Abstract: A method of commanding a remote vehicle includes executing a command on a controller of the remote vehicle based on a kinodynamic fixed depth motion planning algorithm to use incremental feedback from evaluators to select a best feasible action. The method also includes determining servo commands corresponding to the best feasible action for one or more actuators of a drive system or a manipulation system of the remote vehicle and commanding the one or more actuators of the remote vehicle based on the servo commands. The best feasible action includes actions within a fixed time horizon of several seconds from a current time each time a feasible action is selected.

Abstract: An automation and motion control system for theatrical objects, such as theatrical props, cameras, stunt persons, lighting, scenery, drapery or other similar types of devices or items, is provided to coordinate the movement of the objects on a large scale and/or to control the operation of the objects.

Abstract: Example systems and methods may be used to determine a trajectory for moving an object using a robotic device. One example method includes determining a plurality of possible trajectories for moving an object with an end effector of a robotic manipulator based on a plurality of possible object measurements. The method may further include causing the robotic manipulator to pick up the object with the end effector. After causing the robotic manipulator to pick up the object with the end effector, the method may also include receiving sensor data from one or more sensors indicative of one or more measurements of the object. Based on the received sensor data, the method may additionally include selecting a trajectory for moving the object from the plurality of possible trajectories. The method may further include causing the robotic manipulator to move the object through the selected trajectory.

Abstract: The present invention relates to light curtains and, in particular, to safety light curtains for monitoring a protective field and to optical units of such light curtains which comprise optoelectronic components interconnected by a communication bus and to a method for allocating individual addresses to each of a plurality of optoelectronic components. The optical unit comprises a controller unit, a plurality of optoelectronic components interconnected by means of a communication bus, each of said optoelectronic components having a transmission input terminal for receiving a transmission signal and a transmission output terminal for outputting a transmission signal, and a receiving terminal for receiving a control signal from said control unit. An individual address is allocated to each of said optoelectronic components depending on a position of the respective optoelectronic component with respect to the other optoelectronic components.

Abstract: Dynamic positioning systems and methods for controlling thrusters of a vessel. A dynamic positioning system includes a controller configured to predict position and heading of the vessel and efficiently control the the thrusters based on the predicted position and heading.

Abstract: A system for interaction with a the environment includes an initial manipulation module operable to orient a device in a general direction of a surface of an object and a range control module operable to converge the device and the surface. Once the device and surface are in the proximity of each other a contact sensor detects when physical contact between the surface and the device occurs. Thereafter, a proprioception module measures normal force disparities between the surface and device motion actuators and finally, an exteroception module to measure translational resistance disparities between relative motion of the surface and the device. The system uses these disparity measurements and actuator positions to modify the manipulation of the device.

Abstract: A method of localization and mapping of a mobile robot may reduce position errors in localization and mapping using a plurality of vector field sensors. The method includes acquiring a relative coordinate in a movement space using an encoder, acquiring an absolute coordinate in the movement space by detecting intensity and direction of a signal using vector field sensors, defining a plurality of virtual cells on a surface of the movement space such that each of the cells has a plurality of nodes having predetermined positions, and updating position information about the nodes of the cells based on the relative coordinate acquired through the encoder and the absolute coordinate acquired through the vector field sensors and implementing localization and mapping in the movement space in a manner that position information of a new node is estimated while position information of a previous node is determined.

Abstract: A method for making use of an automated system with a robot, including the following steps: (i) a management controller (12) authorizes the extraction of a pallet (2) and communicates information to a safety controller (11) concerning the extraction authorization, (ii) a series of presence detectors (7) sends initial height information (HLP) for a pallet (2) on which products (10) are arranged to the safety controller (11), (iii) the safety controller (11) generates reference information based on the initial information received, (iv) the presence detectors (7) send current height information for the pallet (2) to the safety controller (11), and the safety controller (11) compares the current height information to the reference information. If the current information does not correspond to the reference information, then a robot (5) is stopped and/or the safety measures of the enclosure (1) are applied.

Abstract: A risk degree estimation device of a driving assistance device calculates the potential risk degree at a plurality of intersection points in a mesh set around a host vehicle. The risk degree estimation device changes the amount of information relating to the potential risk degree calculated for the entire region of the mesh in which the intersection points are set in accordance with at least one of the environment and state of the host vehicle. For this reason, it becomes possible to calculate the potential risk degree around the host vehicle depending on the situation.

Abstract: The state of an area where one or more target objects are arranged is determined based on the result of measurement by a first sensor. A robot is controlled to grip one of the target objects by the grip unit of the robot. The gripping state of the gripping target object gripped by the grip unit is determined from the result of measuring the gripping target object by using a second sensor. When it is determined that gripping has failed, a rearrangement area where the gripping target object is to be rearranged is decided using the result of measurement by the first sensor or that of measurement by the second sensor. The robot is controlled to rearrange the gripping target object in the rearrangement area by the grip unit.

Abstract: Various disclosed embodiments include systems and methods for determining an efficient robot-base position. The method includes receiving available robot-base positions and determining valid robot-base positions from the available robot-base positions. The method includes generating for the valid robot-base positions respective directed graphs providing a plurality of robotic-paths. The method includes determining the shortest robotic-path between start and end nodes. The method includes determining and storing the efficient robot-base position from the valid robot-base positions, wherein the efficient robot-base position has the shortest, collision-free robotic-path between start and end nodes.

Abstract: A method and apparatus for failure handling of a robot having at least a first and a second movement axis are disclosed. In one embodiment the method includes receiving a first position information of the first movement axis for a first point of time and a first position information of the second movement axis for the first point of time and storing the received first position information as a motion data set, receiving a second position information of the first movement axis for a second point of time and a second position information of the second movement axis for the second point of time and storing the received second position information in the motion data set and controlling the robot according to a failure procedure.

Abstract: In various embodiments, safe collaboration between a robot and humans is achieved by operating the robot continuously at or below a first threshold speed at which any collisions with a person's arms do not cause harm, and, upon detection of the person's torso or head within a danger zone around the robot, reducing the speed to or below a second threshold at which any collisions with the person's torso or head do not cause harm.

Abstract: A method and apparatus for haptic hard surface emulation using a dynamic physical constraint are provided. The movement and position of the dynamic physical constraint is actively controlled in order to emulate a hard surface. The dynamic physical constraint may be controlled by a computer. In another aspect of the invention, the dynamic physical constraint limits the motion of a manipulator joint in space. The position at any time of the dynamic physical constraint is dependent on the position in space of the manipulator's end effector.

Abstract: The invention relates to a method for operating a robot, including detecting the spatial position and/or location of at least one delimiting structure which causes a kinematic delimitation of the work space that can be reached by an instrument connected to a robotic arm of the telemanipulation robot; and continuously representing the reachable work space on an object to be manipulated by the instrument in such a way that a change in the position and/or location of the delimiting structure results, in real time, in a change of the represented reachable work space.

Abstract: On a medical diagnosis and/or intervention device having a movable component, collision sensors are to be arranged without the cabling outlay becoming too high. This is made possible by the collision sensors being capable of sending signals wirelessly. The voltage supply can also be provided wirelessly along a section by using e.g. a slip ring.

Abstract: Disclosed herein are an obstacle sensing module and a cleaning robot including the same. The cleaning robot includes a body, a driver to drive the body, an obstacle sensing module to sense an obstacle present around the body, and a control unit to control the driver, based on sensed results of the obstacle sensing module. The obstacle sensing module includes at least one light emitter including a light source, and a wide-angle lens to refract or reflect light from the light source so as to diffuse the incident light in the form of planar light, and a light receiver including a reflection mirror to again reflect reflection light reflected by the obstacle so as to generate reflection light, an optical lens spaced from the reflection mirror by a predetermined distance, to allow the reflection light to pass through the optical lens, and an image sensor, and an image processing circuit.

Abstract: An autonomous mobile body includes a laser range sensor and an electronic control device. The electronic control device includes a storage unit that stores a size D2 of the autonomous mobile body, a width identification unit that identifies a spatial size D1 in a width direction of a passage which is a region where the autonomous mobile body can move, a calculation unit that calculates a size D8 of an interfering obstacle in a direction which is substantially perpendicular to a moving target direction on a road surface based on obstacle information, an action selection unit that selects a stopping action or a retreat action based on the spatial size D1, the size D2 of the autonomous mobile body, and the size D8 of the interfering obstacle, and a mobile control unit that controls the autonomous mobile body to stop when the stopping action is selected and control the autonomous mobile body to retreat when the retreat action is selected.

Abstract: A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes dividing an object into target and feasible grasp regions and storing grasp policies respectively corresponding to the grasp regions, sensing respective orientations of the object, the at least one joint unit, and an obstacle, judging whether or not grasping of the target grasp region is feasible after sensing the orientations, generating a grasp route using the grasp policy for the target grasp region, upon judging that grasping of the target grasp region is feasible, and generating a grasp route using the grasp policy for one of the feasible grasp regions, upon judging that grasping of the target grasp region is not feasible, and controlling the at least one joint unit and the hand to trace the generated grasp route.

Abstract: An autonomous mobile device, an autonomous movement system, and an autonomous movement method, each having an obstacle avoidance capability, are provided. The autonomous mobile device includes an avoidance pattern determination unit for determining the travel pattern of the local device according to the state of motion, relative to the autonomous movement device, of a mobile obstacle other than the autonomous movement device; and a travel controller for causing the autonomous movement device to travel according to the travel pattern determined by the avoidance pattern determination unit. One of avoidance patterns is selected in accordance with a relative velocity to a mobile obstacle.

Abstract: A numerical control device including a collision determining unit that detects a possibility of collision between a machine and an area set as an entry prohibited area; an operation-continuation instructing unit that instructs whether to continue an operation when the collision determining unit detects the possibility of collision and shaft movement is temporarily stopped; a machining-information storage unit that stores internal operation information of the numerical control device regarding the temporary stop when the operation-continuation instructing unit instructs continuation of the operation; and a collision-determination processing unit that invalidates a collision determination on the basis of the operation information stored in the machining-information storage unit when executing the same machining program the next and subsequent times.

Abstract: A distance measuring system and method employing a laser distance sensor may have utility in various applications. In accordance with one aspect of the present invention, a laser distance sensor may acquire accurate distance measurements with a short baseline.

Abstract: A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic arm. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic arm resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.

Abstract: A device for reducing damage to an electric vehicle powered by a trailing cable, the device including an electric sensor for determining the mobile equipment's position relative to a hazard, and an electric controller responsive to the electrical means for operating a motor to change the operation of the electric vehicle to reduce the likelihood of adverse effects to the trailing cable if the electric vehicle's position is near the hazard.

Abstract: A robot is provided with a base to be fixed to an installation surface, and an arm unit having a plurality of arm bodies sequentially and revolvably coupled with each other with one end coupled to the base through a joint unit. The arm unit has a stopper mechanism having a movable stopper member capable of restricting a revolving motion of the arm bodies to a predetermined revolving range. The movable stopper member is provided to one link of one of the pairs of links coupled through the joint unit, whereas the fixed stopper member, which is engaged with the movable stopper member, is provided to another link of the one of the pairs of links.

Abstract: A system and a method of managing one or more vehicles deployed in a worksite are provided. The system includes a battery management module which may receive, via a data network, battery health information and/or location co-ordinates from at least one vehicle. The battery management module is configured to issue a battery changing command, via the data network, to a battery-changing device based at least on the battery health information and the location co-ordinates of the vehicles. The battery-changing device may be configured to change at least one battery on the at least one vehicle with charged batteries based on the issued command. The battery-changing device is configured to return each of the changed battery to a central station to recharge the changed battery.

Abstract: According to an exemplary embodiment of the present invention, a diagnosis system for detecting a state of emergency during assembly of a fuselage (101) of an airplane is provided, which is adapted for detecting an emergency event and outputting information relating to the actual position of the emergency event. This may provide for a fast error identification during airplane assembly.

Abstract: There is provided a computer-implemented method for determining feasible joint trajectories for an n-dof (n>5) robot in a rotation invariant processing of an object, such as milling, painting, and welding. The method includes the steps of receiving geometric data representing the object; receiving geometric data representing the processing tool; receiving a tool path X(t), where t is time; searching for feasible paths qRobot (t) using IK (t) and qTool (t) as set of possible solutions at time t, wherein qRobot (t) defines positions of all the joints in the robot as function of time, qTool (t) defines the rotation of a tool flange around the tool axis at time t, and IK (t) defines the inverse kinematics solutions for a given X(t) and qTool (t); and determining, from the geometric data and X(t), how the joint path qRobot (t) should be chosen so as to comply with one or more optimisation criteria.

Abstract: A method of automatic path planning for at least one robot within a confined configuration space, the robot including an arm having a plurality of joints and an end effector coupled to the arm. The method includes entering a plurality of process points into a computer, each process point being a location wherein the arm is to be positioned to perform a task, calculating one or more inverse kinematic solutions for each process point, clustering the inverse kinematic solutions into a set of clusters, and generating collision free paths between the clusters in the confined configuration space.

Abstract: In a robot simulator, a central processing unit (CPU) determines whether or not a portion of an operable area set for each of a right-hand system and a left-hand system of a robot overlaps. If it is determined that the portion of the operable area overlaps and that an obstacle is positioned within the operable areas, the CPU color-codes and displays an image of the operable area of each of the right-hand system and the left-hand system reset in adherence to the obstacle in a display. As a result the operable areas in a periphery of the obstacle, differing for each of the right-hand system and the left-hand system, are displayed in a clearly discernable state.

Abstract: An autonomous transport vehicle for transporting items in a storage and retrieval system is provided. The autonomous transport vehicle includes at least two drive wheels and a controller, where each drive wheel is independently driven and a drive wheel encoder is disposed adjacent each drive wheel. The controller, in communication with the drive wheel encoders, is configured to determine a kinematic state of the autonomous transport vehicle within the storage and retrieval system based on incremental data from the drive wheel encoders only and independent of drive wheel slippage.

Abstract: In accordance with various embodiments, a user-guidable robot appendage provides haptic feedback to the user.

Abstract: A method of navigating a robot includes creating a robot navigation map using a map database required for navigation of the robot; and creating a path on which no obstacle is located in the map database using the created robot navigation map. Further, the method of navigating the robot includes primarily controlling the robot so that the robot travels along the created path; and secondarily controlling the robot so that the robot avoids an obstacle on the path.

Abstract: A cleaning robot includes a non-circular main body, a moving assembly mounted on a bottom surface of the main body to perform forward movement, backward movement and rotation of the main body, a cleaning tool assembly mounted on the bottom surface of the main body to clean a floor, a detector to detect an obstacle around the main body, and a controller to determine whether an obstacle is present in a forward direction of the main body based on a detection signal of the detector, control the rotation of the main body to determine whether the main body rotates by a predetermined angle or more upon determining that the obstacle is present in the forward direction, and determine that the main body is in a stuck state to control the backward movement of the main body if the main body rotates by the predetermined angle or less.

Abstract: A craft inspection process is described. The craft inspection process includes: (i) locating, using an overhead robot, a candidate craft in space within one or more robotic envelopes and identifying craft offset; (ii) locating, using the overhead robot and the craft offset, a component and/or sub-component of the candidate craft within one of one or more of the robotic envelopes and identifying a component offset and/or the sub-component offset; and (iii) inspecting the component and/or the sub-component using an underside robot and the component offset and/or the sub-component offset.

Abstract: Provided is a system and the like capable of appropriately searching a desired trajectory for a controlled subject in a time-space coordinate system in view of a state of the controlled subject. An initial positional relationship (k=1) between a first reference point q1(k) and a second reference point q2(k) in the time-space coordinate system is set to satisfy a first condition defined according to a motion performance of an actuator 2. When a previous trajectory candidate tr(k?1) is determined to have a contact with an object trajectory tro, a current positional relationship (k>1) between the first reference point q1(k) and the second reference point q2(k) in the time-space coordinate system is set to satisfy a second condition that a current time interval between the first reference point q1(k) and the second reference point q2(k) is longer than a previous time interval or the like.

Abstract: The working robot includes a plurality of link members coupled rotatably around shafts, a motor driving the link members, and a controller switching a state of use of winding wires of the motor based on a result of sensing a moving object including a human in a predetermined area. The controller switches the state of use of the winding wires of the motor, to drive the link members in a first mode in which the number of revolutions or the torque of the motor is relatively large, when the moving object is not present; and switches the state of use of the winding wires of the motor, to drive the link members in a second mode in which the number of revolutions or the torque of the motor is relatively small, when the moving object is present.

Abstract: A method for planning the robot path includes forming a shape space that includes a start point, a goal point, and obstacle information so as to generate a moving path of the robot, generating one or more moving paths of the robot within the shape space, and storing the generated moving paths in a database, selecting a specific path that has a minimum operation range of the robot and a minimum constraint caused by the obstacle from among the stored moving paths, and planning the selected path, enabling the robot to perform motion along the planned path, and pre-planning a path for a next motion of the robot while the robot performs the motion. The apparatus or method for planning the robot path can reduce a time from an end time of one motion to the start time of the next motion, thereby performing a smooth motion.

Abstract: A mobile robot that includes a drive system, a controller in communication with the drive system, and a volumetric point cloud imaging device supported above the drive system at a height of greater than about one feet above the ground and directed to be capable of obtaining a point cloud from a volume of space that includes a floor plane in a direction of movement of the mobile robot. The controller receives point cloud signals from the imaging device and issues drive commands to the drive system based at least in part on the received point cloud signals.

Abstract: A Robot includes a main body, a Portable device and a supporting structure. The supporting structure is disposed at the main body for detachably connecting the Portable device. The Portable device reads digital media data from the main body or the Portable device itself, and plays the digital media data as video. After the Portable device is detached from the supporting structure, the main body and the Portable device operate independently.

Abstract: The invention relates to a method for collision-free path planning for an industrial robot (1) which has a control device (9) and a robot arm (2) that is movable with the aid of the control device (9), to which an object (11) is attached, and in whose working space at least one obstacle (12) is situated.

Abstract: A material position information measuring section measures a position of a material lifted up by a tower crane. A structure information measuring section measures position information about surrounding structures. A route searching section searches for a route of movement of the material from a start point to a destination. The route of movement determined by the route searching section is stored in a route storage. A data processor receives data of the material position information measuring section and the structure information measuring section, and calculates 2D or 3D image data about relative positions of the tower crane, the material lifted up by the tower crane and the surrounding structures. A display unit displays information about at least one of the tower crane, the material and the surrounding structures using the image data calculated by the data processor, and displays the route of movement determined by the route searching section.

Abstract: A robot arm includes a grip part which is structured to be separated from an end effector attached to the robot arm. When the grip part is gripped by the user and shifted, the robot arm shifts tracking the grip part. Further, the grip part includes contact sensors, and a tracking control method is switched according to the value of the contact sensors.

Abstract: There is provided a loading and unloading apparatus for performing loading and unloading of workpieces with respect to access positions on a pallet, including a plurality of hands which sequentially access the access positions on the pallet, the plurality of hands including a first and a second hand. Further, the loading and unloading apparatus includes a managing unit which maintains an access position of the first hand, and a determining unit which determines a movement path of the second hand based on the access position of the first hand.

Abstract: An electronic controller defining an autonomous mobile device includes a self-location estimation unit to estimate a self-location based on a local map that is created according to distance/angle information relative to an object in the vicinity and the travel distance of an omni wheel, an environmental map creation unit to create an environmental map of a mobile area based on the self-location and the local map during the guided travel with using a joystick, a registration switch to register the self-location of the autonomous mobile device as the position coordinate of the setting point when the autonomous mobile device reaches a predetermined setting point during the guided travel, a storage unit to store the environmental map and the setting point, a route planning unit to plan the travel route by using the setting point on the environmental map stored in the storage unit, and a travel control unit to control the autonomous mobile device to autonomously travel along the travel route.

Abstract: A system that uses optical motion capture hardware for position and orientation tracking of non-destructive inspection (NDI) sensor units. This system can be used to track NDI sensor arrays attached to machine-actuated movement devices, as well as in applications where the NDI sensor array is hand-held. In order to achieve integration with NDI hardware, including proprietary systems commercially available, a data acquisition device and custom software are used to transmit the tracking data from the motion capture system to the NDI scanning system, without requiring modifications to the NDI scanning system.

Abstract: In accordance with aspects of the present invention, a service robot and methods for controlling such a robot are provided. In particular, the robot is configured to sense the presence of a person and to take a next action in response to sensing the presence of the person. As examples, the robot could leave the area, await commands from the person, or enter an idle or sleep state or mode until the person leaves.

Abstract: A system and method are provided for managing and prioritizing for action fleets of mobile robots deployed at various locations. The system/method includes a plurality of homebase servers, each corresponding to a different location, with each of the homebase servers receiving operational parameter data (representing operational and navigational issues experienced by the mobile robot) from a plurality of mobile robots operating at the particular location where the homebase server is deployed. A central server receives the operational parameter data from the plurality of homebase servers. The central server included a data analysis module for processing the operational parameter data and prioritizing the mobile robots operating at the various locations for action by support staff. A list is generated ranking the mobile robots in order of importance for action by support staff.

Abstract: Disclosed are a robot cleaner and a method for controlling the same. The robot cleaner and method of the present invention involve dividing the whole area to be cleaned into sub-areas, and easily calculating a full path using travel paths in the sub-areas and connection points between sub-areas, and in the event the whole area to be cleaned is extended or an area which has not been cleaned is found, do not involve regenerating the whole map for cleaning, but rather easily updating the full path using the pre-stored travel path in the sub-areas and the connection points between sub-areas.

Abstract: A humanoid robot fall controller controls motion of a robot to minimize damage when it determines that a fall is unavoidable. The robot controller detects a state of the robot during the fall and determines a desired rotational velocity that will allow the robot to re-orient itself during the fall to land on a predetermined target body segment (e.g., a backpack). The predetermined target body segment can be specially designed to absorb the impact of the fall and protect important components of the robot.