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.

Abstract: Embodiments of the invention provide systems and methods for obstacle avoidance. In some embodiments, a robotically controlled vehicle capable of operating in one or more modes may be provided. Examples of such modes include teleoperation, waypoint navigation, follow, and manual mode. The vehicle may include an obstacle detection and avoidance system capable of being implemented with one or more of the vehicle modes. A control system may be provided to operate and control the vehicle in the one or more modes. The control system may include a robotic control unit and a vehicle control unit.

Abstract: Aspects of the disclosure relate generally to detecting and avoiding blind spots of other vehicles when maneuvering an autonomous vehicle. Blind spots may include both areas adjacent to another vehicle in which the driver of that vehicle would be unable to identify another object as well as areas that a second driver in a second vehicle may be uncomfortable driving. In one example, a computer of the autonomous vehicle may identify objects that may be relevant for blind spot detecting and may determine the blind spots for these other vehicles. The computer may predict the future locations of the autonomous vehicle and the identified vehicles to determine whether the autonomous vehicle would drive in any of the determined blind spots. If so, the autonomous driving system may adjust its speed to avoid or limit the autonomous vehicle's time in any of the blind spots.

Abstract: Method to control the interference and/or collision between mechanical members of at least two operating or one operating unit with respect to fixed positions. At least one operating unit is associated with a position detector or with a position simulator, and is equipped with an electric which drives a mechanical member. The method is managed by a management and control unit. The control of the operating units occurs in two phases, verifying point-by-point the position of the mechanical member as a function of the current dynamics and the braking or acceleration times and spaces (first phase), and verifying the intensity of point-by-point current supplied to at least one electric motor (second phase).

Abstract: In one embodiment, communicating robot intentions to human beings involves determining movements that a robot will make to complete a task, visually communicating a long-term intention of the robot that provides an indication of the movements the robot will make in completing the task, and visually communicating a short-tem intention of the robot that provides an indication of a movement of the robot will make within the next few seconds in working toward completing the task.

Abstract: A system and method for controlling a work machine system having a work machine and work tool. Operational characteristics of both the work machine and work tool are configured by a machine controller based upon the type of work tool attached to the work machine, the operating environment of the work machine, and the location of work site personnel or other observers relative to the machine or work tool. The operational characteristics of both the work machine and work tool may then be automatically altered during operation of the work machine system to limit or expand functions of the work machine system in response to changes in the operational environment or movement of personnel or observers relative to the work machine system.

Abstract: A proximity sensor includes first and second sensors disposed on a sensor body adjacent to one another. The first sensor is one of an emitter and a receiver. The second sensor is the other one of an emitter and a receiver. A third sensor is disposed adjacent the second sensor opposite the first sensor. The third sensor is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each sensor is positioned at an angle with respect to the other two sensors. Each sensor has a respective field of view. A first field of view intersects a second field of view defining a first volume that detects a floor surface within a first threshold distance. The second field of view intersects a third field of view defining a second volume that detects a floor surface within a second threshold distance.

Abstract: An autonomous floor cleaning robot includes a transport drive and control system arranged for autonomous movement of the robot over a floor for performing cleaning operations. The robot chassis carries a first cleaning zone comprising cleaning elements arranged to suction loose particulates up from the cleaning surface and a second cleaning zone comprising cleaning elements arraigned to apply a cleaning fluid onto the surface and to thereafter collect the cleaning fluid up from the surface after it has been used to clean the surface. The robot chassis carries a supply of cleaning fluid and a waste container for storing waste materials collected up from the cleaning surface.

Abstract: A control system or the like capable of causing a controlled object to act in an appropriate form in view of an action purpose of the controlled object to a disturbance in an arbitrary form. Each of a plurality of modules modi, which are hierarchically organized according to the level of a frequency band, searches for action candidates which are candidates for an action form of a robot R matching with a main purpose and a sub-purpose while giving priority to a main purpose mainly under the charge of the module over a sub-purpose mainly under the charge of any other module. The actions of the robot R is controlled in a form in which the action candidates of the robot R searched for by a j-th module of a high frequency are reflected in preference to the action candidates of the robot R searched for by a (j+1)th module of a low frequency.

Abstract: A system and method for controlling motion interference avoidance for a plurality of robots are disclosed, the system and method including a dynamic space check system wherein an efficiency of operation is maximized and a potential for interference or collision is minimized.

Abstract: A robot system is provided, which includes a robot having an operable operation arm, an attachment detector for detecting one or more attachments, each attached to a wearing article equipped by a movable body, and a motion-control changer for changing a motion control of the robot based on a detection result detected by the attachment detector.

Abstract: A robot system of the present disclosure includes: a robot including an operable working arm; a motion speed detection unit configured to detect a motion speed of the working arm; a region setting unit that sets a region with a predetermined range around the robot; a moving body detection unit configured to detect a position of the moving body other than the robot; and an abnormality determination unit configured to determine abnormality when detecting of the position of the moving body within the region, wherein the region setting unit changes the range of the region according to the motion speed of the working arm.

Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.

Abstract: A robot system of the present disclosure includes: a robot including an operable working arm driven by an actuator; an operation load detection unit configured to detect an operation load of the actuator; a region setting unit that sets a region with a predetermined range around the robot; a moving body detection unit configured to detect a position of a moving body other than the robot; and an abnormality determination unit that determines abnormality when detecting of the position of the moving body within the region, wherein the region setting unit changes the range of the region in accordance with the operation load of the actuator.

Abstract: A robot system of the present disclosure includes a robot and a controller configured to control motion of the robot, and the controller includes: a motion mode storage unit storing a plurality of motion modes for controlling the robot to switch a motion state of the robot from a normal motion state to a special motion state when a predetermined first condition is satisfied; and a motion mode switching unit configured to switch the motion mode of the robot to another motion mode when, while a particular motion mode stored in the motion mode storage unit is in execution, a predetermined second condition for the particular motion mode is satisfied with a first condition for the particular motion mode satisfied.

Abstract: A cleaning robot includes a chassis, a cleaning device, a moving device, and a control system. The control system is configured to perform functions: capturing an image in front of a cleaning robot by a camera; comparing the image with a number of reference images to determine whether the image is the same as one of the reference images; storing a position of the cleaning robot and the image when the image is the same as one of the reference images; adjusting the path of the cleaning robot to stop the cleaning robot from cleaning the object; and emitting an alarm.

Abstract: A robot and a method for controlling the same are provided. The robot includes a first control unit to control the overall operation of the robot and a second control unit to supplement the function of the control unit in preparation for the malfunction of the first control unit such that the second control unit controls the robot to perform a predetermined safety-considered motion when the first control unit malfunctions.

Abstract: A robot includes a first horizontal arm coupled to a base, a second horizontal arm coupled to the base via the first horizontal arm, first and second motors adapted to rotate the respective arms, and first and second encoders adapted to calculate rotational angles and rotational velocities of the respective motors. A first motor control section subtracts first and second angular velocities based on the first and second encoders from a sensor angular velocity detected by an angular sensor, and controls the first motor so that a velocity measurement value obtained by adding a vibration velocity based on a vibration angular velocity as the subtraction result and a first rotational velocity becomes equal to a velocity command value.

Abstract: A control system for and methods of controlling a product delivery system are provided.

Abstract: Methods for controlling at least two robots having respective working spaces, including at least one region in common are disclosed. The working space of each robot is modelled by defining one or more interference regions each constituted by an elementary geometrical figure. The interference regions are classified as: prohibited interference regions, defined as regions of space where the presence of the robot must without fail always be inhibited; monitored interference regions, defined as regions of space where the presence of the robot is accepted, but controlled, the robot being pre-arranged for sending a signal to the central control unit whenever it enters a monitored region and whenever it exits from a monitored region; and hybrid interference regions that are able to change between a status of monitored region and a status of prohibited region as a function of an input signal to the robot sent by said central control unit.

Abstract: The method and system may be used to control the movement of a remote aerial device in an incremental step manner during a close inspection of an object or other subject matter. At the inspection location, a control module “stabilizes” the remote aerial device in a maintained, consistent hover while maintaining a close distance to the desired object. The control module may retrieve proximal sensor data that indicates possible nearby obstructions to the remote aerial device and may transmit the data to a remote control client. The remote control module may determine and display the possible one or more non-obstructed directions that the remote aerial device is capable of moving by an incremental distance. In response to receiving a selection of one of the directions, the remote control module may transmit the selection to the remote aerial device to indicate the next movement for the remote aerial device.

Abstract: A process includes defining, in a memory, arm-occupied regions including robot arms and a workpiece and tool attached to a robot wrist, a virtual safety protection barrier with which the arms are not allowed to come into contact, and movable ranges of robot axes; estimating the coasting angle of each robot axis for which the axis will coast when the robot is stopped due to an emergency stop while moving to a next target position, from an actually measured amount of coasting and the like; determining a post-coasting predicted position of the robot by adding the estimated coasting angles to the next target position; checking whether or not the arm-occupied regions at the post-coasting predicted position will come into contact with the virtual safety protection barrier, or whether or not the robot axes are within the movable ranges; and performing control to stop the robot immediately upon detection of abnormality.

Abstract: According to a method according to the invention for controlling a robot (1), in particular a human-collaborating robot, a robot- or task-specific redundancy of the robot is resolved, wherein, in order to resolve the redundancy, a position-dependent inertia variable (mn(?v(q))) of the robot is minimized.

Abstract: A robot, which performs natural walking similar to a human with high energy efficiency through optimization of actuated dynamic walking, and a control method thereof. The robot includes an input unit to which a walking command of the robot is input, and a control unit to control walking of the robot by calculating torque input values through control variables, obtaining a resultant motion of the robot through calculation of forward dynamics using the torque input values, and minimizing a value of an objective function set to consist of the sum total of a plurality of performance indices through adjustment of the control variables.

Abstract: A robot includes an angular velocity sensor installed to a second horizontal arm and for obtaining the angular velocity of the first horizontal arm with respect to a base, and suppresses the vibration of the first horizontal arm by driving a first electric motor based on the angular velocity of the first horizontal arm. In the robot, an electric wire to be connected to a second electric motor incorporated in the second horizontal arm and electric wire to be connected to the angular velocity sensor are laid around through a wiring duct having end portions coupled respectively to the base and the second horizontal arm, disposed outside the first horizontal arm and outside the second horizontal arm, and having a passage leading to the inside of the base and the inside of the second horizontal arm.

Abstract: A hexapod robot device includes a main body and six legs coupled thereto. Each leg has a first connecting rod pivotally connected with the main body, a first driver electrically pivotally connected between the main body and the first connecting rod, with the first driver controllably driving the first connecting rod to move forward and backward along a longitudinal direction, a second connecting rod pivotally connected with the first connecting rod, and a second driver pivotally connected between the first connecting rod and the second connecting rod, with the second driver controllably driving the second connecting rod to move upward and downward along a vertical direction. The second connecting rod further has an end to engage with the ground.

Abstract: A human-robot interactive system in which a robot and a human share an area for performing interactive work, the human-robot interactive system including a force sensor which is set at an end effector attached to a front end of the robot or which is set at the robot and, when a detected value of the force sensor exceeds a predetermined value, is configured to stop the robot or controlling operation of the robot so that a detected value of the force sensor becomes smaller, the system further including a limiter which limits a work area of said human so as to prevent contact by the human with the first robot portion of the robot that is positioned further from the human than a set position of the force sensor during operation even when the robot approaches the human.

Abstract: Disclosed are a robot, which builds a map using a surface data of a three-dimensional image, from which a dynamic obstacle is removed, and a method of building a map for the robot. The method includes sequentially acquiring first and second surface data of a route on which the robot moves; matching the first and second surface data with each other to calculate a difference between the first and second surface data; detecting a dynamic obstacle from the first and second surface data according to the difference between the first and second surface data; generating a third surface data by removing the dynamic obstacle from at least one of the first and second surface data; and matching the third surface data and any one of the first and second surface data with each other to build the map.

Abstract: The present invention relate to a policy-based robot managing apparatus and method for managing a plurality of robots, which generate a wide area policy for controlling cooperation between the plurality of robots connected by a network, compare the generated wide area policy with an existing wide area policy to check whether a conflict between the wide area policies occurs, convert the generated wide area policy into local policies applicable to the plurality of robots, and transmit the local policies to the corresponding robots, respectively. According to the embodiments of the present invention, since a policy-based management technique is introduced, it is possible to more efficiently control different kinds of robots having various forms through a wide area policy having a pseudo-code form even though a manager does not know previously set information of the individual network robots.

Abstract: A method and system provide road and obstacle detection in navigating an autonomous vehicle. The method comprises scanning a distance ahead of the autonomous vehicle to obtain a current range scan, and obtaining navigation data, including dynamics, position, and orientation measurements of the autonomous vehicle. The current range scan is transformed to world coordinates with respect to a reference location based on the navigation data, and the transformed current range scan is input into a distance-based accumulator. The transformed current range scan is added to a variable size buffer when the autonomous vehicle is deemed to be non-stationary. A ground plane is estimated from the transformed current range scan and prior range scans stored in the variable size buffer. The estimated ground plane is represented as a constrained quadratic surface, which is classified into one or more of a traversable area, a non-traversable area, or an obstacle area for navigation of the autonomous vehicle.

Abstract: The invention is related to a system for controlling a robot collision with an obstacle, characterized by having an electronics system (1), and at least one accelerometer (3), that is fixed to a robot and is connected with an electronics system (1), that is configured or programmed in such a way that upon a signal from an accelerometer (3) a robot heading direction or velocity is changed or a robot is stopped. In addition, the invention comprises a robot equipped with such an electronics system, and a method of controlling a robot collision with an obstacle.

Abstract: Painting robots processing a part moving on a conveyor are synchronized by creating for each of the robots a master sequence of computer program instructions for a collision-free movement of robots along associated master sequence paths relative to the moving part, each of the master sequence paths including positions of the associated robot and the conveyor at pre-defined synchronization points, and running each of the master sequences on a controller connected to the associated robot to move the associated robot and comparing a current path of the associated robot and the conveyor against the master sequence path. The method further includes operating the controllers to adjust the current paths based on the comparison between the master sequence path and the current path, and operating the controllers to request a conveyor motion hold as necessary to facilitate synchronization between movement of the robots and the conveyor.

Abstract: A system for a work cell having a carrier that moves a product along an assembly line includes an assembly robot, sensor, and controller. An arm of the robot moves on the platform adjacent to the carrier. The sensor measures a changing position of the carrier and encodes the changing position as a position signal. The controller receives the position signal and calculates a lag value of the robot with respect to the carrier using the position signal. The controller detects a requested e-stop of the carrier when the arm and product are in mutual contact, and selectively transmits a speed signal to the robot to cause a calibrated deceleration of the platform before executing the e-stop event. This occurs only when the calculated tracking position lag value is above a calibrated threshold. A method is also disclosed for using the above system in the work cell.

Abstract: A mobile robot guest for interacting with a human resident performs a room-traversing search procedure prior to interacting with the resident, and may verbally query whether the resident being sought is present. Upon finding the resident, the mobile robot may facilitate a teleconferencing session with a remote third party, or interact with the resident in a number of ways. For example, the robot may carry on a dialogue with the resident, reinforce compliance with medication or other schedules, etc. In addition, the robot incorporates safety features for preventing collisions with the resident; and the robot may audibly announce and/or visibly indicate its presence in order to avoid becoming a dangerous obstacle. Furthermore, the mobile robot behaves in accordance with an integral privacy policy, such that any sensor recording or transmission must be approved by the resident.

Abstract: A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.

Abstract: Methods and apparatus for enhancing surgical planning provide enhanced planning of entry port placement and/or robot position for laparoscopic, robotic, and other minimally invasive surgery. Various embodiments may be used in robotic surgery systems to identify advantageous entry ports for multiple robotic surgical tools into a patient to access a surgical site. Generally, data such as imaging data is processed and used to create a model of a surgical site, which can then be used to select advantageous entry port sites for two or more surgical tools based on multiple criteria. Advantageous robot positioning may also be determined, based on the entry port locations and other factors. Validation and simulation may then be provided to ensure feasibility of the selected port placements and/or robot positions. Such methods, apparatus, and systems may also be used in non-surgical contexts, such as for robotic port placement in munitions diffusion or hazardous waste handling.

Abstract: A robot system includes a robot, a storage, an authenticator, a determinator, and an instructor. The robot shares a workspace with a worker. The storage stores authentication information of the worker. While the worker is approaching the workspace, the authenticator determines whether the worker is a registered worker based on the authentication information. When the worker is authenticated as a registered worker by the authenticator, the determinator determines a new operation area and a new operation speed of the robot in accordance with a type of work and a work experience of the worker. The type of work and the work experience are identified when the worker is authenticated as a registered worker by the authenticator. The instructor instructs the robot to operate based on the new operation area and the new operation speed of the robot determined by the determinator.

Abstract: A method and an apparatus for planning path of robot in correspondence to environment changes in real time, and a recording medium storing the program for performing the said method. The method includes operating the robot according to a first path; generating a second path if an obstacle is discovered around the robot while the robot is being operated according to the first path, and data of the first path exist in a first space within a first distance from a current location of the robot; and operating the robot according to at least the second path.

Abstract: A method and apparatus of improving the navigation performance of robot are provided. The navigation method using a virtual sensor includes: generating information on positions of obstacles, the information which is estimated to be generated by virtual sensors that are virtually present, based on information on positions of the obstacles, which is generated by physical sensors; and controlling a movement of a robot according to the information on the positions of the obstacles. It is possible to overcome limits in the number and arrangement of previously installed physical sensors.

Abstract: An NC machine tool system includes an NC machine tool (10), a first operation panel (22) and a second operation panel (24) for the NC machine tool, a multi-joint robot (40), a memory (450), and a robot controller (50). The multi-joint robot (40) is disposed above the NC machine tool. The memory (450) stores a wait position return program by which the multi-joint robot (40) is operated. The robot controller (50) controls the multi-joint robot (40) in accordance with the program. Operation panels (22, 24) are respectively provided with switch keys (22c, 24c) operated to execute the wait position return program stored in the memory (450) so as to operate the multi-joint robot (40).

Abstract: Embodiments of the present invention provide methods and systems for ensuring that mobile robots are able to detect and avoid positive obstacles in a physical environment that are typically hard to detect because the obstacles do not exist in the same plane or planes as the mobile robot's horizontally-oriented obstacle detecting lasers. Embodiments of the present invention also help to ensure that mobile robots are able to detect and avoid driving into negative obstacles, such as gaps or holes in the floor, or a flight of stairs. Thus, the invention provides positive and negative obstacle avoidance systems for mobile robots.

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: The working support robot system of the present invention includes: a robot arm (11); a measuring unit (12) for measuring the worker's position; a work progress estimation unit (13) for estimating the work progress based on data input from the measuring unit (12) while referring to data on work procedure, and for selecting objects necessary for the next task when the work is found to have advanced to the next procedure; and an arm motion planning unit (14) for planning the trajectory of the robot arm (11) to control the robot arm (11) based on the work progress estimated by the work progress estimation unit (13) and selected objects. The working support robot system can deliver objects such as tools and parts to the worker according to the work to be performed by the worker.

Abstract: A control device (1) for a robot arm (8) which, if a person approach detection unit (3) detects approach of a person, performs control according to an impact between the robot arm (8) and the person. The control performed according to the impact is performed through an impact countermeasure motion control unit (4) and by setting individual mechanical impedances for respective joint portions of the robot arm (8) based on a movement of the person detected by a human movement detection unit (2).

Abstract: A robotic system includes a robotic mechanism responsive to velocity control signals, and a permissible workspace defined by a convex-polygon boundary. A host machine determines a position of a reference point on the mechanism with respect to the boundary, and includes an algorithm for enforcing the boundary by automatically shaping the velocity control signals as a function of the position, thereby providing smooth and unperturbed operation of the mechanism along the edges and corners of the boundary. The algorithm is suited for application with higher speeds and/or external forces. A host machine includes an algorithm for enforcing the boundary by shaping the velocity control signals as a function of the reference point position, and a hardware module for executing the algorithm. A method for enforcing the convex-polygon boundary is also provided that shapes a velocity control signal via a host machine as a function of the reference point position.

Abstract: A method for controlling a redundant robot arm includes the steps of selecting an application for performing a robotic process on a workpiece with the arm and defining at least one constraint on motion of the arm. Then an instruction set is generated based upon the selected application representing a path for a robot tool attached to the arm by operating the arm in one of a teaching mode and a programmed mode to perform the robotic process on the workpiece and movement of the arm is controlled during the robotic process. A constraint algorithm is generated to maintain a predetermined point on the arm to at least one of be on, be near and avoid a specified constraint in a robot envelope during movement of the arm, and a singularity algorithm is generated to avoid a singularity encountered during the movement of the arm.

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: An apparatus comprises a vehicle, a sensing unit, and a control unit. The vehicle is movable in a path and has a first number of cutting elements. The sensing unit detects an obstacle in the path. The control unit is connected to the first number of cutting elements and is configured to autonomously adjust a height of a second number of cutting elements of the first number of cutting elements in response to the sensing unit detecting the obstacle in the path.

Abstract: A method for computer-aided movement planning of a robot is provided, in which a trajectory for the movement of a spatial point assigned to the robot is planned in a fixed coordinates system. The spatial positions are translated from a plurality of spatial positions of the spatial point into respective configuration positions in a configuration room of the robot based on inverse kinematics. The respective configuration positions are described by axial positions of one or several rotatory or translational movement axes of the robot and are tested for collisions and a trajectory is formed along spatial positions of the spatial point, the respective configuration positions of which are collision-free. Planning the movement in a fixed coordinates system improves the efficiency of the planning method and the planned movement corresponds more to the expectations of the persons or the operating staff in the surroundings of the robot.

Abstract: Using distributed positioning, collaborative behavioral determination, and probabilistic conflict resolution objects can independently identify and resolve potential conflicts before the occur. In one embodiment of the invention, interactive tags and other sensor resources associated with each of a plurality of objects provide among the objects relative positional data and state information. Using this information each object develops a spatial awareness of its environment, including the positional and action of nearby objects so as to, when necessary, modify its behavior to more effectively achieve an objective and resolve potential conflicts.