Abstract: A control system and method for ensuring proper closure of a dual swing gate. The control system employs position sensors for monitoring the position of each gate arm. A “differential position” is maintained between the arms during closing to ensure proper sequencing. The control system regulates the speed of the master arm and the slave arm to ensure that the differential position is maintained throughout the closure process.

Abstract: The present invention relates to a manipulator arm and drive system that can be operated in multiple modes, including an on or off mode, referred to herein as a “rate mode” or a spatially correspondent (“SC”) mode. The multi-mode manipulator arm and drive system of the present invention can be hydraulically operated subsea.

Abstract: A piezoelectric debris sensor and associated signal processor responsive to debris strikes enable an autonomous or non-autonomous cleaning device to detect the presence of debris and in response, to select a behavioral mode, operational condition or pattern of movement, such as spot coverage or the like. Multiple sensor channels (e.g., left and right) can be used to enable the detection or generation of differential left/right debris signals and thereby enable an autonomous device to steer in the direction of debris.

Abstract: A method, apparatus, and carrier medium carrying computer readable code. The apparatus includes a mobile robot arranged in operation to traverse an area, a first transceiver for a wireless network mounted on the robot and arranged in operation to communicate with a second transceiver to effect radio measurement operations for determining at each of a plurality of locations covering the area a measure indicative of the path loss between the first and second transceivers, and a location determining system at least a component of which is mounted on the robot and arranged in operation to determine the location of the first transceiver in the area.

Abstract: A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.

Abstract: A two degree-of-freedom positioning and manipulating apparatus is provided. The apparatus includes a first driven member rotatable about a first driven axis, a first driver member coupled to a first driven member for rotating the first driven member about the first driven axis, and a link member fixedly connected to the first driven member. The apparatus further includes a second driven member rotatably mounted to the link member for rotating about a second driven axis, with the second driven axis generally parallel to the first driven axis, and a second driver member coupled at a drive point to the second driven member for rotating the second driven member about the second driven axis. The drive point is generally coincident with the first driven axis.

Abstract: An industrial robot system including a plurality of industrial robots. Each robot includes a manipulator, a control unit for automatically operating the manipulator, and a movable key device configured to store information about the identity of the robot to which the moveable key device belongs. A portable operating unit is configured to teach and program the robots. The portable operating unit is adapted for wireless communication with each control unit. The portable operating unit includes a member for receiving one of the moveable key devices, a reader for reading a robot identity from the received moveable device, and a communication establisher for establishing wireless communication between the operating unit and the control unit of the identified robot upon reading the robot identity from the moveable key device.

Abstract: A driven joint for coupling two structural members is angularly adjustable in two polar or orthogonal dimensions and provides a pair of nonparallel, crossed axles, each having a middle section located between a pair of opposed side sections, wherein the pair of axles are mounted to each other along their respective middle sections and each axle of the pair of axles is rotationally mounted at its respective side sections to a respective structural member, a separate arcuate drive member orthogonally affixed to each respective axle and adapted to enable rotation of its respective axle and a separate drive mechanism mounted to each structural member and adapted to engage and rotate the respective arcuate drive member and the respective axle rotationally mounted to said each structural member.

Abstract: An animatronics system and method for incorporation in talking toys, puppets, animated special effects and costumes. The system utilizes a removable storage device such as a flash memory chip to store pre-programmed audio and animation data and a microcontroller configured with both an audio player and an animation player. The microcontroller is adapted to access the audio and animation data and play the data in a manner such that the system produces synchronized sound and movement. The system also incorporates an auto-tuning system which automatically calibrates the system to compensate for variations in the arrangement of mechanical components in individual units.

Abstract: A robot arm 3 includes a base-side arm component 11, an intermediate arm component 12, and a tip-side arm component 13. The intermediate arm component 12 is divided at an axially intermediate position into a base-side part 20 and a tip-side part 21, which are connected so as not to be separated from each other in the arm axis direction but rotatable around the arm axis. The base-side part 20 fixedly contains a moving device 31 for axially moving a drive shaft. The tip-side part 21 fixedly contains a threaded member 32 meshed with a thread groove formed in the outer surface of the drive shaft. The drive shaft is axially moved while being meshed with the threaded member 32 so that the threaded member 32 rotates around the drive shaft. As a result, the tip-side part 21 rotates in the arm axis direction.

Abstract: A robot control apparatus capable of largely reducing a calculation amount to be capable of lowering a load of a CPU is provided.

Abstract: A control system for a mobile robot (10) is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode (51) and a random bounce mode (49). In other embodiments, spot coverage, such as spiraling (45), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to implement the control system, and various escape behaviors are used to ensure full coverage.

Abstract: Candidate character strings representing objects disposed in a work cell, models for robot operation instructions which has variable parts, and robot commands related to the objects are defined in advance. By inputting a query such as ‘Workpiece 1 ?’ by voice, the object concerned is indicated by a display color so that the work cell can be confirmed. Models for operation instructions and a program to be edited are displayed to allow an operator to select the portion to be edited. When an operation instruction is input by voice in the model pattern, candidate character strings are assigned to the variable parts of the model. A completed statement that matches the voice-recognized statement is found, the robot operation commands defined for the objects are displayed, and the robot operation is displayed on the screen. The operation commands are inserted at the desired location in the program.

Abstract: A robot system efficiently performing an operation of moving a robot to close to and/or separate from a target point, such as teaching operation. A camera of a visual sensor is mounted to the robot such that a distal end of an end effector is seen within the field of view of the camera, and the end effector's distal end and a target position on an object are specified on a monitor screen. When an approach key is depressed, a target position is detected on an image, and a difference from a position of the end effector's distal end is calculated. Whether the difference is within an allowable range is checked. Depending on the result, an amount of robot motion is calculated, and the robot is operated. The processing is repeated until the depressed approach key is released. When a retreat key is depressed, the robot moves away from the object. The robot may be caused to stop using a distance sensor.

Abstract: A computer in a transport system includes: a shooting part for shooting a first calibration tray by controlling a camera; a tray position computing part for computing a tray position of the first calibration tray within a captured image which the shooting part shot; a hand position acquisition part for acquiring a hand position indicative of a position of the hand robot of when the hand robot installs onto the first calibration tray a first transported article used for calibration; a calibration part for computing a calibration data based on the tray position and the hand position; and a transported article installing part which, when the mobile robot reached a predetermined arrival area, controls, based on the calibration data, the hand robot so as to install a second transported article onto a second tray, the second tray which the mobile robot being provided with.

Abstract: A method for controlling a robot during an interpolation of a trajectory or motion to any prescribed position, comprises the steps of a) ignoring at least one of the three originally prescribed or interpolated tool center point orientation values; b) finding new tool center point orientation values that place the wrist center point of the robot closest to its base while c) maintaining the originally prescribed or interpolated tool center point location values and d) maintaining the original prescribed or interpolated tool center point orientation values not ignored. Said method can preferably be used for carrying a load with a plurality of robots. Its main advantage is an increase of the available working volume.

Abstract: A predictive robot includes a prediction-related item storage to store terms related to prediction performance, a first communicator which transmits stored prediction-related terms and receives a search result of information search with regard to the prediction-related terms, a search controller to control information search of the prediction-related terms stored in the prediction-related item storage via the first communicator, a media converter to convert the search result into a notification medium, and a notification section to provide the search result by the notification medium. Preferably, predictive information is provided spontaneously.

Abstract: Torque control capability is provided to a position controlled robot by calculating joint position inputs from transformation of the desired joint torques. This is based on calculating the transfer function 1/E(s), which relates the desired joint torque to joint position. Here E(s) is a servo transfer function D(s) or an effective servo transfer function D*(s). The use of an effective servo transfer function D*s) is helpful in cases where joint nonlinearities are significant. The effective servo transfer function D*(s) is defined with respect to an ideal joint transfer function G*(s)=1/(Ieffs2+beffs), where Ieff is an effective moment of inertia and beff is an effective damping coefficient.

Abstract: In a device and method for programming an industrial robot using a simulation program, control commands are issued by a handheld programming device and these commands are visualized on an image surface as movement and/or processing operations by the robot on the basis of data of the robot. An object to be processed is also displayed on the image surface and a three-dimensional image of the robot and the object is presented.

Abstract: Disclosed herein is a device for detecting lift of an autonomous mobile robot. The device comprises at least one detection unit to detect lift of the main body of the robot during driving of the robot and to generate and output the lift detection signal, and a controller to control driving of the robot, and to output the driving stop signal to a driving motor after generating a driving stop signal for stopping driving of the robot according to the lift detection signal transmitted from the detection unit. When the robot is lifted by a user, the device stops driving of the motor in response to the lift of the robot, thereby eliminating additional operation of the user to stop driving of the robot as well as protecting the user.

Abstract: Disclosed are a mobile robot and a mobile robot charge station return system, the mobile robot having a simplified structure by commonly using a detection sensor capable of both receiving charge station guide signals and obstacle detection signals, the two types of signals having different frequencies. The mobile robot includes a signal reception unit including one or more detection sensors for both receiving obstacle detection signals of different frequency bands and the charge station position guide signals outputted from a charge station; and a controller for separating and detecting the obstacle detection signals and the charge station position guide signals, which are outputted from the signal reception unit, according to frequency bands, and controlling an operation of the mobile robot according to the detected signals.

Abstract: In the multi-shaft driving apparatus, position command pulse trains for servomotors are generated from a motor controller and supplied to motor drivers for the respective servomotors via a multichannel pulse train transmitting apparatus. The multichannel pulse train transmitting apparatus converts the position command pulse trains supplied from the motor controller 6 to serial signals in a transmission-side converter, combines the resulting serial signals as a stream signal, and supplies the signal to a reception-side converter via a serial signal transmission path composed of a pair of signal wires. In the reception-side converter, motor position command pulse trains in the form of a serial signal is returned to multichannel pulse trains in the form of a parallel signal which are supplied to the motor drivers. The number of wires between the motor controller and the motor drivers can be reduced.

Abstract: A robotic instrument system includes a master input device and an instrument driver in communication with the controller, the instrument driver having a guide instrument interface including one or more guide instrument drive elements responsive to control signals generated, at least in part, by the master input device, for manipulating a guide instrument operatively coupled to the instrument interface. The master input device includes an operator interface coupled to a linkage assembly, with one or more load cells interposed between the operator interface and the linkage assembly, wherein control signals generated by the master input device are based at least in part on output signals generated by the one or more load cells in response to movement of the operator interface relative to the linkage assembly.

Abstract: A tappet clearance automatic adjusting device comprising an adjusting unit for advancing/retracting an adjust screw from the forward end of a rocker arm and adjusting the projection amount, a torque detecting section for detecting the torque by rotating the adjust screw, and a control mechanism section for controlling the adjusting unit based on a torque value measured at the torque detecting section. The control mechanism section starts retracting the adjust screw when a valve is opened and continuously measures the torque value obtained when the valve is closed. A position, corresponding to time when variation in the filtering value obtained by smoothing the torque value through moving average is a threshold value or smaller, is detected as a reference point and the adjust screw is retracted from the reference point by a set amount.

Abstract: A robot component is provided as assembly units for assembling a robot toy with a great variety of configuration. The robot component has three connectors, i.e., a rotatable connector of a gear shaft, a laterally protruding connector of the gear shaft, and a receivable connector of a middle housing. These connectors are engaged with various joint members so several robot components are joined to each other to realize the complete robot toy. The robot toy has a master main-processor unit board provided in one of the robot components and joint control systems respectively provided in the other robot components. Each joint control system operates the robot component according to a predefined operation pattern when the master main-processor unit board transmits robot control signals.

Abstract: An extensible task engine framework for humanoid robots. Robot instructions are stored as tasks and skills. Tasks are designed so that they can be executed by a variety of robots with differing configurations. A task can refer to zero or more skills. A skill can be designed for a particular configuration of robot. A task can be transferred from robot to robot. When executed on a particular robot, the task makes calls to one or more skills that can take advantage of the capabilities of that robot.

Abstract: A robotic system is provided that enables easy manipulation and various operations. A walking operation allocated to a manipulated switch operation section is performed. Meanwhile, the right ankle roll axis control motor, the left ankle roll axis control motor, right hip joint roll axis control motor, and the left hip joint roll axis control motor are driven according to the operation amount of a manipulated analog operation section. Thus, the barycentric position of the robot is shifted to change the traveling direction of walking.

Abstract: A legged robot and a legged robot walking control method are disclosed, which enable stable walking without force sensors on leg tips. A legged robot of the present invention comprises a torso, a leg link, which is swingably connected to the torso, storing means 210 for storing leg tip gait data describing a time-series change in a target leg tip motion, storing means 210 for storing torso gait data describing a time-series change in a target torso motion, which realizes a target ZMP following the change in the target leg tip motion, torso motion detection means 218, 220 for detecting an actual torso motion, deviation calculation means 312 for calculating a deviation of the actual torso motion from the target torso motion, correction quantity calculation means 308 for determining a correction quantity from the calculated deviation based on a prescribed transfer function, and correction means 306 for correcting the target torso gait data based on the determined correction quantity.

Abstract: Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.

Abstract: A teaching device and a teaching modification device capable of easily attaining conformity between an operation program of a robot prepared by off-line programming and an actual operation of the robot. A layout of a robot system including three-dimensional models of the robot and peripheral objects thereof (table, a workpiece, etc.) are prepared by an off-line programming system and taught points are defined for the workpiece. The system layout and a model of the workpiece are displayed on a display device of a teaching pendant. An operator specifies a present position of the operator in the system layout and a taught point to be modified referring to the display device. A line-of-sight vector is automatically calculated and the model of the workpiece as viewed from a direction of the line-of-sight is displayed on the display device.

Abstract: The present invention provides a micro-robot for use inside the body during minimally-invasive surgery. The micro-robot includes an imaging devices, a manipulator, and in some embodiments a sensor.

Abstract: The characteristics of actuators themselves and the characteristics of controllers for the actuators are dynamically or statically controlled to achieve stable and highly efficient movements. In a stage in which a leg in the flight state is uplifted such that the reactive force from the floor received by the foot sole of the leg is zero, the characteristics of the respective actuators for the knee joint pitch axis and the ankle pitch and roll axes of the leg in the flight state are set for decreasing the low range gain, increasing the quantity of phase lead and for decreasing the viscous resistance of the actuators, in order to impart mechanical passiveness and fast response characteristics. The followup control for the high frequency range may be achieved as the force of impact at the instant of touchdown is buffered.

Abstract: It is an object of the invention to provide an articulated robot capable of reducing a number of axes, making the robot light-weighted, reducing fabrication cost and promoting a working efficiency by mounting two or more of hands at a single unit of the robot and sharing portions of axes and its control apparatus. For that purpose, an articulated robot having a plurality of hands at a single unit thereof capable of sharing portions of axes (first axis, second axis) and attaching the hands respectively to tips of a plurality of axes (4A axis, 4B axis) connected to the axes (first axis, second axis) independently therefrom is provided with a control apparatus for subjecting a designated one of the hands to a CP control and switching the hand which is not designated to a PTP control.

Abstract: A robot for marking an encoded surface is provided. The encoded surface has coded data identifying a plurality of locations thereon. The robot has an image sensor for sensing the coded data, and a processor for generating indicating data using the coded data sensed by the image sensor. The indicating data has data regarding a position of the robot on the encoded surface. The robot uses a communication means to transmit the indicating data to a computer system and receiving instructions from the computer system. A steerable drive system moves the robot over the encoded surface in response to movement instructions received from the computer system and a marking device selectively marks the encoded surface in response to marking instructions received from the computer system.

Abstract: A mobile robotic system includes a charging device and a mobile robot. The charging device is provided with a light emitter and a set of first charging contacts for supplying a charging signal. The mobile robot has a first side provided with a first light sensor, a second side provided with a second light sensor and a set of second charging contacts corresponding to the first charging contacts, a rechargeable battery unit, and a control unit. When charging of the battery unit is intended, the control unit enables movement of the mobile robot until the first light sensor detects light emitted by the light emitter, subsequently enables rotation of the mobile robot until the second light sensor detects the light from the light emitter, and then enables movement of the mobile robot toward the charging device until the first and second charging contacts come into contact.

Abstract: An interactive personalized robotic system for a home environment includes a home network in communication with at least one electronic device. A robot is in communication with the home network and is capable of controlling the at least one electronic device. The robot further includes a plurality of modules for personally communicating with a user. The user can control the robot and the at least one electronic device by communicating with the robot.

Abstract: A mobile articulated robot platform is provided where the platform comprises a payload base hip section for attaching a torso, the platform having two opposing sides, where the platform includes a right leg assembly and a left leg assembly, with each leg assembly having an upper leg and a lower leg section, where the right and left leg assemblies each comprise a right upper leg being pivotally coupled on one side of said payload base hip section and a left upper leg being pivotally coupled to the other side of the payload base hip section, and a right lower leg being independently and pivotally connected to the right upper leg, and a left lower leg being independently and pivotally connected to the left upper leg, allowing rotation of each of the lower legs about each of the upper legs.

Abstract: A mobile robot communication system includes a remote unit, a repeater module and a control station. A cable connects the repeater module to the control station. The remote unit has a wireless receiver/transmitter for sending and receiving commands. The repeater module has a wireless receiver/transmitter for sending and receiving commands from the mobile unit. The control station is operable in communication with the repeater module for remotely sending and receiving signals. The cable is attached between the repeater module and control station for transmitting signals therebetween.

Abstract: A system of self-organizing mobile robotic agents (MRAs) in a multi-robotic system (MRS) is disclosed. MRAs cooperate, learn and interact with the environment. The system uses various AI technologies including genetic algorithms, genetic programming and evolving artificial neural networks to develop emergent dynamic behaviors. The collective behaviors of autonomous intelligent robotic agents are applied to numerous applications. The system uses hybrid control architectures. The system also develops dynamic coalitions of groups of autonomous MRAs for formation and reformation in order to perform complex tasks.

Abstract: The present invention is a miniature camera robot which can be placed entirely within an open space such as an abdominal cavity. The instant camera robot has pan and tilt capabilities, an adjustable focus camera, and a support component for supporting the robot body. In particular embodiments, the camera robot further contains a light source for illumination and a handle to position the camera robot. A system and method for using the instant camera robot are also provided.

Abstract: An offline programming device capable of automatically generating a measuring program by which the time and the workload for making an offline program may be greatly reduced.

Abstract: A legged mobile robot, a legged mobile robot controller and a legged mobile robot control method are provided to perform a loading operation to load a gripped object in parallel on a target place having a height where a stretchable range of arm portions of the legged mobile robot is enhanced with no operator's handling. The legged mobile robot includes the arm portions having links for gripping an object, and leg portions having links for moving, and the arm and the leg portions are joined to a body thereof. The legged mobile robot controller includes a data acquisition unit, a whole-body cooperative motion control unit and a loading detection unit, and controls motions of the legged mobile robot based on posture/position data regarding a posture/position of each link of the legged mobile robot and on an external force data regarding an external force affecting the arm portions.

Abstract: An operation control unit of a reception system includes a visitor ID information DB for storing therein visitor comparison information and visitor ID information including a phone number of a receiver of a visitor; an identifying unit for identifying the visitor when visitor information obtained by a camera or the like of the robot is identical to the visitor comparison information; a phone calling module for calling the phone number of a mobile terminal of the receiver via a phone network, when the visitor is identified; an informing content determining unit for determining an informing content to the receiver based on the visitor ID information, when the visitor is identified; and a speech generating part for converting the received information into a voice. The informing content is sent to the mobile terminal of the receiver via the phone network.

Abstract: The present invention provides haptic sensations for a haptic feedback device and especially for a rotational device such as a knob. Force effects such as a hill force effect and barrier force effect allow easier selection of menu items, menus, values, or other options by the user. Force models are also described to allow greater selection functionality, such as a scrolling list with detents and rate control borders, a jog shuttle, a push-turn model, a double-push model, and a cast control model.

Abstract: A tool changer comprising a master module and a tool module includes a rapid-connect communication bus between the master and tool modules. A unique tool identification number, along with other tool-related information, may be transmitted from the tool module to the master module within about 250 msec of the master and tool modules coupling together. The master module includes a robotic system communications network node connected to the rapid-connect communication bus, and operative to transmit data between the tool and the network via the communication bus. The need for a separate network node in the tool module is obviated, reducing cost and reducing the start-up time required to initialize such a network node upon connecting to a new tool. The rapid-connect communication bus may be a serial bus.

Abstract: An external force estimation system for estimating an external force acting upon a robot apparatus which includes a machine body which in turn includes a plurality of movable joints is disclosed which includes a distribution type contacting state detection section, an actuator current state measurement section, a motion state measurement section, a motion equation setting section, a known term calculation section, and an external force estimation section.

Abstract: A cleaning robot and a control method thereof in which a cleaning path desired by the user is recognizable by the cleaning robot, thereby being capable of cleaning a cleaning area desired by the user in a pattern desired by the user. The cleaning robot includes a running unit to run the cleaning robot, a storage unit for storing a running path, along which the cleaning robot has learned, and a control unit to recognize the learned running path of the cleaning robot when a path learning operation is required, to store the recognized learned running path in the storage unit, and to drive the running unit. When a cleaning operation of the cleaning robot along the stored learned running path is required, the control unit controls the running unit to cause the cleaning robot to perform the required cleaning operation while running along the stored learned running path.

Abstract: When braking of a motion of a part of a first robot is assumed to be started at points in time, a first stop position of the first robot part is estimated at each point in time. When braking of a motion of a part of a second robot is assumed to be started at the points in time, an estimated second stop position of the second robot part is obtained at each point in time. When it is determined that the first stop position of the first robot part at one of the points in time and either the actual position or the second stop position of the second robot part for each interval at the one of the points in time are contained in the shared workspace, the first robot part is braked.

Abstract: A robotic wash cell is provided and includes a six-axis robotic arm and end effector equipped with nozzles that spray unheated, solvent free, pure water at high-pressure to clean or debur objects by maintaining the nozzles in close proximity and substantially normal to each surface being cleaned or edge being deburred. The robotic cell wash is particularly useful for cleaning contaminants such as oil and grease from items having more complex shapes. The six-axis robotic arm positions the nozzles and their sprays substantially normal to each surface being cleaned or deburred. The nozzles produce a multi-zone spray pattern with a continuous effective cleaning zone. A water recycling and pressurizing system collects the used water, separates out the oil and grease contaminants to a level of about 5 ppm, and pressurizes the pure water to about 3,000 psi for washing operations or about 6,000 psi for deburring operations.

Abstract: A geometric end effector system for use on a robot. The system includes a platform and a frame secured to the platform. At least one base is arranged at a predetermined position on the frame. The system also has an anchor mount secured to the base and a component connected to an end of the anchor mount by a collar assembly. A key is arranged between the component and the anchor mount.