Patents by Inventor Raphael Gerard Cherney

Raphael Gerard Cherney has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Magnetic receptive sensor and optimized drawing and erasing for vertically driving robot
    Patent number: 11529740
    Abstract: A vertically driving marking robot includes a robot body; at least one magnet constraining the robot to move parallel to a vertical, magnetically responsive surface; a drive configured to displace the robot relative to the surface while the robot is held to the surface; a holder configured to hold a marker; an accelerometer measuring a gravity vector; a computing device in communication with the optical sensors, the accelerometer, and the drive. The computing device includes a processor and computer-readable memory, wherein the computer-readable memory includes non-transitory program code for at least one of the following actions: (a) generating a drift correction to compensate for drive slippage drift in response to and as a function of the gravity vector and (b) commanding the drive to displace the robot along a desired trajectory in response to the drift correction.
    Type: Grant
    Filed: April 17, 2017
    Date of Patent: December 20, 2022
    Assignee: President and Fellows of Harvard College
    Inventors: Zivthan A. Dubrovsky, Raphael Gerard Cherney, Hani M. Sallum, Julian U. da Silva Gillig
  • Magnetic Receptive Sensor and Optimized Drawing and Erasing for Vertically Driving Robot
    Publication number: 20190126485
    Abstract: A vertically driving marking robot includes a robot body; at least one magnet constraining the robot to move parallel to a vertical, magnetically responsive surface; a drive configured to displace the robot relative to the surface while the robot is held to the surface; a holder configured to hold a marker; an accelerometer measuring a gravity vector; a computing device in communication with the optical sensors, the accelerometer, and the drive. The computing device includes a processor and computer-readable memory, wherein the computer-readable memory includes non-transitory program code for at least one of the following actions: (a) generating a drift correction to compensate for drive slippage drift in response to and as a function of the gravity vector and (b) commanding the drive to displace the robot along a desired trajectory in response to the drift correction.
    Type: Application
    Filed: April 17, 2017
    Publication date: May 2, 2019
    Applicant: President and Fellows of Harvard College
    Inventors: Zivthan A. Dubrovsky, Raphael Gerard Cherney, Hani M. Sallum, Julian U. da Silva Gillig