Abstract: A wire electric discharge machining apparatus includes: a processing tank, a lower-side wire guide assembly, a lower arm, a direction changing pulley, a winding roller, and a conveying device. The conveying device comprises a high-pressure jet flow generator and a suction pipe. The high-pressure jet flow generator is provided between the direction changing pulley and the winding roller on a side of a front end of a lower arm, and spouts a high-pressure jet flow toward a direction of the winding roller so that a wire electrode is guided only by a restraining force of the high-pressure jet flow and sent flying to the direction of the winding roller with the high-pressure jet flow. The suction pipe is provided on an exit side of the winding roller, and sucks and captures a tip of the wire electrode sent by the high-pressure jet flow.

Abstract: A method for controlling an output current of a welding power supply includes detecting, using control circuitry of the welding power supply, a root mean square (RMS) current setting. The method also includes calculating, using the control circuitry, an average current command based on the RMS current setting. The method also includes controlling, using the control circuitry, the output current using the average current command to produce an output substantially the same as the RMS current setting.

Abstract: Welding-type devices having configurable interfaces are disclosed. An example welding-type device, includes only one user interface input device, a receiver circuit configured to receive interpretation information, and a controller configured to interpret input received via the user interface input device based on the interpretation information to modify zero or more of a plurality of welding-type variables, and to control a welding-type operation based on the plurality of welding-type variables.

Abstract: Aspects of a welding-type cable and torch are provided. The welding-type cable includes a power conductor to conduct welding-type power and a weld torch interface on a distal end of the welding-type cable to attach a weld torch to the power conductor. The welding-type torch includes a power connector to transfer welding-type power between the welding-type torch and a power conductor of a welding-type cable that is detachably coupled to the power connector. An electrode to perform a welding-type operation using the welding-type power is also provided.

Abstract: A device and method for producing a continuous strip-shaped composite material including a base material of metal, which is unwound in the form of a metal strip by a first coil-unwinding apparatus, and at least one cladding material of metal, which is unwound in the form of a metal strip by a second coil-unwinding apparatus. The metal base and cladding metal strips unwound by the respective coil-unwinding apparatuses are brought together in the hot state of at least 720 degrees Celsius. The unwound base and cladding metal strips brought toward each other and are joined by hot-rolling such that a single continuous strip-shaped composite material is thereby formed by roll cladding such that the composite material includes the base material and the cladding material.

Abstract: During friction stir spot welding, a controller executes a temperature holding control in which the controller controls a rotation driving unit so that a rotational speed of a tool is set to a value which is equal to or lower than a predetermined rotational speed at which a temperature of the tool is regarded as being equal to a welding temperature of lapped portions, and in which the controller controls a displacement driving unit to increase and reduce a welding pressure or plunge depth of the tool so that the temperature of the tool is held in a predetermined set range.

Abstract: Provided is a method for manufacturing a liquid cooling jacket including a jacket body and a sealing body joined to the jacket body. The method includes steps of: preparing; placing; first primary joining with a rotary tool; and second primary joining with the rotary tool. The rotary tool includes a base end pin and a distal end pin. The distal end pin includes a flat surface and a protrusion protruding from the flat surface. In the first primary joining and the second primary joining, friction stirring is performed in a state where the jacket body and the sealing body are brought in contact with the flat surface of the distal end pin and the base end pin and only the jacket body is brought in contact with a distal end surface of the protrusion.

Abstract: Provided is a method for manufacturing a liquid cooling jacket including a jacket body and a sealing body joined to the jacket body. The method includes steps of: preparing; placing; first primary joining with a rotary tool; and second primary joining with the rotary tool. A rotary tool includes a base end pin and a distal end pin. The distal end pin includes a flat surface and a protrusion extending from the flat surface. In the first primary joining and the second primary joining, friction stirring is performed in a state where a front surface of the sealing body is brought in contact with an outer peripheral surface of the base end pin, the sealing body is brought in contact with the flat surface of the distal end pin, and the jacket body is brought in contact with the protrusion.

Abstract: A welding structure for a metal member includes a first member containing a metal member, a second member containing a metal member, a first solidifying portion, a second solidifying portion, and a third solidifying portion. The first solidifying portion is present from a first surface to a second surface of the first member. The second solidifying portion has a first end that is present in the second member and a second end that is connected to the first solidifying portion. The third solidifying portion has a first end that is present in the second member and a second end that is connected to the first solidifying portion. The third solidifying portion is shorter than the second solidifying portion. The second solidifying portion and the third solidifying portion are separated from each other in the second member.

Abstract: A capacitor and methods of processing an anode metal foil are presented. The capacitor includes a housing, one or more anodes disposed within the housing, one or more cathodes disposed within the housing, one or more separators disposed between an adjacent anode and cathode, and an electrolyte disposed around the one or more anodes, one or more cathodes, and one or more separators within the housing. The one or more anodes each include a metal foil that includes a first plurality of tunnels through a thickness of the metal foil in a first ordered arrangement, the first ordered arrangement being a close packed hexagonal array arrangement, and having a first diameter, and a second plurality of tunnels through the thickness of the metal foil having a second ordered arrangement and a second diameter greater than the first diameter.

Abstract: Method of manufacturing first structural component for or joining with second structural component by groove weld is provided. The first structural component has first surface, second surface and end portion. The component is bent at end portion to form bent portion defining convex and concave faces. First portion of bent portion is removed at convex face in form outer weld surface having first face extending from first surface, and second face connected to first face. Second portion of bent portion is removed at concave face to form inner edge surface having arcuate profile. Inner edge surface extends from second surface and connects to second face via transition portion. A portion of first face, second face, transition portion, and inner edge surface define root protrusion, having a root protrusion height, for first structural component. The root protrusion defines stress protected weld root region isolated beyond and away from root stress flow path.

Abstract: Provided are a Cu ball, an OSP-treated Cu ball, a Cu core ball, a solder joint, solder paste, and formed solder, which realize high sphericity and low hardness and in which discoloration is suppressed. An electronic component is configured by joining a solder bump of a semiconductor chip and an electrode of a printed circuit board with solder pastes The solder bump formed by joining a Cu ball to an electrode of the semiconductor chip. The Cu ball has a purity of 99.995% by mass or more and 99.9995% by mass or less, a total content of at least one element selected from Fe, Ag, and Ni of 5.0 ppm by mass or more and 50.0 ppm by mass or less, a content of S of 1.0 ppm by mass or less, and a content of P of less than 3.0 ppm by mass.

Abstract: A curved brace is described herein. In some embodiments, the curved brace includes a base plate that has a proximal segment with one or more fastener apertures that is configured to confront a vertical post, a distal segment located distal to the proximal segment that includes one or more fastener apertures that is configured to confront a lateral beam and a curved middle segment located between the proximal and distal segments. A support plate with a curved base as well as a curved free edge may be attached to the base plate. The curved middle segment of the base plate may have an apex facing the apex angle formed at the connection of the lateral beam to the support beam. Methods of using and manufacturing the curved brace are also described.

Abstract: Devices, systems, and methods are directed to automated techniques for fitting flanges to tubular sections used to form tubular structures, such as large-scale structures used in industrial applications (e.g., wind towers and pipelines). As compared to manual techniques for fitting flanges to tubular sections, the devices, systems, and methods of the present disclosure facilitate faster attachment of flanges, which may be useful for achieving cost-effective throughput. By way of further comparison to manual techniques, the devices, systems, and methods of the present disclosure may, further or instead, facilitate achieving tighter dimensional tolerances. In turn, such tighter dimensional tolerances may be useful for forming thinner-walled, lighter, and lower cost tubular structures. Still further or in the alternative, automated techniques for fitting flanges to tubular sections may facilitate attachment of multipiece flanges or other non-traditional flange geometries.

Abstract: A method and apparatus for one or more service panels for a cooking appliance. The service panel may be removable to access one or more interior compartments of the frame structure or cooking appliance. The service panel may include a plurality of fasteners releasably engaging the frame or remaining portion of the cooking appliance. The service panel may provide access to a variety of electrical devices and/or mechanical devices within the interior compartment.

Abstract: A transport system includes a transport path having at least two transporting modules, a carriage configured to move on the transport path, a controller provided on each of the two transporting modules and configured to drive the carriage in response to a drive command, and a sensor provided on each of the two transporting modules. The drive command is corrected with a distance between the sensors provided on the two transporting modules.

Abstract: A manufacturing includes a template support and a plurality of template members. The template support comprises a structural member, a first rail, and a second rail. The first rail is coupled to the structural member, and is positioned outward of the first side of the structural member and extends parallel with the structural member. The second rail is movably coupled to the structural member and is normally biased outward to an outward position in which second rail is parallel with the structural member. Each template member is coupled to the template support when the first rail is positioned in a first recess thereof and the second rail is in the outward position in a second recess thereof, and is removable from the template support when the second rail is in an inward position and out of the second recess.

Abstract: A tool for operating on a workpiece includes a motion actuator and a controller that responsively varies a speed of the motion actuator and an operating speed of a working surface. The controller is configured to respond to a derived force that is a function an applied force exerted by an operator to manageably adjust pressure on the working surface to achieve a rate of work. The controller changes simultaneously both a rate of work on the workpiece and the operating speed of the working surface according to a sensitivity profile. The simultaneous change of rate of work and operating speed is manageable under both acceleration and deceleration by the operator with the applied force. The sensitivity profile expresses a relationship of a monotonically increasing positive slope between the derived force and the operating speed of the working surface within the range.

Abstract: One embodiment of the present invention can be characterized as a method for controlling a multi-axis machine tool that includes obtaining a preliminary rotary actuator command (wherein the rotary actuator command has frequency content exceeding a bandwidth of a rotary actuator), generating a processed rotary actuator command based, at least in part, on the preliminary rotary actuator command, the processed rotary actuator command having frequency content within a bandwidth of the rotary actuator and generating a first linear actuator command and a second linear actuator command based, at least in part, on the processed rotary actuator command. The processed rotary actuator command can be output to the rotary actuator, the first linear actuator command can be output to a first linear actuator and the second linear actuator command can be output to a second linear actuator.

Abstract: A sintered magnet sawing apparatus is provided comprising a cylindrical work carrier mounted on a horizontal rotating spindle and having a regular polygonal shape in a perpendicular cross section, and a plurality endless elastic belts adapted to force a work of sintered magnet against the carrier surface to secure the work thereto and adapted to travel synchronously with and counter to the rotation of the carrier in a circulatory manner. In accordance with rotation of the carrier, the work is delivered to the peripheral surface of the carrier, secured thereto by the elastic belts, moved further forward and cutoff machined by an outer cutoff blade. The divided work is moved further forward, released and discharged from the carrier.

Abstract: A sanding tool includes a backing layer an adhesive layer and an abrasive layer. The adhesive layer is provided at the backing layer for bonding the abrasive layer at the backing layer via flocking techniques.

Abstract: A positioning structure of a clamper of a threading machine for a racket contains: a rack, an engagement protrusion, an operation member, and two springs. A fixing holder is erected on a support plate of the threading machine, and the rack includes multiple first teeth, the fixing holder includes an accommodation chamber with an opening. The engagement protrusion is received in the accommodation chamber and includes a toothed extension on which multiple second teeth are formed. The engagement protrusion further includes a recess and an abutting fence. The operation member includes a drive portion and a push portion. The two springs are mounted on a top of the engagement protrusion, and two ends of each spring abut against the engagement protrusion and the fixing holder respectively so that each spring forces the engagement protrusion to engage with the rack.

Abstract: An adjustable clamping assembly for securing an object (such as, for example, a board or other workpiece) to a work surface (such as, for example, a work bench or work table). A rigid rod member has a bent base section, as well as a clamping shoulder surface disposed at its distal end. A clamping head is slidably disposed along a portion of the length of the rigid rod member, and can be selectively secured in a place.

Abstract: A torquing tool having an apertured head supporting a perimetral toothed surface closable about a rotary object in a self-fitting/clamping manner, wherein the aperture head provides a ratchet enable pawl operatively associable with the perimetral toothed surface.

Abstract: In a hand-held power tool that includes a mechanical striking mechanism, including a drive shaft for rotatably driving a impactor associated with the mechanical striking mechanism, at least one V-shaped guide groove, whose base lines that converge into a connecting section have a concave-polygonal design, at least in sections, is provided on an outer circumference of the drive shaft.

Abstract: A length extension assembly for a hand tool comprises at least two elongated extension tubings each having a longitudinal passageway and being of a size and shape that one of the tubings may be selectively inserted into the passageway of the other tubing. The assembly also includes at least two elongated extension bars each of a size and shape that each extension bar may be inserted into an appropriate tubing. The tubings are provided with longitudinally spaced locking holes. Each bar is provided with a locking member which can enter and be engaged in one of the locking holes to connect the bar to its tubing. Optionally, one tubing could be inserted into the larger tubing and a locking member on the smaller tubing could be engaged in a locking hole of the larger tubing to connect the tubings together. Various length selections can be achieved by connecting a bar to at least one tubing or by connecting a bar to one tubing and connecting that tubing to a larger tubing.

Abstract: A tool (10) for assisting an optician in removing lenses (42) from or inserting lenses into eyeglass frames (44) includes an elongated block of substantially rigid material (12) having a forward working end (14) and a rearward free end (16) opposite the working end, the portion between the free end and the working end functioning as a handle to be grasped by a person's hand. A first recess (24) is formed in the bottom surface (22) of the block along with a first curved surface (26) and a first hook (28). The first curved surface includes a rearward facing pointed edge (27). Similarly, a second recess (36) is formed in the top surface (20) of the block along with a second curved surface (38) and a second hook (40). The hooks (28, 40) are adapted to rest against the edge (46) of the frame (44) as the pointed edge (27) or the second curved surface (38) presses the lens (42) out of or into the frame (44) as the free end (16) of the tool is rotated.

Abstract: A re-useable, easily removable tool pin features a non-stick outer surface with a harder inner core configured to be gripped by a removal tool for extraction of the tool pin, without damage, from a mold and from composite plies that may have cured in contact with the tool pin. The tool pin prevents insertion into the mold such that the extractor tool is not attachable to the tool pin. A system includes the tool pin, a mold for forming a molded part, the mold having holes for insertion of tool pins, and an extractor tool adapted to grip the tool pin for removal from the mold and molded part. The extractor tool can be ergonomically designed for easy removal of the tool pin by hand. Such tool pins are adapted for production of parts from composite materials in many industries, including aerospace, automotive, transportation, agricultural, and energy.

Abstract: A driving tool capable of avoiding blank shot after a predetermined time has elapsed when performing a bump firing and capable of smoothly performing the bump firing is provided. The driving tool includes: an accumulator chamber which accumulates compressed air; a nose section provided on a housing; a cylinder; a trigger; and a push lever provided in the nose section, and when the trigger and the push lever are operated, the compressed air is supplied into the cylinder. The driving tool further includes: a delay valve which prevents the compressed air from being supplied into the cylinder when the push lever is not operated within a predetermined time after the trigger is operated: and a switching valve which supplies the compressed air of the accumulator chamber to the delay valve when the trigger is operated, and discharges the compressed air supplied to the delay valve to an outside of the housing when the push lever is operated within the predetermined time.

Abstract: A novel quick fastening device comprises a base, an energy storage medium, an impact unit and a driving mechanism; the driving mechanism includes an annular gear, a driving shaft, a crank, a planet gear; the planet gear is placed in the annular gear and engaging with the annular gear, so that it can implement revolution against annular gear, the planet gear implements rotation at the upper end of crank; a clamp shaft for connecting the impact unit is located in the upper end of the connecting rod, the lower end of driving shaft is connected to the rotating energy release unit; the annular gear-planet gear structure to implement the conversion of rotary motion into reciprocating motion, the kinematic trajectory of clamp shaft on the connecting rod approximates to a straight line, so as to reduce the kinetic friction force of load to the maximum extent to avoid wear.

Abstract: A pneumatic tool contains: a body, a drive unit, a piston element, at least one buffer, and a movable air tube. The body includes an intake head, a limiting sleeve, a switch, an air conduit, and a connection portion. The connection portion has a first guide element, a first guiding orifice, and the limiting sleeve has a shoulder. The drive unit includes a moving tube, a first segment, and a second segment. The moving tube has a protrusion, the second segment has a second guide element and a second guiding orifice. The moving tube has a coupling orifice and a cavity, and an air valve is defined between the cavity and the second guide element. One buffer is defined between the first guide element and the second guide element and includes a first through hole. The movable air tube includes an air inlet segment and an air outlet segment.

Abstract: A hand-held power tool includes at least one transmission housing, at least one single-stage transmission unit, at least one motor housing, and at least one compensating unit. The at least one transmission unit is disposed in the at least one transmission housing. The at least one compensating unit includes at least one movably mounted compensating mass element. The at least one compensating unit is disposed at least for the most part in the at least one transmission housing or between the at least one transmission housing and the at least one motor housing.

Abstract: A fastener driving tool that forces air from its variable venting volume beneath the piston of the working cylinder and directs that forced air through passageways and toward an electronic controller and/or an electric motor before being vented to atmosphere, thereby drawing heat away from those components during an operational cycle of the movable piston. When the piston returns to its initial position, environmental air is drawn through the same passageways, again past the electronic controller and/or electric motor, thereby twice cooling these “hot” components during a single operational cycle.

Abstract: The present disclosure discloses a telescopic aluminum rod comprising at least two nested aluminum tubes and except the innermost aluminum tube, the rear ends of the rest aluminum tubes are respectively connected with a sleeve; each sleeve is internally provided with an accommodating cavity in which a locking device is arranged; the locking device comprises a pressing buckle which is longitudinally movably mounted in the accommodating cavity and the upper end face of the pressing buckle protrudes out of the sleeve through an opening formed on the sleeve, a bent plate of which the rear end abuts against the lower end face of the pressing buckle, and the middle is clamped inside the accommodating cavity.

Abstract: A two-sided casing chisel has two chisel blades that are mirror images of each other to enable one tool for chiseling and cleaning the doorway casing on either side of the doorway. The two-sided tool simply has to be flipped around to allow cleaning of doorway casing on an opposing side of the doorway. The chisel blades may be coupled to a blade assembly that is detachably attachable to a handle assembly. The blade assembly may have a first end and second end each having a two-sided chisel blade or sanding ends with an abrasive material to allow sanding along a doorway casing. The blade assembly may be reversible to allow a user to flip the blade assembly upside down to expose second end which may have sanding ends for sanding or a second set of chisel blades in the event blades on the first end become dull.

Abstract: The present disclosure relates to a toolbox or container having a selectively removable organizer tray that is pivotally attached to the lid of the toolbox. As a user opens the lid of the toolbox, the organizer tray retracts into the lid reducing the organizer tray's obscuring of the interior space of the toolbox.

Abstract: A walking control method of a robot is provided. The method includes receiving a walking command of the robot including a link device having a plurality of links that correspond to both lower limbs. In response to receiving the walking command, implementing walking of the robot by providing torque to the link device to move a first lower limb is moved. In a double stance state where foot ends of the both lower limbs are simultaneously in contact with ground while the lower limb to be moved is changed, a driving force is generated in the double stance by adjusted the torque of the drive device to virtually move the foot ends of the both lower limbs by a predetermined stable distance in an opposite direction to a walking direction.

Abstract: A system for automatic wheel alignment adjustment of a vehicle in an inspection line is provided. The system is disposed under a mounting table mounted with a vehicle and includes a front wheel adjustment apparatus disposed in correspondence with a front wheel of the vehicle and configured to adjust alignment of the front wheel by adjusting a tie-rod and a lock-nut employed in a linkage structure of the front wheel, a rear wheel moving apparatus disposed in correspondence with a rear wheel of the vehicle and slidable in a vehicle width direction, and a rear wheel adjustment apparatus disposed in correspondence with the rear wheel of the vehicle, connectable to the rear wheel moving apparatus, and configured to adjust alignment of the rear wheel by adjusting a cam-bolt and a cam-nut employed in a linkage structure of the rear wheel.

Abstract: It is an object to enable a grasping operation to be executed according to a state of an object. The invention provides an information processing apparatus which determines the grasping operation in a grasping unit for grasping the object. The information processing apparatus has: an obtaining unit for obtaining an image acquired by capturing the object; a recognizing unit for recognizing a state of the object from the image obtained by the obtaining unit; and a generating unit for generating information for allowing the grasping unit to execute the grasping operation on the basis of the object state recognized by the recognizing unit and conditions to execute the grasping operation.

Abstract: Methods, grasping systems, and computer-readable mediums storing computer executable code for grasping an object are provided. In an example, a depth image of the object may be obtained by a grasping system. A potential grasp point of the object may be determined by the grasping system based on the depth image. A tactile output corresponding to the potential grasp point may be estimated by the grasping system based on data from the depth image. The grasping system may be controlled to grasp the object at the potential grasp point based on the estimated tactile output.

Abstract: A picking system including: a picking robot for gripping a target; an operation unit for an operator to perform a remote operation of the picking robot; a learning unit that learns a movement of the picking robot when the target is gripped by the remote operation; and an assisting unit that assists the remote operation based on a learning result of the learning unit.

Abstract: Methods, systems, and software for controlling object picking and placement by a robot system are disclosed. The method includes assigning machine learning training data of a machine learning model for an object. The machine learning training data includes a plurality of known grasp location labels assigned to the object positioned in a plurality of different object poses. The method includes providing the object in a work space of the robot system. For the object in the work space in a first pose of the plurality of different object poses, the method includes: mapping a first candidate grasp location on the object; executing robotic movements for the first candidate grasp location on the object; and evaluating a result of the executing for the first candidate grasp location according to at least one predetermined performance criteria.

Abstract: A robot control apparatus includes a section setter to set, on a straight line connecting a start point to an end point, an acceleration section until reaching a predetermined angular velocity, a constant velocity section in which the predetermined angular velocity is maintained, and a deceleration section in which the predetermined angular velocity is decreased, a segment setter to divide each of the acceleration section, the constant velocity section, and the deceleration section into a plurality of segments and to set segment distances of each of the acceleration section, the constant velocity section, and the deceleration section so as to equalize or substantially equalize moving times of the segments of the reference point to each other, and when the reference point is moved in each of the segments according to point to point control, an angular velocity setter to set an angular velocity of each of the segments based on a variance in an angle of a joint which becomes maximum with respect to each of the s

Abstract: A serving system using a robot may include a caller mounted on each of a plurality of tables, and a robot driving to a target table among the plurality of tables based on information received from the caller. The robot may store information on the location of each of the plurality of callers, the size and shape of each of the plurality of tables, the location of the caller mounted on the table, and the rotational angle with respect to a baseline of the caller. The caller may transmit to the robot information on the distance from the caller to the robot and the direction of the robot with respect to the caller during driving of the robot. The robot may transmit and receive a wireless signal over a mobile communication network constructed according to 5G (Generation) communication.

Abstract: A position control method for a servo, includes: receiving, from a control terminal, a motion control command that comprises a motion planning parameter about position of an output shaft of the servo; acquiring speed information or time information indicated by the motion planning parameter, and determining a constant parameter control duration according to the speed information or time information; determining a control parameter corresponding to a constant parameter control stage according to the constant parameter control duration and a preset constant parameter; performing a transient adjustment to the servo when the constant parameter control stage ends, and changing the control parameter to an adaptive operation parameter when the transient adjustment ends; and controlling a rotation angle of the output shaft of the servo to perform a position control of the servo, based on duration values and control parameters corresponding to each of a plurality of control stages.

Abstract: A method and an apparatus for controlling a robot are provided. According to one aspect of the present disclosure, the method can include receiving information on a work type of robot motion performed by the robot; generating workflow of the robot motion based upon the received information on the work type of the robot motion; measuring information on work environment in which the robot motion is performed in accordance with the work type and the workflow of the robot motion by controlling the robot; receiving work information on the robot motion in accordance with the work type and the workflow of the robot motion by controlling the robot; and performing the robot motion in accordance with the work type and the workflow of the robot motion by controlling the robot based upon the measured information on the work environment and the received work information on the robot motion.

Abstract: A method for mobile robotic based inspection includes delivery of inspection requirements identifying a part and one or more inspection mode types. A three-dimensional model of the part and one or more physical attributes or specifications of the aeronautical part are received. A plurality of different motion sequences for the robot inspection system are determined to evaluate a plurality of predefined points on the component using one or more sensors for the one or more inspection types. Data acquisition parameters are determined for inspection sequence to allow for collection of inspection data for one or more inspection modes. A motion sequence from the plurality of different motion sequences is selected based on one or more parameters. An optimized inspection program configured to update operating parameters of the robot inspection system to perform the selected motion sequence and capture data using the one or more sensors is generated.

Abstract: Techniques for fingertip design are disclosed that leverage how most grasp contacts can share a few classes of local geometries. In order to maximize the contact areas for achieving more robust grasps, contact primitives, which represent a set of contacts of similar local geometries, are identified. A uniform cost algorithm, which can be formulated as a decision making process in a tree structure, can be utilized to cluster a set of example grasp contacts into a finite set of one or more contact primitives. Fingertips can be designed by optimization to match the local geometry of each contact primitive, and then fingertips can be 3D printed using soft materials to compensate for optimization residuals. For novel objects, an approach to generate grasp contacts that match the fingertip geometries while together forming stable grasps can be utilized.

Abstract: Provided are robots that autonomously detect and correct individualized anomalies resulting from deviations in the sensors and/or actuators of individual robots, and environmental anomalies resulting from deviations in the environment elements that the robots rely on or use in the execution of different tasks. To do so, a robot may receive a task, may determine expected kinematics that include expected activations of a set of sensors and actuators by which the robot executes the task, may activate the set of sensors and actuators according to the expected kinematics, may track the actual kinematics resulting from activating the set of sensors and actuators according to the expected kinematics and continuing the activations until detecting one or more environment elements signaling completion of the task, and may adjust one or more sensors, actuators, or environment elements in response to the actual kinematics deviating from the expected kinematics.

Abstract: Provided are a computer program product, moveable robot block, and method for a moveable robot block deployed to form a barrier and sense environmental conditions. A command is received to couple to a location in a coordinate system comprising the barrier formed of a plurality of moveable robot blocks. Movement motors are controlled to cause the moveable robot block to move to the location in the coordinate system to couple to the barrier according to the command. An environmental sensor senses an environmental condition related to water sensed external to the moveable robot block when the moveable robot block is coupled to the barrier. The environmental condition is transmitted to the assembly management system over the network.