Patents by Inventor Yasuhisa Hirata
Yasuhisa Hirata 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).
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Patent number: 10814476Abstract: A robot includes a gripping section adapted to grip an object by open and close a pair of finger sections, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and dispose the pair of finger sections in a periphery of the object, and then control the gripping section to open and close the pair of finger sections in a plane parallel to a mounting surface on which the object is mounted, pinch the object between the pair of finger sections from a lateral side of the object, and grip the object with the gripping section at at least three contact points.Type: GrantFiled: April 3, 2018Date of Patent: October 27, 2020Assignee: Seiko Epson CorporationInventors: Yukihiro Yamaguchi, Kazuhiro Kosuge, Yasuhisa Hirata, Aya Kaisumi
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Publication number: 20180222040Abstract: A robot includes a gripping section adapted to grip an object by open and close a pair of finger sections, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and dispose the pair of finger sections in a periphery of the object, and then control the gripping section to open and close the pair of finger sections in a plane parallel to a mounting surface on which the object is mounted, pinch the object between the pair of finger sections from a lateral side of the object, and grip the object with the gripping section at at least three contact points.Type: ApplicationFiled: April 3, 2018Publication date: August 9, 2018Inventors: Yukihiro YAMAGUCHI, Kazuhiro KOSUGE, Yasuhisa HIRATA, Aya KAISUMI
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Patent number: 9962829Abstract: A robot includes a gripping section adapted to grip an object by open and close a pair of finger sections, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and dispose the pair of finger sections in a periphery of the object, and then control the gripping section to open and close the pair of finger sections in a plane parallel to a mounting surface on which the object is mounted, pinch the object between the pair of finger sections from a lateral side of the object, and grip the object with the gripping section at at least three contact points.Type: GrantFiled: August 28, 2015Date of Patent: May 8, 2018Assignee: Seiko Epson CorporationInventors: Yukihiro Yamaguchi, Kazuhiro Kosuge, Yasuhisa Hirata, Aya Kaisumi
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Publication number: 20150367506Abstract: A robot includes a gripping section adapted to grip an object by open and close a pair of finger sections, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and dispose the pair of finger sections in a periphery of the object, and then control the gripping section to open and close the pair of finger sections in a plane parallel to a mounting surface on which the object is mounted, pinch the object between the pair of finger sections from a lateral side of the object, and grip the object with the gripping section at at least three contact points.Type: ApplicationFiled: August 28, 2015Publication date: December 24, 2015Inventors: Yukihiro YAMAGUCHI, Kazuhiro KOSUGE, Yasuhisa HIRATA, Aya KAISUMI
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Patent number: 9149928Abstract: A robot includes a gripping section adapted to grip an object by open and close a pair of finger sections, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and dispose the pair of finger sections in a periphery of the object, and then control the gripping section to open and close the pair of finger sections in a plane parallel to a mounting surface on which the object is mounted, pinch the object between the pair of finger sections from a lateral side of the object, and grip the object with the gripping section at least three contact points.Type: GrantFiled: September 14, 2011Date of Patent: October 6, 2015Assignee: Seiko Epson CorporationInventors: Yukihiro Yamaguchi, Kazuhiro Kosuge, Yasuhisa Hirata, Aya Kaisumi
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Patent number: 9102059Abstract: A robot control method includes a first step of selecting a holding form in which a robot holds an object and a second step of determining whether the object can continue to be stably held when a predetermined external force is applied to the object in the selected holding form. In the second step, it is determined that the object can continue to be stably held when a force which should be generated by a contact portion to generate resistance to the predetermined external force is included in a friction cone of a force generated by driving the contact portion and enlarged by a suction force from the suction mechanism.Type: GrantFiled: January 23, 2014Date of Patent: August 11, 2015Assignee: Seiko Epson CorporationInventors: Takashi Nammoto, Kazuhiro Kosuge, Kengo Yamaguchi, Yasuhisa Hirata
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Patent number: 8942845Abstract: A robot includes a gripping section and a main body section to which the pair of finger sections are attached, having one end sections of the pair of finger sections rotatably connected to each other around a first rotating shaft disposed at a position separate from the main body section, and adapted to open and close the pair of finger sections by swinging the other side of the pair of finger sections on a plane parallel to a mounting surface on which an object is mounted centered on the first rotating shaft to thereby grip the object, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and grip the object with the gripping section at at least three contact points.Type: GrantFiled: September 14, 2011Date of Patent: January 27, 2015Assignee: Seiko Epson CorporationInventors: Yukihiro Yamaguchi, Tatsuya Hosoda, Kazuhiro Kosuge, Yasuhisa Hirata
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Publication number: 20140249677Abstract: A robot includes a gripping section and a main body section to which the pair of finger sections are attached, having one end sections of the pair of finger sections rotatably connected to each other around a first rotating shaft disposed at a position separate from the main body section, and adapted to open and close the pair of finger sections by swinging the other side of the pair of finger sections on a plane parallel to a mounting surface on which an object is mounted centered on the first rotating shaft to thereby grip the object, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and grip the object with the gripping section at at least three contact points.Type: ApplicationFiled: May 8, 2014Publication date: September 4, 2014Applicant: Seiko Epson CorporationInventors: Yukihiro YAMAGUCHI, Tatsuya HOSODA, Kazuhiro KOSUGE, Yasuhisa HIRATA
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Publication number: 20140214202Abstract: A robot control method includes a first step of selecting a holding form in which a robot holds an object and a second step of determining whether the object can continue to be stably held when a predetermined external force is applied to the object in the selected holding form. In the second step, it is determined that the object can continue to be stably held when a force which should be generated by a contact portion to generate resistance to the predetermined external force is included in a friction cone of a force generated by driving the contact portion and enlarged by a suction force from the suction mechanism.Type: ApplicationFiled: January 23, 2014Publication date: July 31, 2014Applicant: Seiko Epson CorporationInventors: Takashi Nammoto, Kazuhiro Kosuge, Kengo Yamaguchi, Yasuhisa Hirata
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Patent number: 8622452Abstract: A recess has a proximal-end-side surface and a distal-end-side surface. When an intersection between a straight line included in the proximal-end-side surface and a straight line included in the distal-end-side surface is a base point, a line passing through the base point is a base line, a line between two claw portions, passing through an end point of the recess and orthogonal to the base line is an orthogonal line, the angle ? made between the base line, and the straight line included in the distal-end-side surface is greater than 0 degrees and less than 90 degrees, the angle ? made between the orthogonal line, and the straight line included in the proximal-end-side surface is greater than 0 degrees and less than 90 degrees, and the length d from the base point to the orthogonal line is greater than 0.Type: GrantFiled: December 20, 2011Date of Patent: January 7, 2014Assignee: Seiko Epson CorporationInventors: Yukihiro Yamaguchi, Kazuhiro Kosuge, Yasuhisa Hirata, Kengo Yamaguchi, Aya Kaisumi
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Patent number: 8287017Abstract: When dishes are held by means of a robot hand (10), its fixed side engaging plate (13) and movable side engaging finger (14) are moved under horizontal state toward a dish (20) to be handled, and the outer circumferential edge side portion of the dish (20) is inserted between them. The distal end portion (14b) of the movable side engaging finger (14) is then bent by a predetermined amount to the side of the dish (20) and the robot hand (10) is raised. Consequently, the dish (20) is brought into a state where it is held by its own weight between the fixed side engaging plate (13) and the movable side engaging finger (14). Thereafter, the right and left first finger units (15, 16) are bent to the side of the dish (20) and the dish (20) is pushed by their dish pushing faces (15g, 16g), thus bringing about such a state as the dish (20) is held surely between the fixed side engaging plate (13) and the movable side engaging finger (14).Type: GrantFiled: September 10, 2008Date of Patent: October 16, 2012Assignee: Harmonic Drive Systems Inc.Inventors: Junji Koyama, Syunichi Tezuka, Kazuhiro Kosuge, Yasuhisa Hirata, Junya Ichinose
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Patent number: 8272828Abstract: An object moving apparatus is provided which is different from coordinated conveyance through real-time information exchange between carriages only by wireless communication and which can move an object reliably and in a more stable manner by coordinated control of carriages without the object falling off. Arranged is a leader carriage A with a carriage body 2 travelable in all directions by travel drivers 1 and a lifter 5 attached to the carriage body via a link mechanism 3 for lifting up a vehicle 4 as object. The leader carriage is movable along a given target track. Further arranged is a follower carriage B with a carriage body 2 travelable in all directions and a lifter 5 attached to the carriage body via a link mechanism 3 for lifting up the vehicle 4. The follower carriage estimates and follows movement of the leader carriage so as to move the vehicle 4 in coordination with the leader carriage.Type: GrantFiled: October 28, 2008Date of Patent: September 25, 2012Assignees: IHI Transport Machinery Co., Ltd., Tohoku UniversityInventors: Kazuhiro Kosuge, Yasuhisa Hirata, Mitsuru Endo, Koki Suzuki, Takashi Kanbayashi, Mitsukazu Ohmoto, Kei Akune, Hiroyuki Arai, Hiroyuki Shinozuka
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Publication number: 20120153652Abstract: A recess has a proximal-end-side surface and a distal-end-side surface. When an intersection between a straight line included in the proximal-end-side surface and a straight line included in the distal-end-side surface is a base point, a line passing through the base point is a base line, a line between two claw portions, passing through an end point of the recess and orthogonal to the base line is an orthogonal line, the angle ? made between the base line, and the straight line included in the distal-end-side surface is greater than 0 degrees and less than 90 degrees, the angle ? made between the orthogonal line, and the straight line included in the proximal-end-side surface is greater than 0 degrees and less than 90 degrees, and the length d from the base point to the orthogonal line is greater than 0.Type: ApplicationFiled: December 20, 2011Publication date: June 21, 2012Applicant: SEIKO EPSON CORPORATIONInventors: Yukihiro YAMAGUCHI, Kazuhiro KOSUGE, Yasuhisa HIRATA, Kengo YAMAGUCHI, Aya KAISUMI
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Publication number: 20120065780Abstract: A robot includes a gripping section and a main body section to which the pair of finger sections are attached, having one end sections of the pair of finger sections rotatably connected to each other around a first rotating shaft disposed at a position separate from the main body section, and adapted to open and close the pair of finger sections by swinging the other side of the pair of finger sections on a plane parallel to a mounting surface on which an object is mounted centered on the first rotating shaft to thereby grip the object, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and grip the object with the gripping section at at least three contact points.Type: ApplicationFiled: September 14, 2011Publication date: March 15, 2012Applicant: SEIKO EPSON CORPORATIONInventors: Yukihiro YAMAGUCHI, Tatsuya HOSODA, Kazuhiro KOSUGE, Yasuhisa HIRATA
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Publication number: 20120065779Abstract: A robot includes a gripping section adapted to grip an object by open and close a pair of finger sections, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and dispose the pair of finger sections in a periphery of the object, and then control the gripping section to open and close the pair of finger sections in a plane parallel to a mounting surface on which the object is mounted, pinch the object between the pair of finger sections from a lateral side of the object, and grip the object with the gripping section at least three contact points.Type: ApplicationFiled: September 14, 2011Publication date: March 15, 2012Applicant: SEIKO EPSON CORPORATIONInventors: Yukihiro Yamaguchi, Kazuhiro Kosuge, Yasuhisa Hirata, Aya Kaisumi
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Publication number: 20110133502Abstract: When dishes are held by means of a robot hand (10), its fixed side engaging plate (13) and movable side engaging finger (14) are moved under horizontal state toward a dish (20) to be handled, and the outer circumferential edge side portion of the dish (20) is inserted between them. The distal end portion (14b) of the movable side engaging finger (14) is then bent by a predetermined amount to the side of the dish (20) and the robot hand (10) is raised. Consequently, the dish (20) is brought into a state where it is held by its own weight between the fixed side engaging plate (13) and the movable side engaging finger (14). Thereafter, the right and left first finger units (15, 16) are bent to the side of the dish (20) and the dish (20) is pushed by their dish pushing faces (15g, 16g), thus bringing about such a state as the dish (20) is held surely between the fixed side engaging plate (13) and the movable side engaging finger (14).Type: ApplicationFiled: September 10, 2008Publication date: June 9, 2011Inventors: Junji Koyama, Syunichi Tezuka, Kazuhiro Kosuge, Yasuhisa Hirata, Junya Ichinose
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Publication number: 20100300837Abstract: An object moving apparatus is provided which is different from coordinated conveyance through real-time information exchange between carriages only by wireless communication and which can move an object reliably and in a more stable manner by coordinated control of carriages without the object falling off. Arranged is a leader carriage A with a carriage body 2 travelable in all directions by travel drivers 1 and a lifter 5 attached to the carriage body via a link mechanism 3 for lifting up a vehicle 4 as object. The leader carriage is movable along a given target track. Further arranged is a follower carriage B with a carriage body 2 travelable in all directions and a lifter 5 attached to the carriage body via a link mechanism 3 for lifting up the vehicle 4. The follower carriage estimates and follows movement of the leader carriage so as to move the vehicle 4 in coordination with the leader carriage.Type: ApplicationFiled: October 28, 2008Publication date: December 2, 2010Applicants: IHI TRANSPORT MACHINERY CO., LTD., TOHOKU UNIVERSITYInventors: Kazuhiro Kosuge, Yasuhisa Hirata, Mitsuru Endo, Koki Suzuki, Takashi Kanbayashi, Mitsukazu Ohmoto, Kei Akune, Hiroyuki Arai, Hiroyuki Shinozuka
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Patent number: 6453212Abstract: In a method for mobile robot motion control for the sake of controlling motional characteristics of the mobile robot, such motional characteristics of mobile robot are made to be virtually equivalent motional characteristics of a caster, whereby motional performance adaptable to an external force is realized. Thus, a method for mobile robot motion control by which an object can be cooperatively manipulated by human being and mobile robot is provided.Type: GrantFiled: September 7, 2000Date of Patent: September 17, 2002Assignee: RikenInventors: Hajime Asama, Hayoto Kaetsu, Kuniaki Kawabata, Kazuhiro Kosuge, Yasuhisa Hirata