyzing the received sensing information to discriminate only normal sensing information from the sensing information and set and transmit the normal sensing information as output information; and a display unit 300 including a plurality of displays previously provided in the vehicle, transmitting the output information received from the arithmetic and control unit 200 to the matched display of the plurality of displays, and outputting the output information through the matched display of the plurality of displays.
    Type: Grant
    Filed: March 20, 2018
    Date of Patent: September 15, 2020
    Assignee: COAVIS
    Inventors: Young Sub Jang, In Seok Sohn
  • Patent number: 10768614
    Abstract: The present disclosure illustrates a robot speech control system including a robot body, a handheld device, a command receiver, an ambient sensor, a processor and a controller. The handheld device includes a display interface and a speech input interface, and the speech input interface is configured to input a speech command which is then converted, by a speech recognition program, into a speech control instruction. An auto-dodge program converts the information into an auto-dodge instruction. The processor receives the speech control instruction and the information associated with the environment, and use Bayesian regression algorithm to calculate a free space probability, so as to obtain weights of a speech command and a dodge command. The processor integrates the speech control instruction and the weight of the speech command, and the auto-dodge instruction and the weight of the dodge command, to generate a movement control instruction.
    Type: Grant
    Filed: February 26, 2018
    Date of Patent: September 8, 2020
    Assignee: National Chiao Tung University
    Inventors: Kai-Tai Song, Yao-Hsang Chen
  • Patent number: 10762399
    Abstract: An image predictor is trained to produce a predicted image based on N preceding images captured by a vehicle camera and vehicle controls. A discriminator is trained to distinguish between an image following P preceding images in an image stream and one that is not a subsequent image. A control generator generates estimated controls based on a set of N images and the estimated controls and set of N images are input to the image predictor. A predicted image and the set of N images are input to the image predictor which outputs a value indicating whether the predicted image is accurate. A loss function based on this value and a difference between the vehicle controls and the estimated controls for the set of N images is used as feedback for training the control generator.
    Type: Grant
    Filed: December 18, 2017
    Date of Patent: September 1, 2020
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventor: Andrew Wagenmaker
  • Patent number: 10736701
    Abstract: A handheld user interface device for controlling a robotic system may include a member, a housing at least partially disposed around the member and configured to be held in the hand of a user, and a tracking sensor system disposed on the member and configured to detect at least one of position and orientation of at least a portion of the device. At least one of the detected position of the portion of the device and detected orientation of the portion of the device is correlatable to a control of the robotic system.
    Type: Grant
    Filed: December 8, 2017
    Date of Patent: August 11, 2020
    Assignee: Verb Surgical Inc.
    Inventors: Joan Savall, Allegra Anna Lenta Shum, Jose Luis Cordoba, Yiqi Zeng
  • Patent number: 10688662
    Abstract: A system for improving navigation of robots in a space with a plurality of pedestrians or other movable objects or obstacles. The system includes a traffic analysis assembly that has a traffic sensor(s) sensing movement of the obstacles in the space. The traffic analysis assembly further includes a processor running a flow module that processes (such as the Gunnar-Farneback optical flow algorithm) output from the traffic sensor to generate traffic analysis results, which include density values for the obstacles in the space and motion information for the obstacles in the space (e.g., speed and direction). The system includes a robot with a controller running a navigation module selecting a navigation route between a current location of the robot and a target location in the space using the traffic analysis result. The workspace is configured such that the obstacles such as pedestrians have unregulated flow patterns in the space.
    Type: Grant
    Filed: December 13, 2017
    Date of Patent: June 23, 2020
    Assignee: Disney Enterprises, Inc.
    Inventors: Joseph George Hager, IV, Michael R. Honeck, Jeremy Andrew Mika
  • Patent number: 10685556
    Abstract: A vehicle inspection system installed in an inspection line of a vehicle factory includes a barcode reader configured to recognize a vehicle which enters the inspection line; an antenna configured to connect a wireless on-board diagnostics (OBD) installed in the vehicle and wireless communication; an in-vehicle eCall system (IVS) installed in the vehicle and configured to provide an emergency road call service; and an inspector configured to determine whether the IVS operates normally through a simulation test of transmitting virtual accident event information to the vehicle connected to the wireless communication.
    Type: Grant
    Filed: November 28, 2017
    Date of Patent: June 16, 2020
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Jun Yeon Park, Jihoon Park, Jin Seok Kim
  • Patent number: 10649467
    Abstract: An operation management system includes: a plurality of robots; and an operation management unit server configured to manage an operation route in a predetermined region. Each robot has a sensor that recognizes a surrounding environment. When the sensor of a first robot recognizes a predetermined surrounding environment, the server refers to a position of the surrounding environment and sets an operation route of a second robot.
    Type: Grant
    Filed: November 24, 2017
    Date of Patent: May 12, 2020
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Kenichiro Sugiyama, Soshi Iba