Abstract: A robot and so forth capable of avoiding the mutual interference of a plurality of active sensors mounted on the other robots so that a task may be smoothly executed by each of a plurality of robots are provided. If an active sensor mounted on each of the plurality of robots (R) may mutually interfere with each other and if the degree of contribution of the active sensor to a task being executed by the self robot (R) is lower than that of the active sensor of the other robot (R) to the task being executed by the other robot (R), the sensitivity of the active sensor of the self robot (R) is decreased. As a result thereof, the mutual interference of the active sensors can be avoided, and the robot (R) can be prevented from causing trouble to the task.

Abstract: An apparatus executes movement control that causes a robot arm equipped with a camera to move up to an object, thereby enabling to cause a manipulator to move to an object quickly, accurately, and stably as a control system. Specifically, when the object is not detected, the apparatus executes teaching playback control to cause a manipulator to move along a path up to a target position set in advance based on a position of the object (Step S1). When the object is detected, the apparatus defines a position closer to the object than the target position as a new target position, sets a new path up to the new target position, executes teaching playback control to cause the manipulator to move along the new path until a switching condition for switching the movement control is fulfilled (Steps S3 and S4). When the switching condition is fulfilled, the apparatus executes visual servo control (Step S5).

Abstract: A device and a method for automatically setting an interlock based on a suitable interference area obtained by executing an offline simulation in relation to a system including a plurality of robots. The device executes the simulation on the offline programming system based on a motion program so as to determine a moving path of the robots and a two-dimensional interference area between the robots. Next, the device calculates a first three-dimensional interference area by moving the two-dimensional area in the vertical direction and calculates an accurate second three-dimensional interference area within the first interference area, using three-dimensional models of the robots.

Abstract: The motion of a robot is switched from a first motion, which the robot is currently performing, to a second motion. Postures of the robot in both the motions are pre-defined with a plurality of frames at a plurality of different time points. When switching from the first motion to the second motion, information is acquired on the frames corresponding to the second motion, and the posture of the robot is after the switching is controlled based on the acquired information.

Abstract: A method of dividing a coverage area of a robot and a device for the same. That is, a method of producing a space map for a robot to work and dividing the space map into at least one segment and a device for the same. The method includes producing an occupancy grid map composed of grid points that are probabilistically distributed by sensing a distance from an obstacle, producing a configuration space map by increasing the thickness of an obstacle and a wall in the occupancy grid map on the basis of the radius and size of the robot, and dividing an area by sweeping the area with a band-typed slice in the configuration space map.

Abstract: The present invention relates to a method and a system for controlling a robotic device for inserting or removing rod-like elements into or from a storage frame, the rod-like elements, like smoking bars, serving for storing products, like sausages, each having a sausage-shaped body and a loop for a pendulously storage of the products. The method comprises the steps of moving the storage frame into the operating range of the robotic device, picking up a rod-like element on which a number of sausage like products are hung up by the robotic device, and inserting or removing the rod-like element into or from the storage frame by the robotic device. Moreover, there is provided a storage frame with at least a machine readable label from which information regarding the storage device are read out from the machine readable label, which is attached to the storage device, at least before the storage frame is moved into the operating range of the robotic device.

Abstract: The present invention relates to a robot cleaner system and a method of controlling a robot cleaner. When cleaning start information is received, a control unit (17) of the robot cleaner scans one cleaning area (30), thus calculating a cleaning time. The control unit performs cleaning of the cleaning area. When a signal transmitted from a transmission device (20) is received, the control unit detects which transmitter transmitted the signal. The control unit determines whether a time for which a signal transmitted from a same transmitter has been received is equal to or longer than a preset period. If the time is shorter than the preset period, the control unit continuously performs cleaning. If the time for which the transmitted signal has been received is equal to or longer than the preset period, the control unit moves the robot cleaner until a signal transmitted from another transmitter is received.

Abstract: A modular robot having a plurality of agents for performing movements is provided. Each of these agents includes a computation component for performing computations needed in performing selective movements of the modular robot structure. A communication component is coupled to the computation module. The communication component allows each agent to communicate with its immediate physically-connected neighbor. An actuation component performs actuations associated with movements of the modular robot. A sensing component measures positional information that allows the agent to determine its respective environment. Once a defined shape or a desired task has been specified, each of the agents and their respective component coordinate their respective movements until the defined shape is reached.

Abstract: There is described a method for using a mobile control device, with which a machine can be operated within an assigned effective range. To this end an effective range list is configured, which is checked on the basis of transponder data from RFID transponders.

Abstract: An apparatus, method, and medium for dividing regions by using feature points and a mobile robot cleaner using the same are provided. A method includes forming a grid map by using a plurality of grid points that are obtained by detecting distances of a mobile robot from obstacles; extracting feature points from the grid map; extracting candidate pairs of feature points, which are in the range of a region division element, from the feature points; extracting a final pair of feature points, which satisfies the requirements of the region division element, from the candidate pairs of feature points; forming a critical line by connecting the final pair of feature points; and forming a final region in accordance with the size relationship between regions formed of a closed curve which connects the critical line and the grid map.

Abstract: A method and system for identifying an edge of a crop facilitates guidance of an agricultural machine or other work vehicle along an edge of a crop at an interface between harvested and unharvested portions of a field. A transmitter emits a plurality of a transmitted radiation pattern of one or more generally linear beams spaced apart within a defined spatial zone. A receiver collects an image of the defined spatial zone. A detector detects a presence of crop edge between a harvested and unharvested portion of a field based on an observed illumination radiation pattern on the unharvested portion formed by at least one of the generally linear beams. A data processor identifies coordinate data, in the collected image, associated with the detected crop edge.

Abstract: An environment map building method and an environment map building apparatus can express the surrounding embodiment with a high resolution in the height direction in a manner robust relative to observation noises.

Abstract: A method of determining complete sensor requirements for autonomous mobility of an autonomous system includes computing a time variation of each behavior of a set of behaviors of the autonomous system, determining mobility sensitivity to each behavior of the autonomous system, and computing a change in mobility based upon the mobility sensitivity to each behavior and the time variation of each behavior. The method further includes determining the complete sensor requirements of the autonomous system through analysis of the relative magnitude of the change in mobility, the mobility sensitivity to each behavior, and the time variation of each behavior, wherein the relative magnitude of the change in mobility, the mobility sensitivity to each behavior, and the time variation of each behavior are characteristic of the stability of the autonomous system.

Abstract: A method and system to provide improved accuracies in multi jointed robots through kinematic robot model parameters determination are disclosed. The present invention calibrates multi-jointed robots by using the chain rule for differentiation in the Jacobian derivation for variations in calculated poses of reference points of a reference object as a function of variations in robot model parameters. The present invention also uses two such reference objects and the known distance therebetween to establish a length scale, thus avoiding the need to know one link length of the robot. In addition, the present invention makes use of iterative methods to find the optimum solution for improved accuracy of the resultant model parameters. Furthermore, the present invention provides for determination of the end joint parameters of the robot, including parameters defining the tool attachment mechanism frame, which allows for interchange of tools without subsequent calibration.

Abstract: A robot control apparatus for controlling walking of a robot includes a control information generating unit that generates control information based on a posture of a robot at a plurality of different points of time including at least a reference posture when the robot is independently standing without falling down, a feedback control unit that, with respect to the robot controlled according to the control information generated by the control information generating unit, performs a gyro feedback control based on a rotation angle measured at two points of time when rolling to left and right becomes maximum by a gyro sensor installed in the robot, and a rolling amplitude correcting unit that, while the robot is in motion, corrects a rolling amplitude that is used by the control information generating unit in generating the control information so that the gyro feedback control performed by the feedback control unit is reduced.

Abstract: A machine is disclosed having a detection subsystem adapted to detect contact between a person and a specified portion of the machine, and to distinguish that contact from contact with other materials. The detection subsystem imparts an electrical signal to a specified portion of the machine, and distinguishes that contact based on a predetermined frequency response of the electrical signal. A reaction subsystem then causes a predetermined action to take place. The machine may be a power saw designed to minimize injury in the event a person accidentally contacts the blade.

Abstract: A robotic arm is provided, for example for inspecting a rotary machine such as a gas turbine engine. The arm has a plurality of groups of links having articulations therebetween for movement in a first plane, the groups having articulations with respect to each other for movement in a second orthogonal plane. Thus the arm can move around objects such as aerofoils in the engine, and also move up or down to remain close to the rotary surface of the machine.

Abstract: Disclosed is an apparatus and method for detecting slip of a robot. The robot periodically repeats a pattern movement in the order of a uniform motion, a decelerating motion, and an accelerating motion, or in the order of a uniform motion, an accelerating motion, and a deceleration motion. The occurrence of slip of the robot performing a pattern movement is determined by comparing a first acceleration of the robot measured by an acceleration sensor and a second acceleration of the robot measured by an encoder.

Abstract: Disclosed is a humanoid robot apparatus, method and computer-readable medium thereof related to lifting and holding a heavy object having a weight unknown to the robot, by measuring an external force acting on the robot. Linear momentum and rotational momentum are compensated for stepwise according to the degree of stability of the robot which is determined based on the measured external force. Accordingly, the robot stably lifts and holds the object without losing its balance.

Abstract: The lumbar part of a robot as a controlled-object point where the mass amount becomes maximum is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.

Abstract: Disclosed herein are navigational systems for automated robotic floor cleaners. RFID passive tags are positioned at specified areas of a floor to be treated so as to increase or decrease dwell time of the cleaning device adjacent the tags. An RFID interrogator on the robot learns from each tag its nature, and based thereon instructs the device to change the dwell time over specified areas. This permits areas of a carpet or other surface requiring extra or less treatment to be cleaned in an optimal manner.

Abstract: A mobile apparatus capable of moving or acting autonomously while flexibly avoiding contact with a moving object in accordance with various situations is provided. In a case where a second safety condition is not satisfied because, e.g., a first target trajectory cannot be found, a second target trajectory causing a first spatial element to approach the boundary of an element passing region is searched for and determined. A robot autonomously approaches the boundary of the passable region in accordance with the second target trajectory determined as a provisional target trajectory, and stops at the position corresponding to the end point of the second target trajectory. Such movement of the robot along the second target trajectory increases the space, making it possible to prompt an object to move through the space.

Abstract: The content of the voice designation of a designator is recognized by a voice recognition part 130 at the time of controlling a robot, and the content of the indication of gesture or the like is recognized by an image recognition part 120. A movement destination and a map around the specific position designated are referred from a map data base 150 registering the position of an obstacle and the current position estimated by a self-position estimation part 140. After movement ease is decided by a movement ease decision part 112, the behavior is decided. When movement designation is given to the robot, correspondence according to a situation can be performed.

Abstract: A control system is provided for navigating an autonomous machine around a working area in a manner that causes the machine to traverse substantially all of the free surface of the working area. The control system is arranged to cause the machine to follow a boundary of the working area and to perform a plurality of movements, each movement comprising the machine travelling away from the boundary of the working area, at an angle to the boundary, and returning again to the boundary. The machine moves along the boundary of the working area between each movement and repeats the movements as the machine follows substantially the entire boundary of the working area.

Abstract: To improve the accuracy of the self position estimation of a mobile robot. A robot measures a distance to an object in the mobile environment by using a range sensor. An environmental map storage unit stores an environmental map containing a plurality of map data each corresponding to a respective one of a plurality of measurement directions from which a point in the mobile environment is to be observed. A self position estimation unit selects a map data corresponding to a measurement direction in which a distance to the object is measured by the range sensor from the plurality of map data. Then, the self position estimation unit estimates a self position of the mobile robot based on the selected map data and range data obtained by the range sensor.

Abstract: To make it possible to teach a grasping action for a work object whose shape and 3D position are unknown to a robot by an intuitive and simple input operation by an operator. a captured image of the working space is displayed on a display device; (b) an operation in which a recognition area including a part of a work object to be grasped by a hand is specified in two dimensions on an image of the work object displayed on the display device is received; (c) an operation in which a primitive shape model to be applied to the part to be grasped is specified from among a plurality of primitive shape models; (d) a parameter group to specify the shape, position, and posture of the primitive shape model is determined by fitting the specified primitive shape model onto 3D position data of a space corresponding to the recognition area; (e) a grasping pattern applicable to grasping of the work object is selected by searching a database in which grasping patterns applicable by a hand to primitive shape models are stored.

Abstract: A floor cleaning device that is manually trainable for subsequent automatic operation. Prior to automatic operation, a user trains the cleaning device by manually manipulating the device through one or more desired cleaning paths. After training of the device, the device is configured to automatically initiate subsequent cleaning operations in accordance with the trained routine(s). Preferably, the training routine includes user specification of one of a number of cleaning modalities that are supported by the flooring cleaning device. In addition to automatic navigation, the floor cleaning device is configured to initiate a desired cleaning modality as a function of the device's position with respect to one or more of the trained routine(s).

Abstract: A position control method for controlling a position of a movable portion, includes: performing control of allowing the movable portion to approach a predetermined position by moving the movable portion; and performing control of moving the movable portion to the predetermined position by moving the movable portion and detecting a relative position of the movable portion with respect to the predetermined position by using an imaging unit.

Abstract: A method and apparatus generating and tracing a cleaning trajectory of a home cleaning robot the method including: controlling the home cleaning robot to straightly travel as much as a set distance from the docking station and then rotationally travel, maintaining the set distance from the docking station, until the home cleaning robot reaches one of two walls; controlling the home cleaning robot to travel as much as the set distance along the wall if the home cleaning robot reaches the wall and resume rotational-traveling around the docking station, maintaining a distance between the docking station and the home cleaning robot increased by the set distance until it reaches one of the two walls; and repeatedly controlling the home cleaning robot to travel as much as the set distance along the wall if the home cleaning robot reaches the wall and resume rotational-traveling around the docking station, maintaining a distance between the docking station and the home cleaning robot increased by the set distance un

Abstract: A legged mobile robot which permits improved follow-up of an actual floor reaction force to a desired floor reaction force and which can be stably controlled is provided. According to a robot 1 in accordance with the present invention, a deformation amount (mechanism deformation amount) of a compliance mechanism 42 that occurs due to a desired floor reaction force of a foot (ground contacting portion) 22 is determined, and the operation of a leg 2 is controlled such that the foot 22 lands onto a floor at a predetermined velocity in a vertical direction or in a direction perpendicular to the floor surface on the basis of a component of the mechanism deformation amount in the vertical direction or a component thereof in the direction perpendicular to the floor surface.

Abstract: On the basis of at least a difference between a desired state amount related to a posture of a robot 1 about a vertical axis or a floor surface normal line axis and an actual state amount of the robot 1 and a permissible range of a restriction object amount, namely, a vertical component of a floor reaction force moment or a component of the floor reaction force moment in a floor surface normal line direction to be applied to the robot 1, instantaneous values of a desired motion and a desired floor reaction force are determined such that a difference between a floor reaction force moment balancing with the desired motion on a dynamic model and a floor reaction force moment of the desired floor reaction force approximates the aforesaid difference to zero, while having the restriction object amount, which is associated with the desired floor reaction force, fall within the permissible range.

Abstract: A robot includes: an arm with one end pivotally supported; a driving source that pivots the arm; an angle sensor that detects a pivot angle of the driving source and outputs pivot angle information of the driving source; an inertia sensor that is attached to the arm and outputs inertial force information of an inertial force acting on the arm; a control command generating unit that outputs a control command defining rotational operation of the arm; a control conversion determining unit that determines whether the inertial force information is used or not when the driving source is controlled to control operation of the arm; and an arm operation control unit that performs a first control based on the control command, the pivot angle information, and the inertial force information, to control the driving source and thus control the operation of the arm, if the control conversion determining unit determines to use the inertial force information, and performs a second control which is different from the first con

Abstract: An apparatus and a method for optimizing robot performance includes a computer connected to the robot controller for receiving performance data of the robot as the controller executes a path program. The computer uses the performance data, user specified optimization objectives and constraints and a kinematic/dynamic simulator to generate a new set of control system parameters to replace the default set in the controller. The computer repeats the process until the new set of control system parameters is optimized.

Abstract: A robot includes a wheeled chassis (12), actuators that ensure the movement of the wheeled chassis (12), and command-control element to which sensors send information, characterized in that the wheeled chassis (12) includes two driving wheels (16) that have axes of rotation in a transverse plane and two wheeled elements (22) along at least two axes of rotation and/or pivoting that each have a vertical pivoting axis (24) that is arranged in the longitudinal median plane of the robot, and in that it includes a laser or radar that is arranged in a horizontal slot (38) that is made in the covering of the robot whose bottom has shapes that make it possible to optimize the field of vision of the laser.

Abstract: The invention relates to a vision-based attention system, comprising: at least one vision sensor, at least one image processing module processing an output signal of the vision sensor in order to generate at least one two-dimensional feature map, a dorsal attention subsystem generating a first saliency map on the basis of the at least one feature map, the saliency map indicating a first focus of attention for the driver assistance system, a ventral attention subsystem, independent to the dorsal attention subsystem, for generating a second saliency map on the basis of at least one feature map, which can be the same as the one used for the dorsal attention system or a different one, the second saliency map indicating unexpected visual stimuli.

Abstract: A robot includes an arm member, a rotary actuator that swings the arm member, a hand member provided at an end of the arm member, a joint member that connects the arm member and the hand member to each other such that the arm member and the hand member are rotatable with respect to each other, a linear actuator that supports and linearly moves the rotary actuator, and a controller that operates the rotary actuator and the linear actuator in association with each other to linearly move the hand member in a forward-backward direction.

Abstract: A risk evaluation support device is used for a safety network which serves to cause an output device to make a controlled device operable based on a detection signal outputted from an input device when the input device detects a safety condition. The support device creates a parameter setting table for correlating a danger source with the input and output devices and a PLC for risk evaluation based on configuration data of the safety network obtained through a communication part and device data on devices obtained from a component database. Operating data for the safety network are obtained according to conditions provided by the parameter setting table and a current risk evaluation value for the danger source is calculated based on the obtained operating data. The calculated risk evaluation value is outputted to a display part.

Abstract: The control apparatus for a movable robot comprises: environment information acquisition means (such as video camera 3 and microphone 4); a current position detecting means (15); a map storage (7); a control parameter storage (9) for storing control parameters adjusted to different environments; and control means (11, 12) for determining a current position of the robot on the map data based on a signal from the current position detecting means, retrieving control parameters suitable for the current position from the parameter storage, and controlling the environment information acquisition means or actuators for moving the robot by using the retrieved control parameters.

Abstract: Disclosed herein are a mobile robot system to restrict a traveling region of a robot and to guide the robot to another region, and a method of controlling the same. Only when a remote controller reception module of a beacon senses a signal transmitted from a mobile robot, the sensed result is reported to the mobile robot in the form of a response signal. In addition, the Field-of-View (FOV) of the remote control reception module is restricted by a directivity receiver. Only when the signal transmitted from the mobile robot is sensed within the restricted FOV, the sensed result is reported to the mobile robot.

Abstract: Disclosed are a mobile robot and a controlling method thereof. The mobile robot comprises: a case; and a sensor unit having two or more sending portions and two or more receiving portions arranged on an outer surface of the case separately and alternately. The plurality of sending portions and receiving portions are arranged in an alternating manner, thereby having a directivity. Also, since signals received through the receiving portions are judged based on a reference value, an area unallowable to be detected for an obstacle sensing is minimized, which allows an obstacle to be detected more accurately. When the obstacle corresponds to a side wall on the basis of a moving path of the mobile robot, a distance between the side wall and the mobile robot is calculated based on signals received by the receiving portion closest to the side wall. Accordingly, the mobile robot can move with maintaining a constant distance from the side wall.

Abstract: A navigation system and method uses loops as opposed to existing search techniques to more expeditiously find routes on a map from a starting point to a destination. Roads on a map are traced to form one or more continuous loops. Information regarding the loops is stored for future reference. A starting point and at least one destination are specified, and loops that connect the loops containing the starting point and destination are determined. A route is then formulated from the starting point to the destination using road segments or intersections where the identified loops are mutually contiguous. A list is generated including the loops and the road segments associated therewith. The road segments of an initial loop are examined and, if a road segment or intersection common to a next loop is identified, the road segments of that loop are examined, and so on, until a route from the starting point to the destination is found.

Abstract: A method to move a person with an automated manipulator, in particular a robot, includes moving a rider receptacle for a person with the manipulator, and determining an acceleration variable of this movement before and/or during the execution of this movement and comparing the acceleration variable with a predetermined acceleration variable and/or adapting the movement to a predetermined acceleration variable in the event that the determined acceleration variable deviates from the predetermined acceleration variable, and/or a predetermined acceleration variable is used that includes different permissible acceleration durations that are respectively associated with a permissible acceleration value.

Abstract: A control device for controlling the movement of a machine determines a base position set value according to a given base track in space. By limitation of a base element of a machine therewith, the above is hence positionally moved along a base track. The control device further determines a corresponding current supplementary end position in space using the base position set value. The control device also determines a supplementary position set value from a given fixed supplementary start position in space and the current supplementary end position. By limitation of a supplementary element of the machine thereto, the above is thus displaced along an current supplementary track from the supplementary start position, to the current supplementary end position.

Abstract: When there is an object that has a possibility to come into contact with a robot 1 in a desired path, the robot 1 is decelerated stepwise according to the distance L from the robot 1 to a predicted contact position along the desired path. For example, legs 13 and the like of the robot 1 are so controlled that when the distance L is less than a first threshold L1, the moving speed is reduced to a first speed V1, and when the distance L is less than a second threshold lower than the first threshold, the moving speed is reduced from the first speed to a second speed.

Abstract: A robot confinement system includes a portable housing and a mobile robot. The portable housing includes a first detector operable to detect a presence of the mobile robot in a field of detection, and an emitter operable to emit a first signal when the first detector detects the presence of the mobile robot in the field of detection. The mobile robot is operable to move on a surface to clean the surface and includes a controller operable to control a movement path of the mobile robot on the surface. The mobile robot further includes a second detector operable to detect the first signal emitted by the portable housing. The controller of the mobile robot is operable to change the movement path of the mobile robot in response to detection of the first signal.

Abstract: A mobile robot operable to move on a surface in a room is provided. The mobile robot includes a shell and a chassis including at least two wheels. At least one motor is connected to the wheels for moving the mobile robot on the surface. A cleaner is operable to clean the surface as the mobile robot moves on the surface. A wall sensor is operable to detect a wall in the room as the mobile robot moves on the surface. A controller is operable to control the motor to move the mobile robot on the surface in accordance with a wall following mode and a bounce mode. In the wall following mode, the mobile robot moves generally adjacent to and along the wall in response to detection of the wall by the wall sensor. In the bounce mode, the mobile robot moves away from the wall.

Abstract: A method of controlling movement of a mobile robot for realizing safe and appropriate accompanying behavior to follow an accompanied target includes detecting at least a position of the accompanied target, and controlling the movement of the mobile robot, based on the detected position of the accompanied target, so that the mobile robot moves along a path that is parallel to a moving direction of the accompanied target.

Abstract: A behavior control system for a robot apparatus that operates autonomously. The behavior control system includes a plurality of behavior description sections for describing motions of the robot and an external environment recognition section. The system also includes an internal state management section for managing an internal state of the robot in response to the recognized external environment and/or a result of execution of a behavior, and for managing emotions. A behavior evaluation section evaluates execution of behaviors in response to the external environment and/or the internal state.

Abstract: There is provided a low-cost diagnosis system for a transport robot which is capable of improving the apparatus operating rate without incurring an increase in the number of parts. In case a robot arm is detected by any of detection means when a substrate (S) is transported by the robot arm among processing chambers (C), operation data of the robot arm to be detected by the detection means is obtained and reference value is prepared. Then, every time the robot arm is detected by the detection means, the operation data is obtained and compared with the reference value. In case a change exceeds a predetermined range, the transport robot is judged to be abnormal.

Abstract: A mechanism for empirically deriving the values of the damping ratio and frequency of the mechanism driven by a servo-controlled control system is disclosed. In accordance with the illustrative embodiment, the values of the damping ratio and frequency are continually re-generated based on empirical data derived from sensor feedback of the maximum-amplitude switch and the linear second-order servo. Because the values of the damping ratio and frequency are generated from empirical data, it is not necessary that they be known, and because the values of the damping ratio and frequency are continually re-generated, variances in their values are continually noticed and compensated for.