Abstract: Systems and methods for landmine avoidance by using a legged robot platform are disclosed including mine detection equipment, a robotic arm, a legged robot capable of transporting that equipment to a site of interest to identify a potential location of a landmine. Once a site of interest is identified, the robot may step over or actively avoid the designated area of interest.

Abstract: The present invention pertains to a method for a quadruped robot to navigate through granular media, such as deep sand and for providing improvements in the walking performance over various types of granular media. In particular, the present invention proposes reducing the assumed coefficient of friction about the ground, impacting the ground harder than nominal in the vertical direction at touchdown, and forcing a toe lift off into swing if a knee joint extends beyond a threshold stance to help increase the robustness of a quadruped robot's locomotive abilities on challenging terrains and provide an improvement in the field of biomechanics and robotic navigation.

Abstract: The present invention pertains to a method for a quadruped robot to navigate through granular media, such as deep sand and for providing improvements in the walking performance over various types of granular media. In particular, the present invention proposes reducing the assumed coefficient of friction about the ground, impacting the ground harder than nominal in the vertical direction at touchdown, and forcing a toe lift off into swing if a knee joint extends beyond a threshold stance to help increase the robustness of a quadruped robot's locomotive abilities on challenging terrains and provide an improvement in the field of biomechanics and robotic navigation.

Abstract: The present invention is directed to a system and method for grasp synthesis of non-occluded and occluded objects by a robot manipulator with grippe. A robot manipulator with gripper and gripper camera is in communication with a user interaction device. The user interaction device presents visual and audio feedback to the user and accepts user input and feedback for human-in-the-loop grasp synthesis and execution. The robot manipulator comprises an arm first link, an arm second link connected to the arm first link via an elbow joint, wrist actuators, at least one gripper, gripper jaws, a gripper camera, and arm base actuators.

Abstract: The present invention pertains to a system and method for a robotic arm which may be mounted on a mobile base, wherein the robotic arm may apply a desired force at a point of contact between an arm and a point in the environment. One method disclosed herein involves low-level, automated coordination, wherein the higher-level decision making is made by a human operator, while another method addresses the variability of success in visual identification of door features, by increasing the reliance on proprioceptive cues such as forces from the door and door hinge and reducing reliance on exteroceptive cues.

Abstract: The present invention pertains to a system and method for an algorithm to control a robot limb in space while simultaneously controlling the reaction forces applied by it to the robot base. The algorithm automatically creates desired limits on the forces on the basis of the configuration of the robot legs and feet. The algorithm further uses an optimization method followed by an analytical modification of the normal tracking controller, and so is computationally efficient.

Abstract: A control mechanism of a robotic arm that is modular and applicable to a mobile robotic base with an arm is disclosed. The control of the tool actuators, the wrist actuators, and the actuators that manage the proximal arm actuators are executed hierarchically and in a manner that is minimally dependent on the end-effector itself. The robotic arm implements the modular mechanical coupling to a wrist module, which may include an active revolute wrist with two or three actuators that enable active control of the orientation of end-effectors such as a gripper designed to grasp objects, a gimbal that maintains level orientation of a camera, a hose, a spraying attachment, a screwdriver attachment, and a hammer attachment.

Abstract: A gripper designed for grasping objects when mounted on a robotic manipulator is disclosed. The robot gripper may utilize a single actuator to facilitate the grasping of objects of varying shape and size with three degrees of freedom of passive alignment, thus enabling said robot gripper to grasp, push and pull. Passive alignment features assist the robot gripper in executing robust and fast grasping of objects with minimal requirement for active feedback control. The mechanical robot gripper jaw is constructed of a compliant material and a curved rigid member to allow the gripper to cage objects.

Abstract: A robot control system may be configured to control a robot having a plurality of limbs. The robot control system may control the robot to crawl, to open a door, to bound and or to climb stairs.

Abstract: The present invention pertains to a system method for using depth sensors on the fore, aft and bottom sides of a legged robot for stair climbing. The method uses real-time depth information to help with a legged robot's navigation on a variety of leveled terrains. Sensing methods are employed in addition to generating a composite field of view stretching from the front to the back of the legged robot. Downward facing depth cameras positioned at a particular angle enable the system to guide a legged robot over an environment which is being navigated by offering a persistent view of the environment. Other tools such as heightmap filling gradient map calculation, and strategic foothold selection are also implemented.

Abstract: The present invention regards a reflex algorithm for a legged robot upon detecting an unexpected contact in order to reach a desired touchdown location using a leg stub re-swing. The proprioceptive leg-stub re-swing algorithm is a two-phase algorithm that is particularly beneficial in environments with unstructured terrain and wherein vision sensors may be damaged upon contact with protruding obstacles.

Abstract: The present invention pertains to a method for a quadruped robot to navigate through granular media, such as deep sand and for providing improvements in the walking performance over various types of granular media. In particular, the present invention proposes reducing the assumed coefficient of friction about the ground, impacting the ground harder than nominal in the vertical direction at touchdown, and forcing a toe lift off into swing if a knee joint extends beyond a threshold stance to help increase the robustness of a quadruped robot's locomotive abilities on challenging terrains and provide an improvement in the field of biomechanics and robotic navigation.

Abstract: A robot control system may be configured to control a robot having a plurality of limbs. The robot control system may control the robot to crawl, to open a door, to bound and or to climb stairs.

Abstract: A method of controlling a motor may include receiving command data indicating only a desired torque and/or force for the motor and including no torque and/or force or current feedback data from the motor. Based on the command data and at least one motor characteristic and no separate torque and/or force or current feedback data, a voltage signal corresponding to a desired motor current to produce the desired torque and/or force may be generated. A control signal configured to provide the motor with the desired motor current may be generated using only the voltage signal as an input. The motor may be controlled by inputting the control signal to the motor, and the inputting may cause the motor to output substantially the desired torque and/or force.