Plural Robots Patents (Class 700/248)
  • Patent number: 10406692
    Abstract: A robot system includes an arm with a plurality of joints, the arm being configured to assume a first position and a second position, an end effector attached to the arm, the end effector having a specific position, and a force detector configured to detect a force or a torque applied to or generated by the arm or the end effector, and a robot control apparatus configured to receive an output value from the force detector to change the arm from the first position to the second position while the end effector remains in the specific position, and store the second position of the arm in a memory so as to relate the second position of the arm with the specific position of the end effector.
    Type: Grant
    Filed: October 4, 2016
    Date of Patent: September 10, 2019
    Assignee: Seiko Epson Corporation
    Inventors: Takahiko Noda, Takashi Nammoto
  • Patent number: 10391631
    Abstract: A wearable smart device is configured to be positioned on and external to a robot having a robot sensor for sensing robot data and a robot input/output port. The wearable smart device includes a device sensor capable of detecting device data corresponding to an environment of the wearable smart device. The wearable smart device also includes a device input/output port. The wearable smart device also includes a device processor coupled to the robot sensor via the robot input/output port and the device input/output port. The device processor is also coupled to the device sensor and configured to control the robot based on the robot data and the device data.
    Type: Grant
    Filed: March 6, 2017
    Date of Patent: August 27, 2019
    Assignee: TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC.
    Inventors: Joseph M. A. Djugash, Douglas A. Moore
  • Patent number: 10384880
    Abstract: A workpiece supply system includes a robot that supplies a workpiece to each of a plurality of workspaces where a worker performs a predetermined task on the workpiece; a detection unit that detects a degree of fatigue of the worker in each of the workspaces; a fatigue degree evaluation unit that determines whether or not the worker is in a fatigued state, based on the degree of fatigue of the worker detected by the detection unit; and a management device that adjusts, among a plurality of workers, a pace of supply of the workpiece to each of the workers, in a case where the worker is determined by the fatigue degree evaluation unit to be in the fatigued state.
    Type: Grant
    Filed: May 18, 2018
    Date of Patent: August 20, 2019
    Assignee: FANUC CORPORATION
    Inventors: Yuusuke Kurihara, Tomoyuki Yamamoto
  • Patent number: 10368955
    Abstract: A foot pedal assembly for controlling a robotic surgical system includes a foot pedal assembly base including an axle, a foot pedal slidably and pivotally coupled to the axle, and a sensor arrangement configured to detect an axial position of the foot pedal along the axle and a pivoted position of the foot pedal around the axle. Different combinations of different detected axial positions and detected pivoted positions are correlateable to different functions of the robotic surgical system.
    Type: Grant
    Filed: March 31, 2017
    Date of Patent: August 6, 2019
    Assignees: JOHNSON & JOHNSON INNOVATION-JJDC, INC., VERILY LIFE SCIENCES LLC
    Inventors: Taylor Joseph Cone, Joan Savall
  • Patent number: 10365780
    Abstract: Techniques are disclosed for making an electronic document easier to use based on prior interactions with the same or a similar document by other users. An electronic document is presented to one or more users in an interactive environment. Interactions between the users and the document can be recorded as usage data. The usage data may represent one or more operations performed on the electronic document by the users. Based on the usage data, an enhanced user interaction feature associated with the document is configured. The electronic document and the enhanced user interaction feature are then presented to another user in another interactive environment. The enhanced user interaction feature makes using the document easier than it would be if the feature was not present, particularly for users who are unfamiliar with the document.
    Type: Grant
    Filed: May 5, 2014
    Date of Patent: July 30, 2019
    Assignee: Adobe Inc.
    Inventors: Yash Kumar Gupta, Lalit Vohra, Abhishek Modi, Aditya Kumar Pandey, Ankit Pangasa, Frederic Thevenet, Kirk B. Gould, Mohit Bansal, Nishant Kaushik, David Sherry, Steve Dakin, Vishal K. Gupta
  • Patent number: 10368313
    Abstract: A server for allocating a rechargeable battery among a plurality of roles performed by a group of devices removably connectable with the rechargeable battery, receives for each role from a subgroup of devices, data sets corresponding to respective operational periods. Each data set includes an identifier of the rechargeable battery; a measured capacity; and a measured energy consumption during the operational period. The server: determines and stores, based on the measured capacities, a predicted capacity of the rechargeable battery; determines and stores, for each role, a predicted energy consumption per role based on the measured energy consumptions; obtains an allocation defined by the identifier of the rechargeable battery and an identifier of one of the roles; compares the predicted capacity with the predicted energy consumption corresponding to the obtained role; and when the predicted energy consumption corresponding to the one of the roles exceeds the predicted capacity, generates an alert.
    Type: Grant
    Filed: October 31, 2017
    Date of Patent: July 30, 2019
    Assignee: Zebra Technologies Corporation
    Inventor: Devan J. Lippman
  • Patent number: 10359778
    Abstract: An indoor monitoring system for a structure comprises an unmanned floating machine provided with a propeller to float and move in the air inside a structure; a distance measuring unit on said machine to measures a distance between said machine and an inner wall surface of the structure; an inertial measurement unit on said machine to identify the attitude of the body of said machine; an image-capturing unit on said machine to capture an image of a structural body on the side of said machine; a control unit which controls said machine remotely; a flight position information acquiring unit which uses information from the distance measuring unit and the inertial measurement unit to acquire information relating to the current position of said machine; and a monitor unit which displays image information from the image-capturing unit and the position information from the flight position information acquiring unit.
    Type: Grant
    Filed: January 20, 2015
    Date of Patent: July 23, 2019
    Assignee: MITSUBISHI HEAVY INDUSTRIES, LTD.
    Inventors: Takayuki Kono, Yoichiro Tsumura
  • Patent number: 10349899
    Abstract: A system for predicting a likelihood of an occurrence of hallucinations in a subject including a master device configured to be at least one of moved, moved on, and manipulated by a subject, a slave device operably connected with the master device and adapted so that the subject is directly or indirectly touched by the slave device according with the master device's movement, a computer device operably connected to both the master and the slave device, the computer device configured to modulate at least one of a time, space, and force activation of the slave device in response to an activation of the master device, record data regarding a difference in at least one of time, space and force activation, compare the recorded data with reference data, and graphically or numerically showing the result of the comparison on a display device, as an indicator of the likelihood of the occurrence of hallucinations in a subject.
    Type: Grant
    Filed: November 15, 2017
    Date of Patent: July 16, 2019
    Assignee: ECOLE POLYTECHNIQUE FEDERALE DE LAUSANNE (EPFL)
    Inventors: Olaf Blanke, Giulio Rognini
  • Patent number: 10307906
    Abstract: The disclosure generally relates to functioning and monitoring of robots, and more particularly, to closely monitor, administer, and track an autonomous software robots. The embodiments herein relate to automating of a plurality of repetitive tasks by deploying a plurality of software robots in an operation floor. By using the robotic console module, an administrator is able to get a holistic view of the plurality of robots deployed at various client workstations. The administrator is also capable of viewing robots deployed, the ability to start and stop of the robots and view alerts raised by the robots during execution.
    Type: Grant
    Filed: March 16, 2016
    Date of Patent: June 4, 2019
    Assignee: Tata Consultancy Services Limited
    Inventors: Ruchi Rajan Shah, Prema Rameshchandra Choubey, Subramanyam A R, Ravi Kethana, Bhakti Chandulal Chandarana
  • Patent number: 10296995
    Abstract: Methods and systems for dynamically maintaining a map of robotic devices in an environment are provided herein. A map of robotic devices may be determined, where the map includes predicted future locations of at least some of the robotic devices. One or more robotic devices may then be caused to perform a task. During a performance of the task by the one or more robotic devices, task progress data may be received from the robotic devices, indicative of which of the task phases have been performed. Based on the data, the map may be updated to include a modification to the predicted future locations of at least some of the robotic devices. One or more robotic devices may then be caused to perform at least one other task in accordance with the updated map.
    Type: Grant
    Filed: June 14, 2018
    Date of Patent: May 21, 2019
    Assignee: X Development LLC
    Inventors: Rohit Ramesh Saboo, James Joseph Kuffner, Julian Mason
  • Patent number: 10296006
    Abstract: An artificial marker combination to be read by an autonomous mobile device comprises at least two artificial markers arranged in order. Each artificial marker is different and the artificial marker combination is used as a group of artificial markers. A computer vision positioning system used in connection with the artificial marker combination utilizes the individual meanings in the multiple markers as instructions for the mobile device markers along its route. A method for the computer vision positioning system is also provided.
    Type: Grant
    Filed: September 29, 2016
    Date of Patent: May 21, 2019
    Assignee: ScienBiziP Consulting (Shenzhen) Co., Ltd.
    Inventors: Horng-Juing Lee, Tien-Ping Liu, Shu-Fen Chen, Yu-Chien Hsiao
  • Patent number: 10278782
    Abstract: Described herein is a teleoperational medical system for performing a medical procedure in a surgical field. The teleoperational system comprises an eye tracking unit and a control unit. The eye tracking unit includes an image display configured to display to a user an image of the surgical field, at least one eye tracker configured to measure data about a gaze point of the user, and a processor configured to process the data to determine a viewing location in the displayed image at which the gaze point of the user is directed. The control unit is configured to control at least one function of the teleoperational medical system based upon the determined viewing location.
    Type: Grant
    Filed: March 18, 2015
    Date of Patent: May 7, 2019
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Anthony Michael Jarc, Henry C. Lin, Jonathan Michael Sorger
  • Patent number: 10281281
    Abstract: A decision support and control system including a Graphical User Interface configured for displaying multiple transit options for a platform with respect to hazard and objects along with accompanying methods is provided. The methods and apparatus may receive information from a variety of systems such as a ship's radar and electro-optical systems to derive threat information, and a ship's weapon systems that may include both lethal and non-lethal weapons, the maximum and minimum range of the weapons, the accuracy characteristics of the weapons, and the maximum and minimum azimuth angles that the weapons can engage. The apparatus and methods may provide multiple transit options for a ship that provides tactical suggestions for a ship to successfully defend itself against a swarm attack by multiple incoming threats. Such tactical suggestions illustratively account for the various paths being presented and may also present performance metrics such as associated probabilities of success.
    Type: Grant
    Filed: August 29, 2016
    Date of Patent: May 7, 2019
    Assignee: THE UNITED STATES OF AMERICA AS REPRESENTED BY THE SECRETARY OF THE NAVY
    Inventor: Matthew K. Ward
  • Patent number: 10279695
    Abstract: An electric vehicle (EV) parallel charging method may comprise determining whether a parallel charging input is detected or not, the parallel charging input being an input that both a conductive charging input and an inductive charging input are sensed; in response to determining that the parallel charging input is detected, comparing a power of the conductive charging input with a power of the inductive charging input; selecting an input applied to a high-voltage battery and an input applied to at least one of an auxiliary battery and a load based on a result of the comparison; and performing a parallel charging operation for the high-voltage battery and at least one of the auxiliary battery and the load by using powers supplied from the selected inputs.
    Type: Grant
    Filed: July 24, 2017
    Date of Patent: May 7, 2019
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Jin Su Jang, Taek Hyun Jung, Zeung Il Kim, Jae Yong Seong
  • Patent number: 10265844
    Abstract: In an approach to creating assembly plan for disaster mitigation, one or more computer processors identify one or more triggering events. The one or more computer processors receive one or more configuration parameters for one or more assembly plans pertaining to the one or more triggering events. The one or more computer processors analyze the one or more configuration parameters to determine necessary configuration parameters based upon the identified one or more triggering events. The one or more computer processors create the one or more assembly plans containing one or more instructions for one or more self-assembling robots based on the determined necessary configuration parameters. The one or more computer processors send the one or more assembly plans to one or more self-assembling robots.
    Type: Grant
    Filed: March 24, 2017
    Date of Patent: April 23, 2019
    Assignee: International Business Machines Corporation
    Inventors: Zhao Cheng, Luyao Li, Ramesh V. Raj, Kyle D. Robeson
  • Patent number: 10261508
    Abstract: A robot control system includes: plural robots; a receiving unit that receives a robot dispatch request from a user; a sensor that detects a state of the user who performs the robot dispatch request; and a controller that determines priority on the robot dispatch request based on the state of the user detected by the sensor, selects, in a case where plural robot dispatch requests are received, a robot to be dispatched among the plural robots in order of the priority on the robot dispatch requests, and dispatches the robot.
    Type: Grant
    Filed: November 10, 2016
    Date of Patent: April 16, 2019
    Assignee: FUJI XEROX CO., LTD.
    Inventors: Ryota Mizutani, Roshan Thapliya, Kazunari Komatsuzaki
  • Patent number: 10220517
    Abstract: A robot control method, system, and computer program product, include extracting robot data from the robot and user emotional state data of a user interacting with the robot, configuring a mission of a robot comprising a sequence of a plurality of tasks based on the robot data and the user emotional state data, and reconfiguring an order of the sequence of the plurality of tasks if a change in the user emotional state data is detected.
    Type: Grant
    Filed: October 31, 2016
    Date of Patent: March 5, 2019
    Assignee: INTERNATIONAL BUSINESS MACHINES CORPORATION
    Inventors: Alecio Pedro Delazari Binotto, Rodrigo Laiola Guimaraes, Davi Francisco Caetano dos Santos
  • Patent number: 10189164
    Abstract: A robot includes n arms, n drive units that respectively drive the n arms, n position detecting units that respectively detect positions of the n arms, and L signal lines through which signals detected by the n position detecting units flow. When the number of control units that control the driving of the drive units based on the signals detected by the position detecting units is m, the robot satisfies the relations of 2?L<n and 2?m<n.
    Type: Grant
    Filed: September 16, 2016
    Date of Patent: January 29, 2019
    Assignee: Seiko Epson Corporation
    Inventor: Masaki Motoyoshi
  • Patent number: 10185292
    Abstract: A cell control apparatus is provided with a load calculation part which calculates an operational load including at least one of average power consumption, maximum power consumption, and a variable indicating a component lifetime of a manufacturing cell in a predetermined period. The cell control apparatus includes an operation adjustment part which performs first control for reducing at least one of a speed and an acceleration at which the manufacturing machine drives and second control for adjusting a ratio of time of successive operations in such a manner as to reduce the operational load in such an extent that the number of products manufactured in the predetermined period is not changed.
    Type: Grant
    Filed: April 19, 2017
    Date of Patent: January 22, 2019
    Assignee: FANUC CORPORATION
    Inventor: Shougo Inagaki
  • Patent number: 10173675
    Abstract: A method for the automated driving of a motor vehicle which provides environment data, detects objects in the environment data, selects a current scenario by a scenario-interpretation apparatus on the basis of the detected objects, wherein a scenario has at least one elementary situation which is assigned at least one monitoring region and an enable criterion as attributes, and in addition successively for each of the elementary situations of the current scenario, estimates a destination point, plans a trajectory to the destination point by a maneuver-planning apparatus, interrogates information about a monitoring region from the environment-perception apparatus by the scenario-interpretation apparatus, checks for the presence of the at least one enable criterion by the scenario-interpretation apparatus, and if the at least one enable criterion is satisfied, automated driving along the trajectory as far as the destination point by a controller. Also disclosed is an associated device.
    Type: Grant
    Filed: November 30, 2016
    Date of Patent: January 8, 2019
    Assignee: Volkswagen AG
    Inventors: David Perdomo Lopez, Christian Jördens, Lutz Junge, Michael Darms
  • Patent number: 10144126
    Abstract: A robot system for carrying out a plurality of operations during assembly or maintenance of an aircraft or spacecraft includes a first robot having a base portion, a movable robot arm having a first coupling portion, and a first control means for controlling the robot arm, a plurality of second robots having movement means, a drive portion operable to drive the movement means, a tool portion having a tool for carrying out a specific one of the operations, a second coupling portion adapted to be selectively and releasably coupled with the first coupling portion in a predetermined positional relationship, and a second control means for controlling the respective second robot. The first and second control means are adapted to control the drive portion of one of the second robots and the robot arm to couple the first coupling portion and the respective second coupling portion in the predetermined positional relationship.
    Type: Grant
    Filed: August 24, 2016
    Date of Patent: December 4, 2018
    Assignee: Airbus Operations GmbH
    Inventors: Ingo Krohne, Robert Alexander Goehlich, Yoshiyasu Hirano, Yuichiro Aoki, Yutaka Iwahori, Atsushi Kanda
  • Patent number: 10112666
    Abstract: An assembly system and a part holding assembly are configured to locate and secure a part defining holes. The part holding assembly further includes a first clamping device movable along a first track for positioning the first clamping device relative to the part. The first clamping device is configured to engage the part to secure the part to the first clamping device. The part holding assembly also includes a first pin device movable along a second track for positioning the first pin device relative to the location of one of the holes of the part. The first pin is configured to be disposed through the one of the holes of the part when in a closed position for locating the part. The first pin is configured to expand in the one of the holes when in an open position for securing the part to the first pin device.
    Type: Grant
    Filed: August 19, 2015
    Date of Patent: October 30, 2018
    Assignee: GM Global Technology Operations LLC
    Inventors: Jianying Shi, Scott A. McLeod, Justin Jay Hackett
  • Patent number: 10093488
    Abstract: A game, and a method for playing a game, that includes providing an initial shape of a plurality of elements, and an end shape that includes the elements by displacing, using a motion module for at least one element, which motion function provides the at least one element with its own movement ability relative to the other elements, in which the end shape is different than the initial shape; providing a set of parameters which together with the end shape determine losing or winning the game. The game is completed on a basis of the parameters and a position of the elements in relation to the end shape.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: October 9, 2018
    Assignee: RND BY US B.V.
    Inventor: Arie Quirinus Bastiaan Brandwijk
  • Patent number: 10081525
    Abstract: Some embodiments provide methods, systems and apparatus to enhance safety. In some embodiments, a system comprises: a central computer system comprising: a transceiver; a control circuit; and a memory coupled to the control circuit and storing computer instructions that when executed by the control circuit cause the control circuit to perform the steps of: communicate positioning routing instructions to the plurality of motorized transport units directing the motorized transport units to one or more external areas of a shopping facility that are exposed to weather conditions; and communicate separate area routing instructions to each of the motorized transport units that when implemented cause the motorized transport units to cooperatively and in concert travel in accordance with the area routing instructions over at least predefined portions of one or more external areas to cause ground treatment systems to address ground level conditions.
    Type: Grant
    Filed: September 23, 2016
    Date of Patent: September 25, 2018
    Assignee: Walmart Apollo, LLC
    Inventors: Donald R. High, Michael D. Atchley, David C. Winkle
  • Patent number: 10065321
    Abstract: A robot service cooperation system (10) includes a server (12), a mobile terminal (14) and various robots (16a-16c) respectively connected to a network (100). Each of applications (A1, A2, A3, - - - ) on the network is written with cooperation information indicating that which other application can be cooperated with. A CPU (20) of the server specifies (S3) at least based on the cooperation information a plurality of cooperable services that can be provided to a user of the mobile terminal, presents (S7) the specified plurality of services to the user and makes (S13) the user select an arbitrary combination, and makes (S17, S19) a plurality of services constituting the selected combination cooperate mutually by registering at least a start condition of each service into an event queue in association with at least an end event of another service.
    Type: Grant
    Filed: March 14, 2014
    Date of Patent: September 4, 2018
    Assignee: Advanced Telecommunications Research Institute International
    Inventors: Takahiro Miyashita, Koji Kamei, Kazuhiko Shinozawa, Norihiro Hagita, Tadahisa Kondo
  • Patent number: 10034721
    Abstract: Apparatuses and methods described herein relate to arm carts for transporting and coupling a robotic arm to a surgical table. In some embodiments, an arm cart may include a damping mechanism (e.g., a spring, a dashpot) configured to damp an impact force imparted to the robotic arm due to the arm contacting another object, such as a surgical table. In other embodiments, an arm cart may include a backstop with an inclined surface configured to damp an impact force imparted to the robotic arm. In other embodiments, the arm cart may include a compliant arm support that is bendable to damp an impact force imparted to a robotic arm. In some embodiments, the arm cart may include a damping mechanism configured to move from an extended position to a retracted position to permit a robotic arm to couple to a surgical table.
    Type: Grant
    Filed: September 27, 2017
    Date of Patent: July 31, 2018
    Assignee: Verb Surgical Inc.
    Inventors: Richard William Timm, Seung Mo Lim, Robert T. Wiggers, Bernard Fai Kin Siu, Karen Shakespear Koenig
  • Patent number: 10035259
    Abstract: In an approach to creating assembly plan for disaster mitigation, one or more computer processors identify one or more triggering events. The one or more computer processors receive one or more configuration parameters for one or more assembly plans pertaining to the one or more triggering events. The one or more computer processors analyze the one or more configuration parameters to determine necessary configuration parameters based upon the identified one or more triggering events. The one or more computer processors create the one or more assembly plans containing one or more instructions for one or more self-assembling robots based on the determined necessary configuration parameters. The one or more computer processors send the one or more assembly plans to one or more self-assembling robots.
    Type: Grant
    Filed: September 15, 2017
    Date of Patent: July 31, 2018
    Assignee: International Business Machines Corporation
    Inventors: Zhao Cheng, Luyao Li, Ramesh V. Raj, Kyle D. Robeson
  • Patent number: 10009417
    Abstract: A method for wireless grid computing includes: receiving feedback of a computing resource state (“CRS”) and channel quality information (“CQI”) from at least one candidate terminal; determining at least one parallel work execution terminal to execute the wireless grid computing among at least one terminal based on the feedback of the CRS and the feedback of the CQI; and assigning parallel processing work of the wireless grid computing to the at least one parallel work execution terminal. Such wireless grid computing method may be performed using a base station or a terminal.
    Type: Grant
    Filed: September 11, 2015
    Date of Patent: June 26, 2018
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Sungjin Kim, Jinhan Kim, Sang-Moon Lee
  • Patent number: 10005185
    Abstract: The invention relates to a method and a system for controlling a robot, which non-simultaneously shares a working space with another robot. On the basis of a determined residual period, in which the working space remains occupied, the path planning of a robot is adjusted in a cycle time-optimized manner, in order to avoid a deceleration at the working space limit and a wait for the working space to be vacated.
    Type: Grant
    Filed: November 5, 2015
    Date of Patent: June 26, 2018
    Assignee: KUKA Roboter GmbH
    Inventors: Bettina Pfaff, Thomas Neff, Marcus Hansen, Michael Wolf, Christian Fremuth-Paeger, Thomas Heinrich
  • Patent number: 9999975
    Abstract: A method for operating and/or monitoring a machine, in particular, a multiple axis robot, includes determining whether an outer border of a first spatial area and an outer border of a second spatial area intersect each other, and detecting a penetration of the first spatial area by the second spatial area, in the event that the two outer borders intersect each other, wherein one of the two spatial areas is machine-fixed.
    Type: Grant
    Filed: June 8, 2016
    Date of Patent: June 19, 2018
    Assignee: KUKA Deutschland GmbH
    Inventors: Ewald Frensch, Torsten Geiler
  • Patent number: 9908235
    Abstract: A robotic system that includes a plurality of controlled linkages operating in an environment where random disturbance forces act on the linkages is disclosed. A rigid chassis with first and third linkages pinned to the rigid chassis at one end and pinned at the other end to other linkages is also disclosed. Sensors are also disclosed that sense the respective angles and rates of change of the angles between the chassis and the first and third linkages. Motors are also disclosed that move the first and third linkages about the pinned connections to the chassis. A controller is disclosed that controls the first and second motors as a function of the output of the sensors and a sum of the magnitudes of the discrete disturbance forces acting on the linkages to programmably control the first and second angles. The controller thereby controls the position and motion of all of the linkages without need for calculating the discrete disturbance forces acting on the individual linkages.
    Type: Grant
    Filed: March 4, 2015
    Date of Patent: March 6, 2018
    Inventor: Rene Andre Silva Viego
  • Patent number: 9867671
    Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
    Type: Grant
    Filed: May 29, 2017
    Date of Patent: January 16, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Rajesh Kumar, Brian D. Hoffman, Giuseppe Maria Prisco, David Q. Larkin, William C. Nowlin, Frederic H. Moll, Stephen J. Blumenkranz, Gunter D. Niemeyer, J. Kenneth Salisbury, Jr., Yulun Wang, Modjtaba Ghodoussi, Darrin R. Uecker, James W. Wright, Amante A. Mangaser, Ranjan Mukherjee
  • Patent number: 9862089
    Abstract: Methods and systems for allocating tasks to robotic devices are provided. An example method includes receiving information associated with task logs for a plurality of robotic devices and in a computing system configured to access a processor and memory, determining information associated with a health level for the plurality of robotic devices based on the information associated with the task logs. A health level for a given robotic device may be proportional to a current level of ability to perform a function, which may change over a lifespan of the given robotic device. Information associated with a plurality of tasks to be performed by one or more or the robotic devices may also be determined. The computing system may optimize an allocation of the plurality of tasks such that a high precision task may be allocated to a robotic device having a greater current health level than another robotic device.
    Type: Grant
    Filed: August 23, 2016
    Date of Patent: January 9, 2018
    Assignee: X DEVELOPMENT LLC
    Inventors: James J. Kuffner, Jr., Ryan Hickman
  • Patent number: 9864377
    Abstract: A method for generating a navigation map of an environment in which a plurality of robots will navigate, includes obtaining an image of the environment defined by a plurality of pixels, each having a cost value. The environment includes an image of a fixed object having a set of pixels corresponding to its location and having a first defined cost value. The method includes obtaining a planned path image for the robots, which include a first set of pixels corresponding to the location of each robot in the environment and a second set of pixels adjacent to the first set of pixels and extending along a planned path of travel toward a destination. The first set of pixels of each robot having the first defined cost value and the second set of pixels having a second defined cost value. The second defined cost value is less than the first defined cost value.
    Type: Grant
    Filed: April 1, 2016
    Date of Patent: January 9, 2018
    Assignee: Locus Robotics Corporation
    Inventors: Bruce Welty, Bradley Powers, Eric Tappan
  • Patent number: 9794533
    Abstract: A robotic mount is configured to move an entertainment element such as a video display, a video projector, a video projector screen or a staircase. The robotic mount is movable in multiple degrees of freedom, whereby the associated entertainment element is moveable in three-dimensional space. In one embodiment, a system of entertainment elements are made to move and operate in synchronicity with each other.
    Type: Grant
    Filed: September 30, 2014
    Date of Patent: October 17, 2017
    Inventor: Andrew Flessas
  • Patent number: 9792268
    Abstract: A user interface allows zooming and panning of a web-based wall that can support a wide variety of content. Various natural user interface features can be implemented to allow users to interact with content in an intuitive way. Technical infrastructure such as a zoom engine, bounding boxes, and content sharing enable implementation of a rich set of features that are instantly grasped by users. A minimap can provide a helpful overview of content.
    Type: Grant
    Filed: May 15, 2015
    Date of Patent: October 17, 2017
    Assignee: SAP SE
    Inventors: Hans-Michael Graf, Ulf Brackmann
  • Patent number: 9671786
    Abstract: A method is provided for the automatic generation of a robotic devices, where the method comprises the steps of receiving user input to determine a task specification for one or more tasks for the robotic device, determining a task list comprising one or more tasks based on the provided task specification, determining based on the task list provided, one or more mechanical components, one or more processing components, and logic components required to execute one or more tasks; and generating the logic components required to execute one or more tasks, and embedding the logic components onto a recordable medium associated with the robotic device.
    Type: Grant
    Filed: February 17, 2012
    Date of Patent: June 6, 2017
    Assignee: WHITE MAGIC ROBOTICS INC.
    Inventors: Hansjorg Baltes, Jack Elmin Peterson, Shawn Samuel Schaerer, Xiao-Wen Terry Liu, Brian P. McKinnon, Sara Epp, Vergil Kanne, Shane Yanke
  • Patent number: 9666101
    Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
    Type: Grant
    Filed: January 26, 2016
    Date of Patent: May 30, 2017
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Rajesh Kumar, Brian David Hoffman, Giuseppe Maria Prisco, David Q. Larkin, William C. Nowlin, Frederic H. Moll, Stephen J. Blumenkranz, Gunter D. Niemeyer, J. Kenneth Salisbury, Jr., Yulun Wang, Modjtaba Ghodoussi, Darrin R. Uecker, James W. Wright, Amante A. Mangaser, Ranjan Mauherjee
  • Patent number: 9640416
    Abstract: A single- and dual-chamber module-attachable wafer-handling chamber includes: a wafer-handling main chamber equipped with a wafer-handling robot therein, and adaptors for connecting process modules to the wafer-handling main chamber. The adaptors are detachably attached to the sides of the wafer-handling main chamber, respectively, and the process modules are detachably attached to the adaptors, respectively, so that the process modules can be attached to the wafer-handling main chamber, regardless of whether the process modules are of a single-chamber type or dual-chamber type.
    Type: Grant
    Filed: December 26, 2012
    Date of Patent: May 2, 2017
    Assignee: ASM IP Holding B.V.
    Inventor: Izumi Arai
  • Patent number: 9636186
    Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
    Type: Grant
    Filed: January 26, 2016
    Date of Patent: May 2, 2017
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Rajesh Kumar, Brian David Hoffman, Giuseppe Maria Prisco, David Q. Larkin, William C. Nowlin, Frederic H. Moll, Stephen J. Blumenkranz, Gunter D. Niemeyer, J. Kenneth Salisbury, Jr., Yulun Wang, Modjtaba Ghodoussi, Darrin R. Uecker, James W. Wright, Amante A. Mangaser, Ranjan Mauherjee
  • Patent number: 9586318
    Abstract: A wearable smart device is configured to be positioned on and external to a robot having a robot sensor for sensing robot data and a robot input/output port. The wearable smart device includes a device sensor capable of detecting device data corresponding to an environment of the wearable smart device. The wearable smart device also includes a device input/output port. The wearable smart device also includes a device processor coupled to the robot sensor via the robot input/output port and the device input/output port. The device processor is also coupled to the device sensor and configured to control the robot based on the robot data and the device data.
    Type: Grant
    Filed: February 27, 2015
    Date of Patent: March 7, 2017
    Assignee: Toyota Motor Engineering & Manufacturing North America, Inc.
    Inventors: Joseph M. A. Djugash, Douglas A. Moore
  • Patent number: 9555545
    Abstract: Example systems and methods may allow for parallel operation of robotic devices within a workcell, such as industrial robots controlled to manufacture an output product. One example method includes receiving ordered sequences of operations for a plurality of corresponding robotic devices, determining time-based sequences of operations for each of the robotic devices, where a time-based sequence of operations indicates positions within the workcell at corresponding timesteps of a global timeline, determining one or more potential collisions involving the robotic devices that would result from parallel execution of the time-based sequences of operations within the workcell, modifying the time-based sequences of operations in order to prevent the one or more potential collisions, and providing instructions for parallel execution of the modified time-based sequences of operations at timesteps of the global timeline by the robotic devices within the workcell.
    Type: Grant
    Filed: July 16, 2014
    Date of Patent: January 31, 2017
    Assignee: Bot & Dolly, LLC
    Inventors: Jeffrey Linnell, Kendra Byrne
  • Patent number: 9457463
    Abstract: The solar energy and solar farms are used to generate energy and reduce dependence on oil (or for environmental purposes). The maintenance, operation, optimization, and repairs in big farms become very difficult, expensive, and inefficient, using human technicians. Thus, here, we teach using the robots with various functions and components, in various settings, for various purposes, to improve operations in big (or hard-to-access) farms, to automate, save money, reduce human mistakes, increase efficiency, or scale the solutions to very large scales or areas.
    Type: Grant
    Filed: April 14, 2015
    Date of Patent: October 4, 2016
    Assignee: BTPATENT LLC
    Inventor: Saied Tadayon
  • Patent number: 9457475
    Abstract: Systems and methods for providing precise robotic operations without the need for special or task-specific components utilize, in one implementation, a spatial adjustment system, physically separate from the robotic manipulator, supports the target workpiece and works in concert with the robotic manipulator to perform tasks with high spatial precision.
    Type: Grant
    Filed: October 10, 2014
    Date of Patent: October 4, 2016
    Assignee: Rethink Robotics, Inc.
    Inventors: Yuri A. Ivanov, Rodney Brooks
  • Patent number: 9415505
    Abstract: A device for dynamic reconfiguration of robot components includes: a resource monitoring unit for monitoring resources of a plurality of boards on which components for executing tasks of a robot are loaded; a dynamic reconfiguration unit for dynamically reconfiguring components of the boards, in the case at least one of the boards is at a risk for a scarcity of resources; and a log managing unit for storing a configuration of present components and a configuration of reconfigured components. Accordingly, it is possible to recognize a scarcity of resources in advance while the robot is operating and prevent the robot from malfunctioning by distributing the components.
    Type: Grant
    Filed: January 11, 2013
    Date of Patent: August 16, 2016
    Assignee: Korea Institute of Science and Technology
    Inventors: Sang Chul Ahn, Yong-Moo Kwon, Ui Kyu Song
  • Patent number: 9412069
    Abstract: Methods and systems provide the infrastructure supporting an omniphysical mind or descriptive self supportable by a computing device. The infrastructure includes descriptive information capabilities and special symbols that support the capabilities. For example, a system may include at least one processor and memory storing a database that includes symbols, definitions of symbols, and processing rules. Symbol in the database may represent awareness capabilities, a categorization capability, a decision capability, a safety capability, a report capability, and a self-initiate capability. One special symbol may represent the ability of the system to organize and call the other special symbols that support the infrastructure.
    Type: Grant
    Filed: December 4, 2014
    Date of Patent: August 9, 2016
    Assignee: Omniphysical LLC
    Inventors: John Hilley, Zhenyu Ma
  • Patent number: 9345544
    Abstract: Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center.
    Type: Grant
    Filed: May 31, 2013
    Date of Patent: May 24, 2016
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Arjang M. Hourtash, Pushkar Hingwe, Bruce Michael Schena, Roman L. Devengenzo
  • Patent number: 9329587
    Abstract: A master slave robot is that receives force presentation according to a picture watched by an operator operating the master slave robot. The control apparatus for the master slave robot causes a force information correcting unit to correct force information in accordance with magnification percentage information acquired by a displayed information acquiring unit such that the force information is increased accordingly as the magnification percentage information is larger. An operator can thus apply appropriate force while watching the picture projected on a display to perform a task.
    Type: Grant
    Filed: September 3, 2014
    Date of Patent: May 3, 2016
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Yudai Fudaba, Yuko Tsusaka
  • Patent number: 9331860
    Abstract: Embodiments of the present invention provide a method, system and computer program product for virtual world integration with a collaborative computing application. In an embodiment of the invention, a method for virtual world and collaborative computing application integration can be provided. The method can include loading a virtual world, detecting a posting in a collaborative application, and creating an object with the posting in the virtual world. The method further can include detecting a creation of an object in the virtual world including content, and creating a posting in the collaborative application with the content from the object in the virtual world. In one aspect of the embodiment, creating an object with the posting in the virtual world can include determining a topic for the posting, identifying a place in the virtual world corresponding to the topic, and creating the object in the identified place.
    Type: Grant
    Filed: January 19, 2008
    Date of Patent: May 3, 2016
    Assignee: International Business Machines Corporation
    Inventors: Li-Te Cheng, John F. Patterson, Steven L. Rohall
  • Patent number: 9310802
    Abstract: A method of controlling a plurality of robotic vehicles may involve the steps of: Determining a state of each of the plurality of robotic vehicles; assigning a robotic vehicle to an operator in response to a Binding command from the operator; allowing the operator to command the assigned robotic vehicle to perform a mission; and releasing the assigned robotic vehicle in response to an Unbinding command from the operator.
    Type: Grant
    Filed: May 28, 2015
    Date of Patent: April 12, 2016
    Assignee: Jaybridge Robotics, Inc.
    Inventors: Michael Elkins, Todd Rowell, Bradly Martin, Grant Gould