Abstract: A tool storage unit includes a housing configured to store a tool and a top surface coupled to the housing. The top surface is a composite that includes an upper face and a lower face. The upper face is configured to be a work surface. The upper face includes a surface texture element integrally formed in the top surface. The upper face includes a raised portion along a perimeter. The lower face includes a plurality of ribs integrally formed with the lower face and protruding in a direction opposite the upper face. The plurality of ribs are spaced to form a cavity. The lower face includes a plurality of integrally formed bosses. At least one of the bosses is an attachment point for coupling to the housing.

Abstract: A hybrid master-slave mapping method includes the following steps: acquiring a current position and a target position of an end point of a robotic arm; decomposing a displacement from the current position to the target position into a vertical direction and a horizontal plane to obtain a vertical displacement position and a horizontal displacement position; determining a first control amount of a multi-degree-of-freedom parallel platform according to the vertical displacement position, and determining a second control amount of a passive arm according to the horizontal displacement position; controlling the multi-degree-of-freedom parallel platform according to the first control amount, and controlling the passive arm according to the second control amount.

Abstract: A motion assist apparatus is provided. The motion assist apparatus may include a proximal support configured to support a proximal part of a user, a distal support configured to support a distal part of the user, a proximal joint part rotatably connected to the proximal support around a first axis and a second axis perpendicular to the first axis, a distal joint part rotatably connected to the distal support around a third axis parallel to the second axis, and a connector configured to connect the proximal joint part and the distal joint part and movably connected to the distal joint part in a first direction perpendicular to the second axis and the third axis. There may be other additional example embodiments.

Abstract: A method of transporting substrates within an electronic device processing system includes rotating a first upper arm of a first arm assembly of a robot. The rotating causes a first end effector of the first arm assembly to move along a first path. The first arm assembly includes the first upper arm, a first forearm, a first wrist member, and the first end effector configured to support a first substrate. The method further includes rotating a second upper arm of a second arm assembly of the robot. The rotating causes a second end effector of the second arm assembly to move along a second path. The second arm assembly includes the second upper arm, a second forearm, a second wrist member, and the second end effector configured to support a second substrate. The second substrate does not overlap with the first substrate in any operating position of the end effectors.

Abstract: A method for operating a modular robot including a first module and a second module is provided. The first module includes a first controller, and the first controller includes a first failsafe position detection for a movable element of the first module. The method includes controlling the second module, which includes detecting a first position of movable elements via a first single position detector. A second position of the movable elements is detected via a second position detector, which is configured as a position probe that is attachable to the at least one movable element of the second module. The second position is combined with the first position to form a second failsafe position detection. The first failsafe position detection is combined with the second failsafe position detection to form a combined failsafe position detection for the modular robot.

Abstract: A mechanism for actuation and control of a device, such as an interventional device, in two dimensions via a cable-driven arrangement. The mechanism can include multiple spring-loaded cam followers and a conical control surface acting as the cam. The translation of the conical cam results in the perpendicular linear motion of the cam followers. With the cables coupled to the cam followers from one end, and to the device of interest at the other end, the motion of the followers results in cable displacements that lead to the manipulation of the interventional device. Adjustment of the cable lengths are made possible with a proportion determined by the cam. This allows maintaining a set tension and while avoiding sagging. The resulting system can be an entirely passive mechanism in some embodiments that allows for accurate device position control, position estimation, and haptic feedback.

Abstract: The present disclosure provides a method for simultaneously performing a robot's kinematic calibration and hand-eye calibration. One exemplary method comprises acquiring a plurality of point clouds of a calibration fixture and formulating this simultaneous calibration problem as an optimization problem based on the collection of point clouds of the same fixture.

Abstract: A robot control method includes: acquiring target speed information of a robot at a next moment during walking of the robot; and adjusting a step frequency of the robot according to the target speed information and a current state of the robot. An apparatus for controlling a robot and several methods for determining whether the robot meets a step frequency switching condition are provided.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for data-driven robotic control. One of the methods includes maintaining robot experience data; obtaining annotation data; training, on the annotation data, a reward model; generating task-specific training data for the particular task, comprising, for each experience in a second subset of the experiences in the robot experience data: processing the observation in the experience using the trained reward model to generate a reward prediction, and associating the reward prediction with the experience; and training a policy neural network on the task-specific training data for the particular task, wherein the policy neural network is configured to receive a network input comprising an observation and to generate a policy output that defines a control policy for a robot performing the particular task.

Abstract: In at least one embodiment, under the control of a robotic control system, a gripper on a robot is positioned to grasp a 3-dimensional object. In at least one embodiment, the relative position of the object and the gripper is determined, at least in part, by using a camera mounted on the gripper.

Abstract: An apparatus for replacing printing sleeves which comprises a handling device which can be removably engaged with a printing sleeve and a movement robot for moving the handling device; the handling device comprises a supporting frame and a self-centering grip clamp which is able to translate on command, with respect to the supporting frame, along a movement direction that is substantially parallel to the axis of the supporting rod, between an advanced working position and a retracted working position; the grip clamp has engagement elements which are movable on command between an inactive position and an active position, in which they are radially spaced apart from the axis of the supporting rod, in order to allow their engagement with the internal surface of the printing sleeve.

Abstract: A robot includes a handling portion handled in teaching an operation of a robot arm, a first sensor acquiring data of a first force acting on a tip of the robot arm, a second sensor acquiring data of a second force acting on the handling portion and a third sensor acquiring data of position and orientation of the tip of the robot arm. A controller of the robot is configured to generate teaching data having a first period and a second period based on analytical results of the first and second force data at a time of teaching the robot arm. The robot arm is controlled by position and orientation control based on the position and orientation data of the third sensor in the first period. The robot arm is controlled by force control based on the first and second force data in the second period.

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 disclosure provides an apparatus for automatically programming a robot to follow the contour of an object. One exemplary apparatus includes a 3D perception module for reconstructing a 3D digital model of the surface of objects and a planning software module for generating a path using said 3D digital model for a robot to follow. One aspect of this disclosure provides methods for sensing the geometry of a surface, reconstructing its 3D model, and creating paths for a robot to traverse along the surface.

Abstract: A method of controlling the motion of a two-legged robot includes: acquiring gait parameters of the two-legged robot; inputting the gait parameters to a preset gait planning model; determining gait trajectory parameters of the two-legged robot based on the gait parameters through the preset gait planning model, in which the gait trajectory parameters include a center-of-mass state corresponding to a double support phase and a center-of-mass state corresponding to a single support phase, and the center-of-mass state includes a center-of-mass position and a center-of-mass movement speed; and controlling the two-legged robot to move according to the gait trajectory parameters.

Abstract: An inspection route generation device generates an inspection route of an external appearance inspection device which performs external appearance inspection on an inspection target based on an image imaged by an imaging unit, and includes: a storage unit which stores inspection position information indicating a plurality of inspection positions at which the imaging unit images the inspection target, and inspection device configuration information indicating a configuration of the external appearance inspection device; and a route determination unit which calculates a route length between respective inspection positions, and a posture change amount of the imaging unit at a time when the imaging unit moves through the plurality of inspection positions, based on the inspection position information and the inspection device configuration information, and determines the inspection route based on the calculated route length and posture change amount.

Abstract: A method for operating a robotic system that includes calculating a base motion plan, wherein the base motion plan includes a sequence of commands or settings, or a combination thereof, that operates a robotic arm and a gripper to transfer a target object from a start location to a task location; receiving a contact measure while executing the base motion plan, wherein the contact measure represents an amount of grip of the gripper on the target object; and generating one or more actuator commands/settings that deviate from the base motion plan when the contact measure fails to satisfy a threshold, wherein the one or more actuator commands/settings thereof are configured to operate the robotic arm, the gripper, or a combination thereof to execute one or more response actions not included in the base motion plan.

Abstract: A surgical robotic system includes a robotic arm having an instrument drive unit and an access port configured to be secured to the robotic arm. The system also includes an instrument configured to couple to the instrument drive unit, where the instrument drive unit is configured to actuate the instrument. The system also includes a controller configured to: instruct the robotic arm to advance the instrument into the access port; instruct the instrument drive unit to calibrate the instrument inside the access port; determine a type of the access port during calibration of the instrument; and store the type of the access port in a memory.

Abstract: The objective of the present invention is to provide a technology enabling interference between a robot and a peripheral object to be reliably avoided, while confirming the safety of a generated robot path. A robot control device 3 is provided with: a data transmitting and receiving unit 32 for acquiring a robot path generated in such a way as to avoid interference between a robot 30 and a peripheral object, on the basis of a three-dimensional model of the robot 30 and the peripheral object; an interference determining unit 35 for determining, for each prescribed sector, whether there is a high probability of the robot 30 interfering with the peripheral object when the robot 30 is moved in accordance with the acquired robot path; and an override changing unit 36 for lowering the speed of the robot 30 or stopping the movement of the robot 30 for sectors in which the interference determining unit 35 has determined that the probability of interference is high.

Abstract: A program evaluation device for evaluating an operation program for a robot. The operation program is a program that causes the robot to perform processing of a workpiece using a tool, and the robot has a function of correcting a position of the tool in response to an amount of wear of the tool. The program evaluation device includes an operation verification unit that verifies whether the robot will operate correctly in accordance with the operation program with each of a plurality of amounts of wear within a predetermined range.

Abstract: A form sorting system according to an aspect of the present disclosure includes: at least one memory configured to store instructions; and at least one processor configured to execute the instructions to: recognize forms placed in a stack; and control a robot based on a result of the recognition, the robot controlled to pick up one or more of the forms placed in a stack and to place each one of the one or more of the forms to a conveyor so as not to overlap with another form, wherein the conveyor conveys forms to a sorting mechanism.

Abstract: A robotic system to control multiple robots to perform a task cooperatively is disclosed. A first robot determines to perform a task cooperatively with a second robot, moves independently to a first grasp position to grasp an object associated with the task, receives an indication that the second robot is prepared to perform the task cooperatively, and moves the object independently of the second robot in a leader mode along a trajectory determined by the first robot. The second robot assists the first robot in performing the task cooperatively, at least in part by moving independently to a second grasp position, grasping the object, and cooperating with the first robot to move the object, at least in part by operating in a follower mode of operation to maintain engagement with the object as the first robot moves the object along the trajectory.

Abstract: This disclosure provides systems, methods, and apparatuses, including computer programs encoded on computer storage media, that provide for welding techniques for manufacturing robots, such multipass welding techniques for welding robots. For example, the welding techniques may enable generation of weld instructions based on a welding fill plan. The instructions may be generated based on a bead model or a table that indicates a wire feed speed, a travel speed, or a voltage. As another example, the techniques may enable generation of weld instructions based on the one or more dimensions of a seam. As another example, the techniques may enable generation of a joint model of a cross-section of a seam to be welded. The joint model may be generated based on a combination of a plurality of feature components to generate the joint model of the seam. Other aspects and features are also claimed and described.

Abstract: An air ejection device, configured to eject air; a distance detecting circuit, configured to detect distances between an electronic device comprising the object determining system and at least one location of an object when the air ejection device ejects air to the object; and a determining circuit, configured to determine whether the object is a rigidity type object or a soft type object according to the variations.

Abstract: Systems and methods monitor a workspace for safety purposes using sensors distributed about the workspace. The sensors are registered with respect to each other, and this registration is monitored over time. Occluded space as well as occupied space is identified, and this mapping is frequently updated. Based on the mapping, a constrained motion plan of machinery can be generated to ensure safety.

Abstract: A purpose of the present disclosure is to provide an information processing device and the like that are capable of acquiring an attribute of an object in an operation space of a robot. An information processing device includes an input reception unit configured to receive an input for modifying an operation sequence for a robot; an object information acquisition unit configured to acquire object information indicating information on an object or a virtual object in an operation space of the robot; and an attribute information acquisition unit configured to acquire attribute information relating to the object or the virtual object, based on the input via the input reception unit.

Abstract: A displaceable robot for performing operations using a tool near a high temperature furnace containing molten metal, wherein the robot is displaceable using a vehicle. The robot comprising: a frame having a ground interface for coming into contact with a ground surface while defining a clearance under a portion of the frame for engaging with the vehicle to displace the robot about the furnace when the ground interface is off the ground; an arm mounted to the frame, the arm comprising an end effector which is adapted for mounting the tool; a sensor for collecting at least one of exteroceptive data in a vicinity of the robot and proprioceptive data from the robot; and a controller receiving the collected data from the sensor and controlling a movement of at least the arm based on the collected data.

Abstract: An information processing apparatus includes: a sensor unit that senses environmental information on a predetermined area; a storage unit that stores event information including event feature data on a predetermined event and meta information including space information on the predetermined event associated with the event feature data; and a control unit that retrieves the event information from the storage unit and acquires the space information included in the event information based on a sensing result from the sensor unit.

Abstract: A robot system includes a plurality of self-propelled robots, each including an autonomously travelable carriage and a robotic arm mounted on the carriage, and a single manipulation console that is operated by an operator to allow the operator to manually operate the plurality of self-propelled robots. The plurality of self-propelled robots include a first self-propelled robot that performs a given first work, and a second self-propelled robot that performs a given second work different in kind from the first work.

Abstract: An autonomous working system, an autonomous working method, and a computer readable recording medium are provided. The autonomous working system includes a master working robot and at least one slave working robot, in which the master working robot including a data receiving unit to receive information on space targeted for working, a sensing unit to sense the space targeted for working, a sensing setting unit to set a movement path of the master working robot, a sensing position, and a sensing angle of the sensing unit, and a first position determination unit to determine a position of the master working robot by comparing sensing data obtained through the sensing unit at the sensing position with reference map data, and the at least one slave working robot includes a second position determination unit that determines the position of the at least one slave working robot.

Abstract: An electronic apparatus is provided. The electronic apparatus includes a plurality of microphones, a display, a driver, a sensor configured to sense a distance to an object around the electronic apparatus, and a processor configured to, based on an acoustic signal being received through the plurality of microphones, identify at least one candidate space with respect to a sound source in a space around the electronic apparatus using distance information sensed by the sensor, identify a location of the sound source from which the acoustic signal is output by performing sound source location estimation with respect to the identified candidate space, and control the driver such that the display faces the identified location of the sound source.

Abstract: A pneumatic soft grabbing sensing device includes a support; a flexible grabbing mechanism including at least two flexible claws, wherein the at least two flexible claws are arranged on the support in a circumferential direction, each flexible claw includes a telescopic air bag, an adapter mechanism and a flexible plate connected with the adapter mechanism, the telescopic air bag is hollow and elongated, the telescopic air bag includes a closed end, an open end and an air bag main body connected between the closed end and the open end, the air bag main body includes at least two air bag bodies and a node portion formed between adjacent air bag bodies, and the adapter mechanism is connected to the node portion, the closed end and open end; and a sensing mechanism including at least two sensing parts, the sensing parts being arranged on inner sides of the corresponding flexible plates.

Abstract: A method of detecting a fault in a waste sorting robot is provided. The waste sorting robot has a manipulator moveable within a working area and a suction gripper connected to the manipulator and arranged to selectively grip a waste object in the working area. The method comprises determining a gripping rate of suction gripper operations over a plurality of suction gripper operations in dependence of a signal received from a suction gripper sensor. The method further comprises determining one or more other operational parameters of the suction gripper over a plurality of suction gripper operations. The method also comprises detecting one or more faults with the suction gripper and/or the waste sorting robot based on the determined one or more other operational parameters and the determined gripping rate of suction gripper operations.

Abstract: A pick head system includes a pick head having a tip through which a vacuum-assisted force can be applied to pick up an object at the tip of the pick head. The pick head has an internal lumen that forms a tip opening at the tip of the pick head. A housing of the pick head has an internal shaft in which the pick head is positioned. The system can be actuated to achieve relative movement between the pick head and the housing and transition the pick head between a retracted state that applies the vacuum-assisted force for picking up an object and an extended state that interrupts the vacuum-assisted force to release the object.

Abstract: A robot hand includes a first finger, a third finger disposed to face the first finger, a second finger disposed side by side with the third finger, a first finger connection portion to which the first finger is connected rotatably, a second finger connection portion to which the second finger is connected rotatably and to which the third finger is connected rotatably, a hand base to which the first finger connection portion and the second finger connection portion are connected, and a finger moving portion that moves at least one of the first finger connection portion and the second finger connection portion with respect to the hand base such that a distance between the first finger and the third finger increases or decreases.

Abstract: A robot joint having a dynamic sealing structure includes a power unit housing and an output shaft rotatable relative to the power unit housing. A soft and hard combined composite sealing ring is provided between the power unit housing and the output shaft. A soft first sealing ring is tightly connected with a joint to effectively seal the rotating joint. A hard second sealing ring slides relative to the joint while sealing the joint, thus reducing the obstruction to the movement of the joint. A quadruped robot applies the robot joint having the dynamic sealing structure. The two sealing rings with different hardness butt against each other to form a dynamic sealing structure used for sealing the joint and capable of maintaining the normal movement of the joint, effectively preventing rainwater, dust and the like from entering the joint, thus protecting the joint of the robot.

Abstract: The present disclosure provides an apparatus for delivering a laser beam from a stationary end to a movable end. One exemplary apparatus comprises multiple segments of articulated tubes with mirrors encapsulated inside the tubes for deflecting the laser beams and a self-balancing suspension system to support this beam delivery system to allow at least one of its ends to be movable.

Abstract: An adapter assembly for a robot arm includes: an inner shaft configured to receive a tool supply cable therethrough and configured to attach to the tool supply cable; an outer member disposed annularly around the inner shaft and attached thereto in a telescopic configuration with the inner shaft movable with the tool supply cable between a retracted position and an extended position; and a compression spring configured to bias the inner shaft to the retracted position. A robotic assembly includes: a robotic arm including at least two linkages configured to articulate relative to each other; a tool attached to the robotic arm; a tool supply cable extending along the robotic arm for providing functionality to the tool; and an adapter assembly connected to the robotic arm. The adapter assembly includes a spring bias toward a retracted position, thereby taking-up slack in the tool supply cable.

Abstract: A method for eliminating misjudgment of a reflective light is provided. A light source emits a transverse linear light toward a direction of a floor as detection light and the light sensor senses reflective light signals from an object that reflects the detection light. In the method, a frame image including the reflective light signals is captured by the light sensor, centers of gravity of the reflective light signals are analyzed, and the centers of gravity of the reflective light signals can be corrected based on a line of gravity or a center of gravity of previous reflective light signals stored in a memory of the autonomous robot in order to exclude a center of gravity generated by the reflective light signal from a wall. A distance of the object can be confirmed based on the corrected centers of gravity of reflective light signals.

Abstract: A utility knife is provided, including: a shell; a swingable lever, pivoted to the shell and protrusive outside the shell; a blade carrier, slidably disposed in the shell, including a notch; a linkage mechanism, including a plurality of linkages rotatably connected to one another, two of the plurality of linkages rotatably connected to the shell and the blade carrier, respectively; an elastic recovery mechanism, connected with the blade carrier and the shell; and a safety member, movably disposed on the shell, including a projection; wherein when the projection is located within the notch, the blade carrier is blocked by the projection and non-movable relative to the shell; when the projection is located out of the notch and the linkage mechanism is driven by the swingable lever to push the blade carrier, the blade carrier is movable relative to the shell to project out from the shell.

Abstract: The disclosures herein relate to the design of one or more battery monitoring or maintenance devices in some embodiments including guidance for autonomous vehicles for recharging, service or replacement of batteries or related devices. These devices may include but are not limited to devices that monitor and/or maintain the health of batteries or related devices that monitor and/or maintain the health of assets. The devices include batteries for vehicles, oral cleaning devices, smart-clothing with integrated batteries and sensors and charging pads which may monitor the health or assets being charged. Sensors may be integrated in these devices including but not limited to IMUs, thermocouples or oral cleaning devices, IMUs in clothing like shoes or wrist bands, or timers or charging sensors in magnetic surfaces which may cause one or more objects and/or other magnetic surfaces to float when a desired function is achieved.

Abstract: A shaving apparatus (10) includes a base (12) having a user holding face (14) and an opposing razor holding face (18). The razor holding face (18) defines a cartridge opening (20) operatively adapted to enclose a razor cartridge. The shaving apparatus (10) further includes a user holding formation (14) operatively associated with the base (12) and outwardly extending from the razor holding face (18) of the base (12). The user holding face (16) includes ahead (52) laterally spaced apart from the base (12) wherein the base (12) is operatively adapted to be held by fingers of a user located between the user holding face (16) of the base (12) and the head (52) of the user holding formation (14).

Abstract: A connector for connecting a razor head to a razor handle comprises a body portion and a connector portion. The connector portion extends from the body portion and is configured to be coupled to the razor handle. The connector portion comprises an expanding and/or contracting mechanism.

Abstract: The present invention relates to a cutting element having a substrate with at least one aperture which includes a cutting edge along at least a portion of an inner perimeter of the aperture. The cutting edges have an asymmetric cross-sectional shape with a first face, a second face opposed to the first face and a cutting edge at the intersection of the first face and the second face.

Abstract: The present invention relates to a cutting element having a substrate with at least one aperture which has a cutting edge along at least a portion of an inner perimeter of the aperture. The cutting edges have an asymmetric cross-sectional shape with a first face, a second face opposed to the first face and a cutting edge at the intersection of the first face and the second face. Moreover, the present invention relates to a hair removal device including such cutting elements.

Abstract: The present invention relates to a cutting element having a substrate with at least one aperture which includes a cutting edge along at least a portion of an inner perimeter of the aperture. The cutting edges have an asymmetric cross-sectional shape with a first face, a second face opposed to the first face and a cutting edge at the intersection of the first face and the second face. Moreover, the present invention relates to a hair removal device including such cutting elements.

Abstract: The present invention relates to a skin treatment sheet including a substrate with a plurality of apertures wherein the apertures have a first and second inner perimeter and a cutting edge along at least a portion of the first inner perimeter. The skin treatment sheet has a total cutting length which is the total length of all portions of the first perimeter in each aperture that contain a cutting edge and a total aperture area wherein the ratio of total aperture area to total cutting length is in a predefined range from 0.08 to 2.0 mm. Moreover, the present invention also relates to a skin treatment device including this skin treatment sheet.

Abstract: The present invention relates to a skin treatment sheet comprising a substrate with a plurality of apertures wherein the sheet has a first surface and an opposing second surface. The apertures have a first and second inner perimeter and a cutting edge along at least a portion of the first inner perimeter. The skin treatment sheet has a stability ST which is the ratio of the average cross-sectional substrate area Ax and the total aperture area A1. Moreover, the present invention also relates to a skin treatment device comprising this skin treatment sheet.

Abstract: A portable, non-invasive, multipurpose cutting device requiring minimal manual manipulation. The device has a handle, a bearing, a base, and a blade in various concentric configurations with bearings. The device is moved with a finger to push and pull the device while the device base rotates independently of the device handle. The device makes cutting material precise, easy, and fun. Guides and accessories make the device appealing and interactive.

Abstract: The present disclosure provides for a piercing device for breaking through, cutting, or piercing seals and other packaging, particularly medical packaging. The piercing device may comprise a ring portion. The ring portion may comprise a sleeve or an enclosed fitting. The ring portion may comprise one or more tips and one or more openings. Each tip may comprise one or more extruded edges. The tips may be replaceable or disposable. The tips may comprise an extruded ridge to assist with opening secured containers with lids or other covers. In aspects wherein the piercing device may comprise a plurality of openings, at least one of the openings may interface with a knuckle of a human digit, such as a thumb or index finger, to increase the flexibility of the piercing device. The piercing device may comprise a material that can be sanitized and disinfected.