Abstract: A mobile robot includes a non-inverted pendulum body hereafter referred to as NPB with at least one pivot axis and this pivot axis divides the NPB into two portions. One portion of the NPB contains the center of mass of the NPB that can have structures to carry external payloads. The second portion of the NPB can have one or more manipulator arm and vision units. On the pivot axis is disposed at least one leg rotatabily coupled to the NPB. The other end of the leg has a foot joint on which is disposed a drive wheel or a foot. With additional degrees of freedom for each leg the robot can move similar to humanoids, be able to carry and sustain heavy loads with minimal leg joint torques and/or manipulate heavy loads and forces with self-compensating mass of the NPB while using minimal leg joint torques.

Abstract: A system and method for operation of an autonomous vehicle (AV) yard truck is provided. A processor facilitates autonomous movement of the AV yard truck, and connection to and disconnection from trailers. A plurality of sensors are interconnected with the processor that sense terrain/objects and assist in automatically connecting/disconnecting trailers. A server, interconnected, wirelessly with the processor, that tracks movement of the truck around and determines locations for trailer connection and disconnection. A door station unlatches/opens rear doors of the trailer when adjacent thereto, securing them in an opened position via clamps, etc. The system computes a height of the trailer, and/or if landing gear of the trailer is on the ground and interoperates with the fifth wheel to change height, and whether docking is safe, allowing a user to take manual control, and optimum charge time(s). Reversing sensors/safety, automated chocking, and intermodal container organization are also provided.

Abstract: A system for monitoring alignment of a second component relative to a first component includes a camera, and a controller including a processor and a nontransitory memory. The controller is configured to receive a first captured image from the camera when the second component is in a predetermined position relative to the first component, receive a selection of a region of interest (ROI) in the first captured image, identify a visible feature of the second component within the ROI of the first captured image, receive captured images from the camera during a subsequent operation, identify a second captured image when the second component is expected to be in the predetermined position relative to the first component, and determine if the second component is in the predetermined position relative to the first component based on the second captured image and the identified visible feature of the first captured image.

Abstract: A method for correcting a robot is provided. The method includes: providing a correction device, wherein the correction device comprises a jig wafer; grabbing and/or transferring the jig wafer by using the robot to obtain collected data; determining, based on the collected data, whether the robot needs to be corrected; and in response to that the robot needs to be corrected, obtaining a compensation value according to the collected data, and correcting the robot based on the compensation value.

Abstract: The present disclosure relates to a kinematics calibration method for a robot with multiple degrees of freedom. The robot includes a base, an end effector, and a plurality of links connected by joints. The method includes locking part of the multiple degrees of freedom by limiting the base and the end effector impose a limitation of degree of freedom; moving the robot to perform a first movement and accordingly obtaining a first set of data associated with joint angles and a first actual motion of the end effector; calculating a first theoretical motion of the end effector based on the first set of data and initial kinematics parameters; and updating the initial kinematics parameters of the robot to obtain a first set of updated kinematics parameters based on the first theoretical motion and the first actual motion.

Abstract: A method includes: receiving a substrate on a first stage by a holder of a substrate transfer mechanism; causing the substrate to pass through a first measurement part, and measuring a first true deviation amount between the holder and the substrate at a first position; causing, when transferring the substrate toward a second stage, the substrate to pass through a second measurement part, and measuring a second true deviation amount between the holder and the substrate at a second position; reflecting a difference between the first and second true deviation amounts to a physical model to correct the physical model; calculating a position correction amount of the holder on the second stage from a thermal displacement amount of the holder at the second position; and controlling the substrate transfer mechanism based on the position correction amount to perform a position correction of the holder.

Abstract: A control device of a production machine receives a present path and a movement command from an operator during manual operation of the production machine. An element of the production machine should be moved along the present path by means of position-controlled axes. Based on the movement command, a series of position setpoint values having a setpoint velocity is determined for the axes. The control device determines from the position setpoint values and corresponding position actual values control commands for the drives driving the axes and controls the drives accordingly. The determined control commands limit a contact force (F), which the at least one element exerts on its environment, to a force limit value (F0) specified to the control device. The control device monitors a following error of the drives and suppresses further movement of the element when the following error reaches a maximum value.

Abstract: A robot system is provided which can suitably perform robot movement correction.

Abstract: A method is for operating a manipulator that has a movement device, a compensating device, and a tool. In the method, a relative displacement of the compensating device, with respect to a target position, is sensed during setting-up and is taken into account in a subsequent control of the manipulator.

Abstract: A surgical system and method involve a robotic system with a base and a localizer that monitors a tracker supported by the robotic system. Sensor(s) are coupled to the robotic system and/or the localizer. Controller(s) determine a relationship between the base and the localizer. The controller(s) monitor the relationship to detect an error related to one or both of the robotic system and the localizer. The controller(s) utilize the sensor(s) to determine a cause of the error.

Abstract: A metrology system is provided for use with a movement system that moves an end tool (e.g., a probe). The metrology system includes a sensor configuration, a light beam source configuration and a processing portion. The sensor configuration comprises a plurality of light beam sensors. The light beam source configuration directs light beams to the light beam sensors of the sensor configuration. One of the light beam source configuration or the sensor configuration is coupled to the end tool and/or an end tool mounting configuration of the movement system which moves the end tool. The light beams that are directed to the light beam sensors cause the light beam sensors to produce corresponding measurement signals. A processing portion processes the measurement signals from the light beam sensors which indicate the position and orientation of the end tool.

Abstract: A robot control device includes at least one memory, and at least one processor, wherein the at least one processor is configured to obtain environmental information in a real environment, obtain information related to an action to be performed by a robot in the real environment based on the environmental information and a first policy, obtain information related to a control value that causes the robot to perform the action based on the information related to the action and a second policy, and control the robot based on the information related to the control value. The first policy is learned by using a virtual robot in a simulation environment.

Abstract: A robot system includes a robot, a vision sensor, and a controller. The vision sensor is configured to be detachably attached to the robot. The controller is configured to measure a reference object by using the vision sensor and calibrate a relative relationship between a sensor portion of the vision sensor and an engagement portion of the vision sensor, and teach the robot by referring to the relative relationship and by using the vision sensor, after the vision sensor is attached to the robot.

Abstract: A system and method for performing automatic camera calibration is provided. The system receives a calibration image, and determines a plurality of image coordinates for representing respective locations at which a plurality of pattern elements of a calibration pattern appear in a calibration image. The system determines, based on the plurality of image coordinates and defined pattern element coordinates, an estimate for a first lens distortion parameter of a set of lens distortion parameters, wherein the estimate for the first lens distortion parameter is determined while estimating a second lens distortion parameter of the set of lens distortion parameters to be zero, or is determined without estimating the second lens distortion parameter. The system determines, after the estimate of the first lens distortion parameter is determined, an estimate for the second lens distortion parameter based on the estimate for the first lens distortion parameter.

Abstract: A method for object grasping, including: determining features of a scene; determining candidate grasp locations; determining a set of candidate grasp proposals for the candidate grasp locations; optionally modifying a candidate grasp proposal of the set; determining grasp scores associated with the candidate grasp proposals; selecting a set of final grasp proposals based on the grasp scores; and executing a grasp proposal from the set of final grasp proposals.

Abstract: A robot control device executes assist control for generating an assist force in a direction of an external force applied to a robot in a case where a position of the robot is located in a first area set in a work area of the robot when the external force is applied to the robot. The robot control device stops the execution of the assist control in a case where the position of the robot is located in a second area set outside the work area of the robot. The robot control device restricts the execution of the assist control in a case where the position of the robot is located in a third area set outside the first area and inside the second area.

Abstract: A method for processing a map of a closed space is provided. The method includes obtaining a plurality of self-locations of a mobile device. The method also includes obtaining a plurality of obstacle locations. The method also includes obtaining a boundary profile based on the obstacle locations, the boundary profile being a closed line formed by sequentially connecting multiple adjacent obstacle locations. The method also includes obtaining a self-circle based on the self-locations of the mobile device, the self-circle being a closed line formed by sequentially connecting multiple adjacent self-location of the mobile device. The method also includes determining the boundary profile as an outer profile when the boundary profile encircles the self-circle at an outer side of the self-circle. The method further includes processing the map of the closed space based on the outer profile.

Abstract: An electronic device, comprising: a first light source, configured to emit first light; a second light source, configured to emit second light; an optical sensor, configured to sense optical data generated according to reflected light of the second light or according to reflected light of the first light; and a control circuit, configured to analyze optical information of the optical data. If the control circuit determines variation of the optical information is larger than a variation threshold, the control circuit controls the first light source to be non-activated and the second light source to be activated.

Abstract: Provided is a robot system capable of appropriately removing an object that may deform depending on a placement state. A robot system according to the present disclosure is provided with: an imaging apparatus that captures an image of an object; a robot that picks up the object; an image processing apparatus that identifies the position of the object on the basis of the image captured by the imaging apparatus; and a robot controller that causes the robot to pick up the object, the position of which has been identified by the image processing apparatus.

Abstract: Methods for managing a robot arm are disclosed. In one method, during a movement of the robot arm in an axis thereof, a signal collected by a sensor equipped at a frame of the robot arm is received. A change in strength of the received signal is detected, where the change is caused by an offset between a position of a reference mark equipped at the robot arm and a position of the sensor. An original point of the axis of the robot arm is determined based on the detected change. Further, robot systems, apparatuses, systems, and computer readable media for managing a robot arm in the robot systems are disclosed. The original point of the axis of the robot arm may be determined without a dedicated calibrating tool, and then the robot arm may be calibrated based on the original point accurately.

Abstract: An article storage facility is disclosed that is capable of performing an appropriate transport operation on a container group even when a container group that includes a plurality of containers in a stacked state is placed on a placement surface in an inclined state.

Abstract: A medical instrument system includes actuators, a medical instrument, and a control system operably connected to the actuators. The medical instrument includes an end portion and transmission systems, each of which couples the end portion to an actuator of the actuators such that the actuators are operable to drive the transmission systems to move the end portion. The control system is configured to execute operations including determining a difference between a current configuration of the end portion and a desired configuration of the end portion, and operating the actuators to apply tensions to the transmission systems based on the difference and based on constant offset tensions. The constant offset tensions are independent of current tensions experienced by the transmission systems.

Abstract: Systems and methods for authoring and modifying presentation conversation files are disclosed. Exemplary implementations may: receive, at a renderer module, voice files, visual effect files, facial expression files, and/or mobility files; analyze, by the language processor module, the voice files, the visual effect files, the facial expression files, and/or mobility files follow guidelines of a multimodal authoring system; generate, by the renderer module, one or more presentation conversation files based at least in part on the received voice files, visual effect files, facial expression files, and/or mobility files; test, at an automatic testing system, the one or more presentation conversation files to verify correct operation of a computing device that receives the one or more presentation conversation files as an input; and identify, by a multimodal review module, changes to be made to the voice input files, the visual effect files, the facial expression files, and/or the mobility files.

Abstract: A work machine unit includes: a support member assembled to an end effector connection part of an operating machine; a work machine part assembled to one end of the support member; and a linear guide disposed at another end of the support member across its connection to the end effector connection part from the support member, arranged in parallel to an axial direction of the work machine part, and configured to abut against a work object or its peripheral structural object. Further, the linear guide is passed through a through-hole formed in the support member, and the support member is configured to move in the axial direction of the work machine part as guided by the linear guide.

Abstract: A controller for controlling wireless command transmission to a robotic device is described. The controller is configured to obtain an action that is to be performed by a robotic device and to determine a quality of control, QoC, level that is associated with the action. The controller is further configured to trigger a setting of at least one transmission parameter for a wireless transmission of a command pertaining to the action. The transmission parameter setting is dependent on the QoC level determined for the action.

Abstract: A method for measuring displacements of an end effector passing through a load lock gate of semiconductor equipment according to an embodiment of the present disclosure includes measuring a first displacement in a vertical direction and a second displacement in a horizontal direction of the end effector while the end effector passes through the load lock gate, calculating changes in pitch and roll of the end effector based on the measured first displacement, and calculating a change in yaw of the end effector based on the measured second displacement.

Abstract: A computer-implemented method of operating an implement for a work machine as disclosed herein includes a calibration mode and an operation mode. In the calibration mode: at least one of one or more components of the implement may be rotated about at least one linkage joint corresponding to the at least one of the one or more components into one or more poses; for the one or more poses, the implement may be revolved about a frame of the work machine; output signals may be received from at least one sensor associated with the at least one of the one or more components; and at least one characteristic for the at least one of the one or more components may be tracked. In the operation mode, movement of the at least one of the one or more components may be based in part on the tracked at least one characteristic.

Abstract: Techniques are disclosed that enable training a plurality of policy networks, each policy network corresponding to a disparate robotic training task, using a mobile robot in a real world workspace. Various implementations include selecting a training task based on comparing a pose of the mobile robot to at least one parameter of a real world training workspace. For example, the training task can be selected based on the position of a landmark, within the workspace, relative to the pose. For instance, the training task can be selected such that the selected training task moves the mobile robot towards the landmark.

Abstract: A method and computer program product for defining a PWM drive signal having a defined voltage potential. The PWM drive signal has a plurality of “on” portions and a plurality of “off” portions that define a first duty cycle for regulating, at least in part, a flow rate of a pump assembly. At least a portion of the “on” portions of the PWM drive signal are pulse width modulated to define a second duty cycle for the at least a portion of the “on” portions of the PWM drive signal. The second duty cycle regulates, at least in part, the percentage of the defined voltage potential applied to the pump assembly.

Abstract: A system and method for performing automatic camera calibration is presented. The system communicates with a first camera and a second camera, wherein a transparent platform is disposed between the two cameras. When a 3D calibration pattern is disposed on the platform, the system receives a first set of calibration images from the first camera, and a second set of calibration images from the second camera. The system determines, based on the first set of calibration images, a first set of coordinates for corners of the polyhedron. The system further determines, based on the second set of calibration images, a second set of coordinates for the corners. The system determines, based on the coordinates, a spatial relationship between the first camera and the second camera. The system further uses a description of the spatial relationship to generate a 3D model of an object other than the 3D calibration pattern.

Abstract: A surgical operation monitoring method applied to a surgical operation monitoring system comprises: acquiring a position of a surgical site of a surgical object at a first moment; under the condition that the position of the surgical site at the first moment exceeds a moving range of an actuating end of a mechanical arm, determining an allowable moving range of the surgical site at the first moment; and under the condition that the allowable moving range of the surgical site at the first moment and a moving range of the actuating end of the mechanical arm have an overlapping range, controlling a driver to drive a support body to move so that the support body drives the surgical site to move into the overlapping range.

Abstract: Cable-actuated differential enabling N degrees of freedom provided by a plurality of pulleys and at least N+1 tensioning cables. The cable-actuated differential increases a dynamic force range by minimizing co-activation of the tensioning cables at any operating point. A cable-actuated differential having three cables provides motor based control of a 2 DOF joint that can be applied to robots or teleoperation. A cable-actuated mechanical differential having opposing bevel gears and a middle bevel gear meshed with the opposing gear allows an output connector to controllably and independently rotate about the x axis or y axis via three operational modes without backlash.

Abstract: Manufacturing of a shoe or a portion of a shoe is enhanced by executing various shoe-manufacturing processes in an automated fashion. For example, information describing a shoe part may be determined, such as an identification, an orientation, a color, a surface topography, an alignment, a size, etc. Based on the information describing the shoe part, automated shoe-manufacturing apparatuses may be instructed to apply various shoe-manufacturing processes to the shoe part, such as a pickup and placement of the shoe part with a pickup tool.

Abstract: Techniques for navigating semi-autonomous mobile robots are described. A semi-autonomous mobile robot moves within an environment to complete a task. A navigation server communicates with the robot and provides the robot information. The robot includes a navigation map of the environment, interaction information, and a security level. To complete the task, the robot transmits a route reservation request to the navigation server, the route reservation request including a priority for the task, a timeslot, and a route. The navigation server grants the route reservation if the task priority is higher than the task priorities of conflicting route reservation requests from other robots. As the robot moves within the environment, the robot detects an object and attempts to classify the detected object as belonging to an object category. The robot retrieves an interaction profile for the object, and interacts with the object according to the retrieved interaction profile.

Abstract: A delivery system includes an autonomously-moving-type delivery vehicle configured to deliver an article to a delivery destination thereof, and a transportation vehicle configured to carry and transport the delivery vehicle. A control unit configured to control an operation of the delivery vehicle acquires information about an acceleration of the transportation vehicle from the transportation vehicle, and controls the operation of the delivery vehicle based on the information about the acceleration so that a displacement that is predicted to occur in the delivery vehicle due to the acceleration of the transportation vehicle is reduced.

Abstract: An aspect of the present invention prevents a robot from being subjected to an excessive load even when operated by an inexperienced user. Provided is a human-cooperative robot system including a robot and a control device that controls the robot. The robot is provided with a sensor that detect an external force applied to the robot. The control device stops the operation of the robot when the detected external force is equal to or greater than a first threshold, and issues a warning when the detected external force is equal to or greater than a second threshold exceeding the first threshold.

Abstract: A method for determining a current estimated gyroscope bias of a gyroscope configured to output rotation rate data includes receiving first rotation rate data associated with a first time from the gyroscope, the first rotation rate data comprising a first rotation rate reading that indicates a rotation rate of the gyroscope about a first axis; calculating a rotation rate moving average and a rotation rate moving average associated with a second time earlier than the first time; calculating a moving standard deviation based on the first rotation rate data, and a moving standard deviation associated with the second time; determining if the moving standard deviation associated with the first time is less a threshold moving standard deviation; and in response the moving standard deviation being less than the threshold moving standard deviation, using the first rotation rate reading to update the current estimated gyroscope bias.

Abstract: Load information on a tool to be attached to a robot arm and collision sensitivity are input. Gravitational torque is calculated based on the input load information. A deflection amount of the robot arm is calculated based on the gravitational torque. A correction amount is calculated based on the collision sensitivity input. The deflection amount is corrected while the robot arm moves.

Abstract: A computing system and a method for calibration verification is presented. The computing system is configured to perform a first calibration operation, and to control a robot arm to move a verification symbol to a reference location. The robot control system further receives, from a camera, a reference image of the verification symbol, and determines a reference image coordinate for the verification symbol. The robot control system further controls the robot arm to move the verification symbol to the reference location again during an idle period, receives an additional image of the verification symbol, and determines a verification image coordinate. The robot control system determines a deviation parameter value based the reference image coordinate and the verification image coordinate, and whether the deviation parameter value exceeds a defined threshold, and performs a second calibration operation if the threshold is exceeded.

Abstract: A sequence of input samples that are measures of position or orientation of an input device being held by a user are received. A current output sample of a state of linear quadratic estimator, LQE, is computed that is an estimate of the position or orientation of the input device. The current output sample is computed based on i) a previously computed output sample, and ii) a velocity term. An updated output sample of the state of the LQE is computed, based on i) a previously computed output sample, and ii) a new input sample. Other embodiments are also described and claimed.

Abstract: A maintenance management apparatus manages maintenance of a gas spring provided in an arm of an articulated robot and includes a gas pressure measuring unit that measures a gas pressure inside the gas spring on a regular basis, a maintenance judgement unit that judges whether an abnormality is present in the gas spring based on an amount of decrease in the gas pressure per unit time or per unit operating distance, and a notifying unit that sends a notification based on a judgment result by the maintenance judgement unit to an operator.

Abstract: There is provided a transport apparatus including: an articulated arm including: a first arm in which a drive motor is installed; a second arm configured to be driven by the first arm; a transmission portion configured to convert a rotation of the drive motor into a rotation of the second arm via a joint; a first detector configured to detect a first sensor value corresponding to a rotation angle of an input shaft of the transmission portion; and a second detector configured to detect a second sensor value corresponding to a rotation angle of the second arm; and a controller configured to control the articulated arm, wherein the controller is further configured to control the second arm to a target rotation angle based on the first sensor value and the second sensor value.

Abstract: A cross laser calibration device used to calibrate a tool center point is provided. The calibration device includes a coordinate orifice plate, a set of cross laser sensors and a rotational and translational movement mechanism. The coordinate orifice plate has an orifice center point. The set of cross laser sensors is arranged on the coordinate orifice plate to generate cross laser lines intersecting at the orifice center point. The set of cross laser sensors is driven by the second motor to rotate around the center point of the second motor, wherein the orifice center point has an off-axis setting relative to the center point of the second motor.

Abstract: Implementations are provided for increasing realism of robot simulation by injecting noise into various aspects of the robot simulation. In various implementations, a three-dimensional (3D) environment may be simulated and may include a simulated robot controlled by an external robot controller. Joint command(s) issued by the robot controller and/or simulated sensor data passed to the robot controller may be intercepted. Noise may be injected into the joint command(s) to generate noisy commands. Additionally or alternatively, noise may be injected into the simulated sensor data to generate noisy sensor data. Joint(s) of the simulated robot may be operated in the simulated 3D environment based on the one or more noisy commands. Additionally or alternatively, the noisy sensor data may be provided to the robot controller to cause the robot controller to generate joint commands to control the simulated robot in the simulated 3D environment.

Abstract: An auto clean machine, comprising: a chassis; a first light source, configured to emit first light; a second light source, configured to emit second light; an optical sensor, configured to sense optical data generated according to reflected light of the second light or according to reflected light of the first light; and a control circuit, configured to analyze optical information of the optical data; wherein if the first light source is activated, the second light source is de-activated and the control circuit determines variation of the optical information is larger than a variation threshold, the control circuit changes the first light source to be non-activated and the second light source to be activated.

Abstract: A control apparatus includes an operation unit that teaches the robot a position, a posture changing instruction unit that instructs a position change when the robot passes through a singularity or its vicinity, a singularity passing motion request unit that instructs the robot to change its posture, a robot drive information request unit that acquires robot drive information, and a robot G-code generation unit that inserts a G-code from the robot drive information into a program. A robot includes a drive control unit that drives the robot, a singularity determination unit that determines passage through the singularity or its vicinity, a singularity passing pattern generation unit that generates a motion plan for passage through the singularity or its vicinity based on the changed posture, and a robot drive information output unit that transmits the robot drive information to the control apparatus.

Abstract: An operating device configured to operate in a work space, the operating device including: a robot arm, which includes a succession of arm elements mounted on one another in a rotatable way about respective axes of rotation and which carries an operating unit on its end; and at least one presence sensor prearranged for detecting the presence of an operator. The device includes a positioning system, including a support by which the at least one presence sensor is carried and which is mounted on an arm element of the robot arm, according to a pre-set orientation and in such a way as to be orientable with respect to the arm element, and wherein the positioning system further includes a positioning unit prearranged for rotating the support with respect to the arm element, as a result of a movement of the robot arm, so as to keep the pre-set orientation of the support unchanged.

Abstract: A software product and methods determine a field coverage method for a nonholonomic robot to process a field using parallel lanes. A cellular decomposition algorithm divides the field into a plurality of cells, each having a plurality of parallel lanes. Permutations of lane processing orders are determined for each cell, based upon a minimum turning radius of the robot. A cell graph is generated to determine a shortest path for single-time processing each lane in each cell without violating the minimum turning radius of the robot. A step list defining movement of the nonholonomic robot along each lane in each cell of the shortest path through the cell graph is generated, and transits between the lanes, and laps around the field and any obstacles are added. A path program to control the nonholonomic robot to process the field is generated based upon the step list.

Abstract: An automatic racket stringing system includes: two lens modules, respectively shooting a racket thread hole on a racket at a first preset position from different two angles, and the lens modules are based on the angles and determine a first relative coordinate of the racket line hole through a triangulation method; and a control unit controls a robotic arm to grab the racket from an initial position and move the racket to the first preset position; the control unit controls the robotic arm to a second preset position clamps a first end of a racket line, and when the first end of the racket line extends a preset length, it is cut by the robotic arm.

Abstract: An origin calibration method of a manipulator is provided. The origin calibration method includes steps of: (a) controlling the manipulator to move in accordance with a movement command, and acquiring the 3D coordinates of the reference anchor points reached by the manipulator; (b) controlling the manipulator to move in accordance with the movement command while an origin of the manipulator being offset, acquiring the 3D coordinates of the actual anchor points reached by the manipulator, and acquiring a Jacobian matrix accordingly; (c) acquiring a deviation of a rotation angle of the manipulator according to the Jacobian matrix, the 3D coordinates of the reference anchor points and the actual anchor points, and acquiring a compensation angle value according to the deviation; and (d) updating the rotation angle of the manipulator according to the compensation angle value so as to update the origin of the manipulator.