Patents Examined by Spencer Patton
  • Patent number: 9802322
    Abstract: A mobile robot includes a processor connected to a memory and a wireless network circuit, for executing routines stored in the memory and commands generated by the routines and received via the wireless network circuit. The processor drives the mobile robot to a multiplicity of accessible two dimensional locations within a household, and commands an end effector, including at least one motorized actuator, to perform mechanical work in the household. A plurality of routines include a first routine which monitors a wireless local network and detects a presence of a network entity on the wireless local network, a second routine which receives a signal from a sensor detecting an action state of one of the network entities, the action state changeable between waiting and active, and a third routine which commands the end effector to change state of performing mechanical work based on the presence and on the action state.
    Type: Grant
    Filed: December 2, 2015
    Date of Patent: October 31, 2017
    Assignee: iRobot Corporation
    Inventors: Colin Angle, David Snelling, Melissa O'Dea, Timothy S. Farlow, Samuel Duffley, Jeffrey W. Mammen, Michael J. Halloran
  • Patent number: 9782322
    Abstract: A resistive exoskeleton control system has a controller generating a positive resistance by shaping a closed loop integral admittance of a coupled human exoskeleton system wherein a frequency response magnitude of the integral admittance is lower than that of a natural human joint for desired frequencies of interest and generating an assistance ratio of approximately zero for the desired frequencies of interest.
    Type: Grant
    Filed: July 16, 2015
    Date of Patent: October 10, 2017
    Assignee: Honda Motor Co., Ltd.
    Inventors: Umashankar Nagarajan, Ambarish Goswami
  • Patent number: 9773415
    Abstract: System and method including a plurality of surface vehicles and a plurality of events to be performed by each of the surface vehicles. Each of the vehicles is equipped with an electronic control unit including a receiver and a decoder for the instructions received from a vehicle movement optimizer. The plurality of events include instructions of movements from an origin to a destination, and actions for each of the surface vehicles. The decoder decodes instructions received from the surface vehicle movement optimizer. The optimizer configures an optimized schedule of the preliminary plan by modifying the events based on either the vehicle attributes or updates submitted by the electronic control unit from the vehicle to the optimizer.
    Type: Grant
    Filed: March 18, 2015
    Date of Patent: September 26, 2017
    Inventors: Victor Perez Villar, Grzegorz M. Kawiecki, Lars Fucke
  • Patent number: 9737371
    Abstract: Systems and methods for moving or manipulating robotic arms are provided. A group of robotic arms are configured to form a virtual rail or line between the end effectors of the robotic arms. The robotic arms are responsive to outside force such as from a user. When a user moves a single one of the robotic arms, the other robotic arms will automatically move to maintain the virtual rail alignments. The virtual rail of the robotic arm end effectors may be translated in one or more of three dimensions. The virtual rail may be rotated about a point on the virtual rail line. The robotic arms can detect the nature of the contact from the user and move accordingly. Holding, shaking, tapping, pushing, pulling, and rotating different parts of the robotic arm elicits different movement responses from different parts of the robotic arm.
    Type: Grant
    Filed: September 30, 2015
    Date of Patent: August 22, 2017
    Assignee: Auris Surgical Robotics, Inc.
    Inventors: Enrique Romo, Frederic H. Moll, David S. Mintz, Mark Lown, Siddarth Oli, Allen Jiang
  • Patent number: 9724823
    Abstract: A computer program and a system for controlling walking of a mobile robot, notably a humanoid robot moving on two legs. Conventionally, control was guided by driving a zero moment point. Such driving was performed within a fixed coordinate system connected to a progression surface and assumed knowledge of the characteristics of said surface and the creation of a provisional trajectory. Such driving encountered significant limitations due to the nature of the progression surfaces on which walking can effectively be controlled and an obligation to have a perfect knowledge of their geometry; and also in respect to the necessary computing power, and the appearance of the walk which bore little resemblance to an actual human walk. The invention overcomes such limitations by providing a walk which includes a pseudo-free or ballistic phase, an impulse phase imparted by the heel of the robot, and a landing phase.
    Type: Grant
    Filed: January 20, 2015
    Date of Patent: August 8, 2017
    Assignee: Softbank Robotics Europe
    Inventors: Bruno Maisonnier, Pascal Lafourcade, Alain Berthoz
  • Patent number: 9713871
    Abstract: Concepts and technologies are described herein for providing enhanced configuration and control of robots. Configurations disclosed herein augment a mobile computing device, such as a robot, with resources for understanding and navigation of an environment surrounding the computing device. The resources can include sensors of a separate computing device, which may be in the form of a head-mounted display. Data produced by the resources can be used to generate instructions for the mobile computing device. The sensors of the separate computing device can also detect a change in an environment or a conflict in the actions of the mobile computing device, and dynamically modify the generated instructions. By the use of the techniques disclosed herein, a simple, low-cost robot can understand and navigate through a complex environment and appropriately interact with obstacles and other objects.
    Type: Grant
    Filed: August 11, 2015
    Date of Patent: July 25, 2017
    Inventors: David M. Hill, Jeffrey J. Evertt, Alan M. Jones, Richard C. Roesler, Andrew William Jean, Emiko V. Charbonneau
  • Patent number: 9703283
    Abstract: A first robot and at least one further second robot are provided to run through a plurality of positioning ranges during operation. A dynamic behavior and/or a load characteristic value of the robot in at least one first positioning range can be adapted to a dynamic behavior and/or a load characteristic value in at least one second positioning range of the robot and/or a dynamic behavior and/or a load characteristic value of the first robot in at least one first positioning range is adapted to a dynamic behavior and/or a load characteristic value of the second robot in at least one second positioning range.
    Type: Grant
    Filed: February 6, 2012
    Date of Patent: July 11, 2017
    Assignee: Durr Systems GmbH
    Inventor: Frank Herre
  • Patent number: 9694710
    Abstract: A vehicle control device controls torque of a drive motor such that rotation of the drive motor is transferred to rear drive wheels of a vehicle via a drive unit that includes a speed reducer including a plurality of gears rotatably supported by bearings. The vehicle control device sets different values as torque restriction values for torque to be generated by the drive motor when the vehicle is driven forward and when the vehicle is driven rearward.
    Type: Grant
    Filed: April 6, 2015
    Date of Patent: July 4, 2017
    Inventors: Ryohei Shigeta, Yoshinao Iwase, Keita Nomura, Ryouichi Kubo
  • Patent number: 9675421
    Abstract: Devices, systems, and methods are disclosed for cancelling movement of one or more joints of a telesurgical manipulator to effect manipulation movement of an end effector. Methods include calculating movement of joints within a null-perpendicular space to effect desired end effector movement while calculating movement of one or more locked joints within a null-space to cancel the movement of the locked joints within the null-perpendicular-space. Methods may further include calculating movement of one or more joints to effect an auxiliary movement or a reconfiguration movement that may include movement of one or more locked joints. The auxiliary and reconfiguration movements may overlay the manipulation movement of the joints to allow movement of the locked joints to effect the auxiliary movement or reconfiguration movement, while the movement of the locked joints to effect manipulation is canceled. Various configurations for devices and systems utilizing such methods are provided herein.
    Type: Grant
    Filed: July 17, 2015
    Date of Patent: June 13, 2017
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Arjang M. Hourtash, Pushkar Hingwe
  • Patent number: 9671787
    Abstract: A new method of dynamic control of a rotary-wing drone in throw start includes the steps of: a) initializing a predictive-filter altitude estimator; b) the user throwing the drone in the air with the motors turned off; c) detecting the free fall state; d) upon detecting the free fall state, fast start with turn-on of the motors, open-loop activation of the altitude control means, and closed-loop activation of the attitude control means; e) after a motor response time, stabilizing the drone by closed-loop activation of the altitude control means, and closed-loop activation of the attitude control means; f) detecting a stabilization state such that the total angular speed of the drone is lower than a predetermined threshold; and g) upon detecting the stabilization state, switching to a final state in which the drone is in a stable lift condition and pilotable by the user.
    Type: Grant
    Filed: August 25, 2015
    Date of Patent: June 6, 2017
    Assignee: Parrot Drones
    Inventors: Gilles Foinet, Mathieu Babel, Yoni Benatar
  • Patent number: 9658134
    Abstract: Embodiments of the present invention provide apparatus comprising: at least one motor vehicle switchpack (121-135), the switchpack comprising input means operable to control the switchpack to provide a switchpack control output to a motor vehicle control system; and motor vehicle test apparatus (100T), the test apparatus comprising: a test apparatus control system comprising computing means (115); test apparatus switching means operable under the control of the test apparatus control system to control the at least one switchpack to provide the switchpack control output to the vehicle control system, the test apparatus control system being operable to monitor a response by the vehicle control system to the switchpack control output.
    Type: Grant
    Filed: January 11, 2013
    Date of Patent: May 23, 2017
    Assignee: Jaguar Land Rover Limited
    Inventors: Alexandros Mouzakitis, Ian Smith
  • Patent number: 9649936
    Abstract: An in-vehicle device includes: a drive assist unit configured to perform drive assist processing; a display unit configured to display an image in a display area with the image overlapped on a scene in a real space ahead of a vehicle; and a display control unit configured to control the display unit to display, in a normal state while the drive assist processing is performed, an image of a first marker at a vehicle-corresponding position as a position in the display area corresponding to a position where the vehicle is estimated to be positioned in the real space in a predetermined time. The first marker has a first color, the first marker has a first shape that has a smooth outline and fluctuates, and a display position of the first marker varies periodically from the vehicle-corresponding position.
    Type: Grant
    Filed: August 18, 2015
    Date of Patent: May 16, 2017
    Inventor: Yoshinori Yamada
  • Patent number: 9636823
    Abstract: A robot control device, when starting from a stop state, updates a first rotation angle or a second rotation angle based on at least one of the first rotation angle stored in a first rotation angle storage unit and the second rotation angle stored in a second rotation angle storage unit and at least one of the first rotation angle detected by a first rotation angle detector and the second rotation angle detected by the second rotation angle detector.
    Type: Grant
    Filed: January 7, 2016
    Date of Patent: May 2, 2017
    Assignee: Fanuc Corporation
    Inventors: Kunihiko Harada, Takahiro Tanaka
  • Patent number: 9630619
    Abstract: Systems and methods implemented in algorithms, software, firmware, logic, or circuitry may be configured to process data and sensory input to determine whether an object external to an autonomous vehicle (e.g., another vehicle, a pedestrian, road debris, a bicyclist, etc.) may be a potential collision threat to the autonomous vehicle. The autonomous vehicle may be configured to implement active safety measures to avoid the potential collision and/or mitigate the impact of an actual collision to passengers in the autonomous vehicle and/or to the autonomous vehicle itself. Interior safety systems, exterior safety systems, a drive system or some combination of those systems may be activated to implement active safety measures in the autonomous vehicle.
    Type: Grant
    Filed: November 4, 2015
    Date of Patent: April 25, 2017
    Assignee: Zoox, Inc.
    Inventors: Timothy David Kentley, Jesse Sol Levinson, Amanda Blair Lind
  • Patent number: 9624079
    Abstract: A forklift includes a variable displacement hydraulic pump driven by an engine, a hydraulic motor that forms a closed circuit with the hydraulic pump therebetween and is driven by hydraulic oil discharged from the hydraulic pump, and driving wheels driven by the hydraulic motor. A control device of the forklift determines a rate of increase of an inching rate, based on at least one of an accelerator opening, a brake opening indicating an operation amount of a brake pedal, a change speed of the brake opening, and a vehicle speed detected by a vehicle speed sensor.
    Type: Grant
    Filed: December 27, 2013
    Date of Patent: April 18, 2017
    Assignee: Komatsu Ltd.
    Inventors: Shinji Kaneko, Taishi Oiwa
  • Patent number: 9616964
    Abstract: A bicycle wireless control system is basically provided with a first bicycle electric component and a second bicycle electric component. The first bicycle electric component includes at least one operating member and a first wireless communication unit that wirelessly transmits a control signal in response to an operation of the at least one operating member. The second bicycle electric component includes a second wireless communication unit that is configured to wirelessly receive the control signal from the first wireless communication unit and to wirelessly transmit an acknowledgement signal to the first wireless communication unit upon receiving the control signal from the first wireless communication unit.
    Type: Grant
    Filed: April 27, 2015
    Date of Patent: April 11, 2017
    Assignee: Shimano Inc.
    Inventor: Yoshiyuki Kasai
  • Patent number: 9604363
    Abstract: A pickup device for picking up a target object from a plurality of objects randomly piled up in a container, and for placing the target object in a predetermined posture to a target location is provided. The device includes an approximate position obtaining part for obtaining information on an approximate position of the target object, based on information on a height distribution of the objects in the container, which is obtained by a first visual sensor. The device also includes a placement operation controlling part for controlling a robot so as to bring the target object into a predetermined position and posture relative to the target location, based on information on a position and posture of the target object relative to a robot, which is obtained by a second visual sensor.
    Type: Grant
    Filed: October 30, 2013
    Date of Patent: March 28, 2017
    Assignee: Fanuc Corporation
    Inventor: Kazunori Ban
  • Patent number: 9586317
    Abstract: A controlling method of a robot system is provided with highly accurately determination of an origin offset at individual joints, even with a small number of cameras. A controlling unit 08 controls a robot 01 and a camera 04 to perform a photographing step for each of pivotal joints 021, 031 and 051 to acquire photographed data, and subsequently performs computational control. The photographing step assigns predetermined coordinate angles to multiple joints of the robot 01, respectively, to cause the joints to take predetermined positions and orientations, and subsequently causes the camera 04 to photograph a mark 03 during a process of causing the robot 01 to rotate at one of the multiple joints from the predetermined position and orientation. The computational control identifies the joint causing a rotational axis offset among the multiple joints of the robot 01, based on the photographed data acquired by trajectory acquiring control.
    Type: Grant
    Filed: March 25, 2015
    Date of Patent: March 7, 2017
    Inventor: Takayuki Ogawara
  • Patent number: 9561589
    Abstract: Methods and systems for selecting a velocity profile for controlling a robotic device are provided. An example method includes receiving via an interface a selection of a robotic device to control, and receiving via the interface a request to modify a velocity profile of the robotic device. The velocity profile may include information associated with changes in velocity of the robotic device over time. The method may further include receiving a selected velocity profile, receiving an input via the interface, and determining a velocity command based on the selected velocity profile and the input. In this manner, changes in velocity of the robotic device may be filtered according to a velocity profile selected via the interface.
    Type: Grant
    Filed: January 22, 2015
    Date of Patent: February 7, 2017
    Assignee: X Development LLC
    Inventors: Munjal Desai, Ryan Michael Hickman, Thor Lewis, Damon Kohler
  • Patent number: 9527209
    Abstract: A robot includes a hand that grips an object and a control unit that operates the hand, the hand includes fingers that are able to grip the object at four or more contact points, and an object of which a metallic tone index is equal to or higher than 5 is gripped with the hand.
    Type: Grant
    Filed: March 20, 2015
    Date of Patent: December 27, 2016
    Assignee: Seiko Epson Corporation
    Inventors: Tomoki Harada, Koichi Hashimoto, Shogo Arai, Kengo Yamaguchi