Multifunction Manipulator (i.e., Robot) Patents (Class 318/568.11)
  • Patent number: 10319244
    Abstract: A method for path planning for a plurality of vehicles in a mission space includes determining, with a processor, information indicative of a first local graph of a first vehicle; receiving, with the processor over a communication link, information indicative of a second local graph from a second vehicle; assembling, with the processor, information indicative of a global graph in response to the receiving of the second local graph; wherein the global graph includes information assembled from the first local graph and the second local graph; and wherein the global graph indicates connectivity of objectives for each vehicle of the plurality of vehicles in the mission space.
    Type: Grant
    Filed: September 14, 2015
    Date of Patent: June 11, 2019
    Assignee: SIKORSKY AIRCRAFT CORPORATION
    Inventors: Harshad S. Sane, George Nicholas Loussides, Igor Cherepinsky, Brendan J. Englot
  • Patent number: 10307911
    Abstract: A spherical shaped robot with a drive mechanism and a weight drive mechanism is provided. If a distance from the robot to an object is less than a predetermined value, the robot executes a pivot turn mode. In the pivot turn mode, the robot controls the drive mechanism to stop linear movements of the robot, controls the weight drive mechanism to tilt the weight to a first side representing one of the right hand side and left hand side of the robot, controls the drive mechanism to cause a forward movement of the robot with the weight tilted to the first side, controls the drive mechanism to stop the forward movement of the robot, controls the weight drive mechanism to tilt the weight to a second side different from the first side, and controls the drive mechanism to cause a backward movement of the robot with the weight tilted to the second side.
    Type: Grant
    Filed: August 1, 2018
    Date of Patent: June 4, 2019
    Assignee: PANASONIC INTTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventor: Seiya Higuchi
  • Patent number: 10307271
    Abstract: A human assistance device has a rate gyro, first accelerometer, and second accelerometer disposed on a mobile body for sensing a physical state of the mobile body to provide a physical state measurement. The human assistance device can be a prosthetic, orthotic, and robotic device. An ATAN2 function is performed on an output of the first accelerometer and an output of the second accelerometer. An output of the rate gyro and an output of the ATAN2 function is filtered to provide a filtered physical state measurement. The filtered physical state measurement is applied to a reference function to generate a reference command to control a non-gait motion of an actuator in the human assistance device. The reference command controls the human assistance device, for example to provide a shifting foot position while seated, with a natural, biological motion, without an artificial or mechanical appearance.
    Type: Grant
    Filed: November 2, 2016
    Date of Patent: June 4, 2019
    Assignee: Ă–ssur Iceland ehf
    Inventors: Matthew A. Holgate, Chase Wheeler
  • Patent number: 10300613
    Abstract: A shock-absorbing device for a humanoid robot, comprises a rigid structure linked to the humanoid robot, a deformable outer shell, and a shock-absorber; the shock-absorber consisting of a flexible cellular structure comprising a set of cells emerging in a main direction, and being secured to the rigid structure at a first end in the main direction, and linked to the deformable outer shell at a second end opposite the first in the main direction. Advantageously, the outer shell is also linked directly to the rigid structure by means of at least one absorbent fixing of silent block type. The invention relates also to a humanoid robot, and in particular the head of a humanoid robot, comprising such a shock-absorbing device.
    Type: Grant
    Filed: May 7, 2015
    Date of Patent: May 28, 2019
    Inventors: Vincent Clerc, Ludovic Tessier, Fabien Mugnier
  • Patent number: 10299883
    Abstract: A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.
    Type: Grant
    Filed: October 9, 2014
    Date of Patent: May 28, 2019
    Assignee: SRI INTERNATIONAL
    Inventors: Pablo Eduardo Garcia Kilroy, Thomas D. Egan, Karen Shakespear Koenig
  • Patent number: 10286548
    Abstract: A robot control system includes: plural robots that are disposed in a region; a generating unit that divides the region into plural small regions and generates disposition position information for specifying disposition positions of each of the plural robots in the region based on a value indicating a use possibility of a robot in each small regions; and a disposition unit that disposes the plural robots in the region in accordance with the disposition position information generated by the generating unit.
    Type: Grant
    Filed: November 9, 2016
    Date of Patent: May 14, 2019
    Assignee: FUJI XEROX CO., LTD.
    Inventors: Kazunari Komatsuzaki, Roshan Thapliya
  • Patent number: 10289100
    Abstract: The trajectory planning system for integrating a computer numerical control (CNC) machine, trajectory planning device, trajectory planning method, and computer program thereof are provided. The aforementioned trajectory planning device includes a determining module. The determining module configures the related processing speed or processing acceleration based on type of the processing segment so as to provide a processing setting. Furthermore, the aforementioned trajectory planning device determines the processing segment whether the linear or circular segment and plans the tangent or normal acceleration of related processing segment so as to optimize the processing setting and finish the high order processing trajectory planning.
    Type: Grant
    Filed: June 25, 2015
    Date of Patent: May 14, 2019
    Assignee: NATIONAL TAIWAN UNIVERSITY
    Inventors: Ren-C Luo, Yi-Wen Peng
  • Patent number: 10271836
    Abstract: An endoscopic stitching device includes an actuation shaft, a tool assembly, and a drive assembly. The tool assembly includes a suture needle and a pair of jaws transitionable between open and closed positions. Each jaw includes a needle engaging blade slidably supported thereon. Each needle engaging blade is transitionable between an extended position in which the needle engaging blade engages the suture needle and a retracted position in which the needle engaging blade is disengaged from the suture needle. The drive assembly includes first, second, and third electrical actuators. The first actuator is operatively coupled with the actuation shaft to cause axial displacement of the actuation shaft. The axial displacement of the actuation shaft causes opening and closing of the pair of jaws. The second and third actuators are operatively coupled with the needle engaging blades to provide axial displacement of the needle engaging blades.
    Type: Grant
    Filed: November 17, 2016
    Date of Patent: April 30, 2019
    Assignee: Covidien LP
    Inventors: Stanislaw Marczyk, Russell Pribanic, Anthony Calderoni, Christopher Switalski
  • Patent number: 10273986
    Abstract: An actuation pressure to actuate one or more hydraulic actuators may be determined based on a load on the one or more hydraulic actuators of a robotic device. Based on the determined actuation pressure, a pressure rail from among a set of pressure rails at respective pressures may be selected. One or more valves may connect the selected pressure rail to a metering valve. The hydraulic drive system may operate in a discrete mode in which the metering valve opens such that hydraulic fluid flows from the selected pressure rail through the metering valve to the one or more hydraulic actuators at approximately the supply pressure. Responsive to a control state of the robotic device, the hydraulic drive system may operate in a continuous mode in which the metering valve throttles the hydraulic fluid such that the supply pressure is reduced to the determined actuation pressure.
    Type: Grant
    Filed: March 21, 2017
    Date of Patent: April 30, 2019
    Assignee: Boston Dynamics, Inc.
    Inventors: Michael Murphy, John Aaron Saunders, Steven D. Potter
  • Patent number: 10269606
    Abstract: Providing a first movement including rotating a first arm about a rotational axis of a robot drive; rotating a second arm on the first arm, where the first and second arms form a robot arm, where the first and second arms are the only arms of the robot arm, where the robot arm has an end effector rotationally fixed to the second arm, and where the end effector is configured to support a substrate thereon for transporting the substrate by the robot arm; and controlling the rotating to provide a path of the end effector such that the end effector does not contact the substrate during the rotating. Providing a second movement including rotating the arms to provide an at least partially straight linear path of a center of the substrate relative to the rotational axis of the drive robot when the substrate is on the end effector.
    Type: Grant
    Filed: May 4, 2015
    Date of Patent: April 23, 2019
    Assignee: Persimmon Technologies Corporation
    Inventor: Martin Hosek
  • Patent number: 10234564
    Abstract: Disclosed is a device and method for determining the direction of a false Global Navigation Satellite System (GNSS) satellite signal transmitter. False GNSS satellite signals can be used malevolently to take control of a rigid body such as a vehicle or ship that is using GNSS satellite signals for navigation. The GNSS device according to the invention computes a plurality of range differences, where each range difference is the difference between a range from a first GNSS satellite to a first GNSS antenna, and the range from the first GNSs satellite to a second GNSS antenna. Each of the plurality of range differences is correlated to a rotation angle of a baseline vector extending from the first GNSS antenna to the second GNSS antenna. The rotation angles and their corresponding range differences can be used to indicate the direction of the false GNSS satellite signal transmitter.
    Type: Grant
    Filed: March 12, 2015
    Date of Patent: March 19, 2019
    Assignee: Hemisphere GNSS Inc.
    Inventor: Michael Whitehead
  • Patent number: 10226870
    Abstract: An example method may include determining a requested yaw for a body of a robot, where the biped robot comprises a foot coupled to the body via a leg. The robot may then detect, via one or more sensors, a yaw rotation of the body with respect to a ground surface, where the foot is in contact with the ground surface. Based on the detected yaw rotation of the body, the robot may determine a measured yaw for the body. The robot may also determine a target yaw for the body, where the target yaw for the body is between the measured yaw for the body and the requested yaw for the body. The robot may then cause the foot to rotate the body to the target yaw for the body.
    Type: Grant
    Filed: March 6, 2017
    Date of Patent: March 12, 2019
    Assignee: Boston Dynamics, Inc.
    Inventors: Marco Da Silva, Kevin Blankespoor, Michael Scott Rose
  • Patent number: 10213264
    Abstract: This disclosure covers various concepts to use for obtaining measurement of tension in catheter pullwires to improve controllability of a robotic surgical system.
    Type: Grant
    Filed: November 21, 2016
    Date of Patent: February 26, 2019
    Assignee: Auris Health, Inc.
    Inventors: Neal A. Tanner, Matthew J. Roelle, Gregory J. Stahler, Robert G. Younge, Travis Covington
  • Patent number: 10213916
    Abstract: A control apparatus is a control apparatus that controls a first manipulator including a detection acquisition unit that acquires information from a first detection unit detecting that at least one of a living organism and an object is located within a first range, a velocity acquisition unit that acquires a velocity of a second manipulator different from the first manipulator, and a control unit that controls a velocity of the first manipulator to be equal to or less than a first velocity, wherein the control unit controls the velocity of the first manipulator so that a relative velocity between the first manipulator and the second manipulator may be equal to or less than a second velocity when the detection acquisition unit acquires the information.
    Type: Grant
    Filed: March 20, 2017
    Date of Patent: February 26, 2019
    Assignee: Seiko Epson Corporation
    Inventor: Daisuke Sato
  • Patent number: 10188472
    Abstract: In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.
    Type: Grant
    Filed: April 8, 2016
    Date of Patent: January 29, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Nicola Diolaiti, David Q. Larkin, Catherine J. Mohr
  • Patent number: 10179407
    Abstract: An adaptive learning interface system for end-users for controlling one or more machines or robots to perform a given task, combining identification of gaze patterns, EEG channel's signal patterns, voice commands and/or touch commands. The output streams of these sensors are analyzed by the processing unit in order to detect one or more patterns that are translated into one or more commands to the robot, to the processing unit or to other devices. A pattern learning mechanism is implemented by keeping immediate history of outputs collected from those sensors, analyzing their individual behavior and analyzing time correlation between patterns recognized from each of the sensors. Prediction of patterns or combination of patterns is enabled by analyzing partial history of sensors' outputs.
    Type: Grant
    Filed: November 16, 2015
    Date of Patent: January 15, 2019
    Assignee: ROBOLOGICS LTD.
    Inventor: Carlos Benaim
  • Patent number: 10173325
    Abstract: A robot includes a force detector, and a drive part that changes a position relationship between a marker and an imaging part. In the case with calibration processing of specifying a coordinate relationship as a correspondence relationship between a reference coordinate system with reference to a position of the marker and a robot coordinate system as reference of control of the drive part based on images of the marker captured by the imaging part in a plurality of the position relationships, the drive part is controlled to have anisotropy based on the coordinate relationship and a detection value of the force detector.
    Type: Grant
    Filed: March 10, 2016
    Date of Patent: January 8, 2019
    Assignee: Seiko Epson Corporation
    Inventors: Masaki Motoyoshi, Norio Yokoshima
  • Patent number: 10168690
    Abstract: Multirobotic management can involve communications between a command or leader robot and one or more client or follower robots through a cloud computing system. In an example implementation, a leader robot can receive first sensory data captured by a first follower robot and second sensory data captured by a second follower robot, determine a command function based on at least one of the first sensory data and the second sensory data, and communicate with at least one of the first follower robot and the second follower robot based on the command function.
    Type: Grant
    Filed: October 28, 2016
    Date of Patent: January 1, 2019
    Assignee: X Development LLC
    Inventors: Ryan Hickman, Chaitanya Gharpure
  • Patent number: 10166675
    Abstract: Apparatus and methods for a modular robotic device with artificial intelligence that is receptive to training controls. In one implementation, modular robotic device architecture may be used to provide all or most high cost components in an autonomy module that is separate from the robotic body. The autonomy module may comprise controller, power, actuators that may be connected to controllable elements of the robotic body. The controller may position limbs of the toy in a target position. A user may utilize haptic training approach in order to enable the robotic toy to perform target action(s). Modular configuration of the disclosure enables users to replace one toy body (e.g., the bear) with another (e.g., a giraffe) while using hardware provided by the autonomy module. Modular architecture may enable users to purchase a single AM for use with multiple robotic bodies, thereby reducing the overall cost of ownership.
    Type: Grant
    Filed: November 19, 2015
    Date of Patent: January 1, 2019
    Assignee: Brain Corporation
    Inventors: Eugene Izhikevich, Dimitry Fisher, Jean-Baptiste Passot, Heathcliff Hatcher, Vadim Polonichko
  • Patent number: 10126755
    Abstract: A system, apparatus and method for wireless communication in an ecosystem of wireless devices interconnected for assisting a vehicle, or a vehicle and trailer in maneuvers which includes at least one radio frequency (RF) system configured to operate as part of a vehicle system, a trailer system or combination thereof, or as an independent unit with wireless connectivity to the vehicle and/or trailer system or other independent unit to form the ecosystem of wireless devices interconnected. The RF system includes a transceiver for the wireless connectivity with extended range ultra-wide band capabilities wherein each RF system includes: at least one vehicle RF system, at least one trailer RF system and at least one independent RF unit system.
    Type: Grant
    Filed: July 20, 2017
    Date of Patent: November 13, 2018
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Nadav Lavi, Kobi J. Scheim, Daniel T. Cohen, Andrew R. Camden, Anil Bika, Yohay Buchbut, Nadav Levkovich
  • Patent number: 10126757
    Abstract: A vehicle comprises a body, a first leg, and a second leg. The first leg has a proximal end jointed to the body, a distal end, and a first foot located on the distal end. A first maximum working envelope is associated with the first foot, where the first working range is inscribed within a first maximum working envelope. Likewise, the second leg has a proximal end jointed to the body in-line with the first leg, a distal end, and a second foot located on the distal end. A second maximum working envelope is associated with the second foot, where the second working range is inscribed within a second maximum working envelope. The vehicle thus defines a single-track multi-legged vehicle where the first leg and the second leg are attached to the body one behind the other, substantially parallel to a major axis of motion of the vehicle.
    Type: Grant
    Filed: October 31, 2016
    Date of Patent: November 13, 2018
    Inventor: John R. Goulding
  • Patent number: 10112304
    Abstract: According to a robot programming apparatus, a position and a posture of a tool is determined based on a machining path formed by projecting an operation pattern onto a workpiece model. The robot programming apparatus includes a determination unit configured to determine whether or not a workpiece and the tool interfere with each other at any point, except for a machining point of the tool, and a position and posture correction unit configured to correct at least one of the position and the posture of the tool so that the workpiece and the tool do not interfere with each other at any point, except for the machining point of the tool.
    Type: Grant
    Filed: November 21, 2015
    Date of Patent: October 30, 2018
    Assignee: FANUC CORPORATION
    Inventor: Yoshiharu Nagatsuka
  • Patent number: 10112300
    Abstract: Described herein is a method of deploying sensors by a robot in a geographical region. The robot receives a first instruction including information corresponding to the geographical region and a second instruction indicating one of a first manner and a second manner of deploying sensors. The robot computes a path to traverse the region in a plurality of steps, each step of the plurality of steps having a predetermined magnitude. The robot traverses until a stopping condition is satisfied. The robot deploys sensors at each traversed step size and further receives from each deployed sensor, information indicating absence of sensors in a neighboring area of the deployed sensor. Additionally, the robot repeats the traversing and deploying of sensors in the neighboring area to provide full coverage.
    Type: Grant
    Filed: March 10, 2016
    Date of Patent: October 30, 2018
    Assignee: King Faud University of Petroleum and Minerals
    Inventors: Uthman Baroudi, Md. Enamul Haque, Mohammed Azharuddin
  • Patent number: 10105840
    Abstract: A robot system enabling a single teaching console to be used to easily teach a plurality of robots. The robot system includes a plurality of robot controllers connected through a network and a single teaching console. The teaching console is configured to be able to selectively communicate with any one of the robot controllers. The robot controller is configured so as to send a connect request to the teaching console when it is judged that the state of the robot has been switched to the teaching phase or maintenance phase. The teaching console is configured to respond to a connect request from the robot controller and switch destinations to enable communication with the robot controller.
    Type: Grant
    Filed: October 11, 2016
    Date of Patent: October 23, 2018
    Assignee: FANUC CORPORATION
    Inventor: Gou Inaba
  • Patent number: 10105589
    Abstract: The present invention discloses a system and accompanying method for directing the movement of an object on an interactive surface through a defined path. The system includes an object embedded with a unique identification code (UID), a movement module, and a distinct pattern of capacitive tabs near the surface of the object that makes contact with the interactive surface, an interactive surface configured to recognize the UID, location and orientation information of an object placed on the interactive surface, and a processor operatively linked to the interactive surface and configured to direct, track and correct the movement of the object along a defined path on the interactive surface by tracking the UID, location and orientation of the object continuously and throughout the movement.
    Type: Grant
    Filed: August 19, 2016
    Date of Patent: October 23, 2018
    Inventors: Zheng Shi, Richard Dickinson
  • Patent number: 10081106
    Abstract: Systems and methods are provided for specifying safety rules for robotic devices. A computing device can determine information about any actors present within a predetermined area of an environment. The computing device can determine a safety classification for the predetermined area based on the information. The safety classification can include: a low safety classification if the information indicates zero actors are present within the predetermined area, a medium safety classification if the information indicates any actors are present within the predetermined area all are of a predetermined first type, and a high safety classification if the information indicates at least one actor present within the predetermined area is of a predetermined second type. After determining the safety classification for the predetermined area, the computing device can provide a safety rule for operating within the predetermined area to a robotic device operating in the environment.
    Type: Grant
    Filed: November 24, 2015
    Date of Patent: September 25, 2018
    Assignee: X DEVELOPMENT LLC
    Inventors: Ethan Rublee, John Zevenbergen
  • Patent number: 10078327
    Abstract: The purpose is to perform a teaching work of a dual-arm robot instinctively and easily. A dual-arm robot including two arms made of a plurality of links coupled to each other with joint shafts, and two instructing parts provided to tip ends of the two arms, respectively, and configured to indicate coordinate points in space and to be grippable by a teacher, and a control device configured to acquire the coordinate points indicated by the teacher moving the two instructing parts directly and simultaneously with both hands as teaching points, and teach the dual-arm robot operation corresponding to the acquired teaching points.
    Type: Grant
    Filed: December 25, 2015
    Date of Patent: September 18, 2018
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yuuki Takayama, Masayuki Kamon
  • Patent number: 10070849
    Abstract: A surgical apparatus for guiding the movement of a surgical tool in relation to the surrounding anatomy of a patient includes a surgical tool having an articulation member. The apparatus also has an image capturing device, a monitor, a control member, and at least one marker on the surgical tool for determining an orientation and attitude of the surgical tool in relation to the visual image on the monitor. The image capturing device takes visual images of the articulating member. The monitor displays the visual images taken by the image capturing device. The control member operates and guides movement of the articulating member. The marker can be colors, symbols, letters, number, or in any combination thereof. An endoscope and a display may also be included.
    Type: Grant
    Filed: January 27, 2010
    Date of Patent: September 11, 2018
    Assignee: Covidien LP
    Inventor: Stanislaw Marczyk
  • Patent number: 10064682
    Abstract: A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.
    Type: Grant
    Filed: September 23, 2015
    Date of Patent: September 4, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Mahdi Azizian, Jonathan Sorger, Lutz Blohm, Christine Niebler, Holger Kunze
  • Patent number: 10065307
    Abstract: A substrate transport apparatus having a frame, a drive section and an articulated arm. The drive section has at least one motor module that is selectable for placement in the drive section from a number of different interchangeable motor modules. Each having a different predetermined characteristic. The articulated arm has articulated joints. The arm is connected to the drive section for articulation. The arm has a selectable configuration selectable from a number of different arm configurations each having a predetermined configuration characteristic. The selection of the arm configuration is effected by selection of the at least one motor module for placement in the drive section.
    Type: Grant
    Filed: November 4, 2013
    Date of Patent: September 4, 2018
    Assignee: Brooks Automation Inc.
    Inventors: Ulysses Gilchrist, Christopher Hofmeister
  • Patent number: 10065322
    Abstract: A microarchitectured material having a plurality of interconnected unit cells in 2D or 3D configurations. The permanent interconnections to adjacent unit cells include mechanical output structures driven by mechanical actuators. One or more sensors are preferably utilized, such as utilizing a sensing mode of the actuator, for detecting forces and or displacements applied to the unit cell. The unit cells are each controlled by a control circuit for generating drive signals to the actuators in the unit cell so that desired mechanical properties and/or shapes are exhibited by the microarchitectured material.
    Type: Grant
    Filed: December 14, 2016
    Date of Patent: September 4, 2018
    Assignee: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
    Inventors: Jonathan Hopkins, Yuanping Song
  • Patent number: 10065313
    Abstract: Robotic manipulator arm has an end portion to which one or more end effector appliances can be operably mounted for performing one or more manipulator arm operations. A control system has access to a plurality of different end effector appliance parameter sets which are respectively associated with the plurality of different end effector appliances. A user interface facilitates identification to the control system of one or more of the different end effector appliances which are installed on the manipulator arm. The control system is responsive to the identification to modify a control algorithm.
    Type: Grant
    Filed: December 7, 2016
    Date of Patent: September 4, 2018
    Assignee: Harris Corporation
    Inventors: Paul M. Bosscher, Matthew D. Summer
  • Patent number: 10065320
    Abstract: There is provided an image processing apparatus, which are capable of controlling a motion of a robot with high accuracy without coding a complex robot motion control program point by point. First coordinate values being each of position coordinates of movement destinations of an end effector of a robot are acquired. Second coordinate values being position coordinates of a target are detected based on an image of the target captured at each of the movement destinations. Selections of a plurality of operations which a robot controller is made to execute are accepted out of a plurality of operations including at least an operation of moving the end effector to the first coordinate values or an operation of moving the end effector to the second coordinate values, to accept a setting of an execution sequence of the plurality of operations the selections of which have been accepted.
    Type: Grant
    Filed: December 2, 2015
    Date of Patent: September 4, 2018
    Assignee: Keyence Corporation
    Inventor: Naoya Uchiyama
  • Patent number: 10062008
    Abstract: A method for classifying an object in image data to one out of a set of classes using a classifier, said image data comprising an image of the object, each class indicating a property common to a group of objects, the method comprising the steps of obtaining said classifier used to estimate for an input feature vector a probability for each of the set of classes, one probability indicating whether the input feature vector belongs to one class; extracting a feature vector from said image data; using the obtained classifier to estimate the probabilities for the extracted feature vector; and evaluating the estimated probabilities for determining whether the object does not belong to any one of the set of classes based using a quality indicator.
    Type: Grant
    Filed: June 13, 2013
    Date of Patent: August 28, 2018
    Assignee: SICPA HOLDING SA
    Inventors: Guillaume Heusch, Nicolas Pican
  • Patent number: 10058995
    Abstract: Methods and apparatus related to receiving a request that includes robot instructions and/or environmental parameters, operating each of a plurality of robots based on the robot instructions and/or in an environment configured based on the environmental parameters, and storing data generated by the robots during the operating. In some implementations, at least part of the stored data that is generated by the robots is provided in response to the request and/or additional data that is generated based on the stored data is provided in response to the request.
    Type: Grant
    Filed: July 8, 2016
    Date of Patent: August 28, 2018
    Assignee: X DEVELOPMENT LLC
    Inventors: Peter Pastor Sampedro, Mrinal Kalakrishnan, Ali Yahya Valdovinos, Adrian Li, Kurt Konolige, Vincent Dureau
  • Patent number: 10052761
    Abstract: A surgical system which may be configured to be a minimally invasive and/or computer assisted surgical system. Operation of the system may be controlled by transmission of a force from a first section to a second section of the system. The first section and the second section may be separated by a partition or a barrier. The first section may be a non-sterile section and the second section may be a sterile section of the surgical system.
    Type: Grant
    Filed: July 15, 2016
    Date of Patent: August 21, 2018
    Assignee: DEKA Products Limited Partnership
    Inventors: Christopher C. Langenfeld, Michael J. Slate, Prashant Bhat, Dirk A. van der Merwe, David D. B. Cannan, Keith D. Violette
  • Patent number: 10045776
    Abstract: A modular surgical instrument and method for using the same. The method can comprise attaching a surgical instrument attachment to a surgical instrument handle to form a surgical instrument, and powering a master processor in the surgical instrument attachment. The method can also comprise identifying a slave processor in the surgical instrument handle, wherein the slave processor is configured to control a motor in the surgical instrument handle, and affecting operation of the motor based on at least one command from the master processor.
    Type: Grant
    Filed: March 6, 2015
    Date of Patent: August 14, 2018
    Assignee: ETHICON LLC
    Inventors: Frederick E. Shelton, IV, Jason L. Harris, Andrew T. Beckman
  • Patent number: 10040196
    Abstract: A system comprising a robotic arm and a robotic arm controller. The robotic arm receives instructions from the robotic arm controller and moves along a path. The robotic arm controller comprises an interface, a memory, and a processor. The interface communicates with the robotic arm. The memory stores a first path and a second path. The processor applies a decreasing weight to the waypoints of the first path and an increasing weight to the waypoints of the second path. The processor combines the weighted waypoints of the first path and the second path to generate a third path wherein the third path defines a transition path from the first path to the second path. The processor further instructs the robotic arm to transition from the first path to the second path by traversing the third path.
    Type: Grant
    Filed: July 7, 2016
    Date of Patent: August 7, 2018
    Assignee: Technologies Holding Corp.
    Inventor: Peter M. Linlor
  • Patent number: 10035270
    Abstract: A robot includes a body and a bumper. The body is movable relative to a surface and includes a first portion of a sensor. The bumper is mounted on the body and movable relative to the body and includes a backing and a second portion of the sensor. The backing is movable relative to the body in response to a force applied to the bumper. The second portion of the sensor is attached to the backing and movable with the backing relative to the first portion of the sensor in response to a force applied to the bumper. The sensor is configured to output an electrical signal in response to a movement of the backing. The electrical signal is proportional to an amount of displacement of the second portion relative to the first portion.
    Type: Grant
    Filed: November 11, 2016
    Date of Patent: July 31, 2018
    Assignee: iRobot Corporation
    Inventors: Victor Fay, Seth Blitzblau, Samuel Duffley, Kyle Dumont, Justin H. Woodman
  • Patent number: 10029654
    Abstract: A cleaning apparatus is actuated to move At least one object from a vehicle floor to a container. A vehicle seat is sprayed with a cleaning fluid from a nozzle.
    Type: Grant
    Filed: April 13, 2016
    Date of Patent: July 24, 2018
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventors: Sarra Awad Yako, Daniel Denomme, Sandro Nuesch, Samuel Hooson
  • Patent number: 10028714
    Abstract: In a method to control movements of a medical apparatus via a control device with a touch-sensitive display, an apparatus component of the medical apparatus is selected and; and move the selected apparatus component is moved according to commands made at the touch-sensitive display. A safety loop must be closed in order to activate the movement of the apparatus component. A control device to control a medical apparatus, and a medical apparatus having at least one apparatus component, operate according to this method.
    Type: Grant
    Filed: September 24, 2014
    Date of Patent: July 24, 2018
    Assignee: Siemens Aktiengesellschaft
    Inventors: Franziska Dinse, Bjoern Michelsen, Juliane Ritter
  • Patent number: 10030803
    Abstract: Provided herein is a robot for inspection of a pipeline using a multi-output differential module, the robot including a robot body configured to move along an inside of the pipeline, and having a driving power supply unit; a proceeding unit rotatably-connected to the robot body, and provided with a plurality of active proceeding units having proceeding wheels that proceed along an inner wall of the pipeline; and a power transmission unit supported against the robot body, connected to the driving power supply unit to transmit driving power to the active proceeding unit, and having the multi-output differential module that distributes the transmitted driving power to the active proceeding unit.
    Type: Grant
    Filed: February 1, 2016
    Date of Patent: July 24, 2018
    Assignee: Research & Business Foundation Sungkyunkwan University
    Inventors: Hyouk Ryeol Choi, Homoon Kim, Hyeong Min Moon, Chanmin Park, Seung Ung Yang, Yun Seok Choi
  • Patent number: 10011028
    Abstract: An articulating assembly of a robotic system has an extruded connector arm including a longitudinally-extending body portion and a connection portion. The body portion has an axial base member, a perimeter wall, and a plurality of webs extending radially from the base member to the perimeter wall. The robotic system may also have an actuatable joint secured to the connection portion of the connector arm. The connector arm may be cut-to-size and replaceable, thereby forming a modular component for the robotic system.
    Type: Grant
    Filed: June 17, 2016
    Date of Patent: July 3, 2018
    Assignee: SCHAEFFLER TECHNOLOGIES AG & CO. KG
    Inventors: Joseph Johnson, Craig Hooker
  • Patent number: 9995050
    Abstract: A robotic pool cleaner includes a housing with an interior chamber. A filter within the interior chamber filters water drawn through a water inlet provided in a bottom portion of the housing. Filtered water is discharged through a discharge port provided in a upper portion of the housing. Rotatably-mounted supports attached to the housing support and guide the cleaner on the pool surface. An electric motor mounted in the chamber is configured to move the cleaner on a pool surface. A pool cleaner controller electrically connected to the electric motor controls movement of the cleaner and receives communication signals transmitted by a remote power supply over a two-wire electric cable having first and second conductors. The pool cleaner controller is configured to provide uninterrupted electric power to the electric motor while the pool cleaner controller also receives pulsed communication signal from the remote power supply over the two-wire cable.
    Type: Grant
    Filed: March 24, 2016
    Date of Patent: June 12, 2018
    Assignee: Aqua Products, Inc.
    Inventors: Kameshwar Durvasula, Mark Sphilman
  • Patent number: 9981381
    Abstract: Methods, apparatus, systems, and computer readable media are provided for generating phase synchronized trajectories for actuators of a robot to enable the actuators of the robot to transition from a current motion state to a target motion state. Phase synchronized trajectories produce motion of a reference point of the robot in a one-dimensional straight line in a multi-dimensional space. For example, phase synchronized trajectories of a plurality of actuators that control the movement of an end effector may cause a reference point of the end effector to move in a straight line in Cartesian space. In some implementations, phase synchronized trajectories may be generated and utilized even when those phase synchronized trajectories are less time-optimal than one or more other non-phase synchronized trajectories.
    Type: Grant
    Filed: June 8, 2016
    Date of Patent: May 29, 2018
    Assignee: X DEVELOPMENT LLC
    Inventor: Umashankar Nagarajan
  • Patent number: 9981386
    Abstract: A manipulator-device controlling method including: a step of receiving manipulation signals for manipulators; a step of calculating a target position of a joint on the basis of the manipulation signals; steps of calculating a maximum distance between the manipulators when the joint is assumed to be placed at the target position; a step of comparing the maximum distance with a predetermined threshold; a step of moving the joint to the target position in the case in which the maximum distance is equal to or less than the predetermined threshold; and a step of stopping the movement of the joint in the case in which the maximum distance is greater than the predetermined threshold.
    Type: Grant
    Filed: August 5, 2016
    Date of Patent: May 29, 2018
    Assignee: OLYMPUS CORPORATION
    Inventors: Takahiro Komuro, Masatoshi Iida
  • Patent number: 9974422
    Abstract: A robot cleaner having a monitoring function and minimizing power consumption and/or securing communication efficiency and a method of controlling a robot cleaner are provided. The robot cleaner may include at least one sound obtaining device; at least one image obtaining device; and a controller configured to determine whether a sound obtained through the at least one sound obtaining device is abnormal, sense a direction in which an abnormal sound is generated, and obtain images in the direction in which the abnormal sound is generated. The robot cleaner may automatically recognize a surrounding situation, and when necessary, the robot cleaner may rotate and/or move in a corresponding direction and/or position to obtain images or transmit the obtained images to a remote terminal, thereby minimizing power consumption of the robot cleaner with limited power.
    Type: Grant
    Filed: August 22, 2014
    Date of Patent: May 22, 2018
    Assignee: LG ELECTRONICS INC.
    Inventors: Haesoo Lee, Seunghoe Choe, Kangyoul Lee, Weonho Bae, Minjung Kang
  • Patent number: 9970209
    Abstract: A robotic pool cleaner includes a housing with an interior chamber. A filter within the interior chamber filters water drawn through a water inlet provided in a bottom portion of the housing. Filtered water is discharged through a discharge port provided in a upper portion of the housing. Rotatably-mounted supports attached to the housing support and guide the cleaner on the pool surface. An electric motor mounted in the chamber is configured to move the cleaner on a pool surface. A pool cleaner controller electrically connected to the electric motor controls movement of the cleaner and receives communication signals transmitted by a remote power supply over a two-wire electric cable having first and second conductors. The pool cleaner controller is configured to provide uninterrupted electric power to the electric motor while the pool cleaner controller also receives pulsed communication signal from the remote power supply over the two-wire cable.
    Type: Grant
    Filed: March 24, 2016
    Date of Patent: May 15, 2018
    Assignee: Aqua Products, Inc.
    Inventors: Kameshwar Durvasula, Mark Sphilman
  • Patent number: 9962836
    Abstract: A detection device and a detection method are provided for robot-induced loads that can act upon the human body in contact with the robot during a working process. The robot-induced loads, in particular forces, are measured by the measuring device (16) of an external sensing device (2). The measuring device (16) is suitably positioned and oriented in this process in the working area of an industrial robot (3) by means of a positioning device (15).
    Type: Grant
    Filed: November 6, 2014
    Date of Patent: May 8, 2018
    Assignee: KUKA SYSTEMS GMBH
    Inventors: Richard Zunke, Andreas Domke, Konrad Wirth, Thomas Rau, Julian Stockschläder
  • Patent number: 9962839
    Abstract: A robot apparatus includes an output unit that displays an image including an object on a screen, an input unit that receives an operation performed by a user for specifying information relating to an approximate range including the object in the image, an object extraction unit that extracts information regarding a two-dimensional contour of the object on the basis of the specification received by the input unit, and a position and attitude estimation unit that estimates information regarding a three-dimensional position and attitude of the object on the basis of the information regarding the two-dimensional contour.
    Type: Grant
    Filed: November 23, 2016
    Date of Patent: May 8, 2018
    Assignee: Sony Corporations
    Inventors: Genta Kondo, Atsushi Miyamoto, Satoru Shimizu