Abstract: In a teaching system including a display unit, an image generating unit generates a virtual image of a robot, a workpiece and a positioner for holding the workpiece. A display control unit controls the display unit to display the generated virtual image. Upon receiving an operator's operation of selecting a ridgeline of the workpiece of the virtual image, a work line generating unit extracts individual teaching target points of the ridgeline and generates a work line as a set of line segments each interconnecting the target points adjoining each other. A calculation unit calculates teaching values for positions and postures of the positioner on a point-by-point basis so that a vector direction of the work line at each target point becomes substantially parallel to a horizontal direction. A teaching program generating unit generates a teaching program for operating the positioner based on the calculated teaching values.

Abstract: A handling device, which is in particular a robot, has a receiving device for receiving different instruments. To this end, the receiving device and the different instruments have mutually compatible connecting elements. In order to ensure error-free connection of the correctly selected instrument to the receiving device, the instruments have changeable indicator devices. The indicator devices are changed with the aid of a control device, for example on the basis of a schedule.

Abstract: Methods and apparatus for procedural memory learning to control a robot by demonstrating a task action to the robot and having the robot learn the action according to a similarity matrix of correlated values, attributes, and parameters obtained from the robot as the robot performs the demonstrated action. Learning is done by an artificial neural network associated with the robot controller, so that the robot learns to perform the task associated with the similarity matrix. Extended similarity matrices can contain integrated and differentiated values of variables. Procedural memory learning reduces overhead in instructing robots to perform tasks. Continued learning improves performance and provides automatic compensation for changes in robot condition and environmental factors.

Abstract: A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided. When automatic operation of a slave manipulator 105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.

Abstract: Mobile self-balancing robots for telepresence are provided. The robots comprise a base, a head, and a shaft therebetween. The shaft can be telescoping to allow the head to be extended above the base to about the height of a normal sized person, or can be retracted to make the robot more compact for easier storage and transportation. The head includes components for telepresence such as cameras, a speaker, a microphone, a laser pointer, and a display screen, as well as protection from impacts and falls. The base provides locomotion and balance, and a narrow shaft between the head and base minimizes the robot's weight and reduces the likelihood of collisions with protrusions like table edges.

Abstract: An inspecting system for inspecting a lens module includes an inspection device; and a transmitting and loading device. The transmitting and loading device includes a grasping assembly, a supporting assembly, a sliding assembly loaded on the supporting assembly, and a control unit for controlling the grasping assembly and the sliding assembly. The grasping assembly is configured to clamp the lens module and to load the lens module on the sliding assembly, and the sliding assembly is adapted to transfer the lens module to a testing position of the inspection device.

Abstract: An imaging platform system that provides integrated navigation capabilities for surgical guidance. The system can include two robotic arm systems, one robotic arm system holding an imaging source, and the other holding an imaging sensor. These robotic arm systems are able to move and provide three-dimensional tomographic scans, static radiographic images, and dynamic fluoroscopic image sequences. A third robotic arm system can be included in the imaging platform system as a surgeon guided tool-holder to accurately implement an image-guided surgical plan. The robotic systems can manipulate imaging and surgical components into and out of the operative field as needed, enhancing the choreography between a surgical team and assistive technology. A handle can be included as part of a manual positioning control subsystem. The handle can be mounted to an imaging robotic system above and/or below an operating table, and also can be mounted to a tool-holding robotic system.

Abstract: A method of controlling a robot using a human-robot interface apparatus in two-way wireless communication with the robot includes displaying on a display interface a two-dimensional image, an object recognition support tool library, and an action support tool library. The method further includes receiving a selected object image representing a target object, comparing the selected object image with a plurality of registered object shape patterns, and automatically recognizing a registered object shape pattern associated with the target object if the target object is registered with the human-robot interface. The registered object shape pattern may be displayed on the display interface, and a selected object manipulation pattern selected from the action support tool library may be received. Control signals may be transmitted to the robot from the human-robot interface. Embodiments may also include human-robot apparatuses (HRI) programmed to remotely control a robot.

Abstract: According to an embodiment, a target trajectory that takes into account the hardware constraints of a robot is generated, based on results obtained by calculating, temporally interpolating, and estimating image feature amounts from a captured image.

Abstract: A robot teaching system according to an embodiment includes a robot, a sensor, a screen generator, an adjuster, and a job generator. The sensor measures measured values relating to operations of the robot. The screen generator generates a teaching operation screen that includes guidance information intended for the teacher. The adjuster adjusts parameters for generating a job based on specified values relating to the operations of the robot and input in the teaching operation screen, and the measured values of the sensor associated with the specified values, the parameters defining an operation command including corrections of the operations of the robot. The job generator generates the job in which the parameters adjusted by the adjuster are incorporated.

Abstract: A automation equipment control system comprises a general purpose computer with a general purpose operating system in electronic communication with a real-time computer subsystem. The general purpose computer includes a program execution module to selectively start and stop processing of a program of equipment instructions and to generate a plurality of move commands. The real-time computer subsystem includes a move command data buffer for storing the plurality of move commands, a move module linked to the data buffer for sequentially processing the moves and calculating a required position for a mechanical joint. The real-time computer subsystem also includes a dynamic control algorithm in software communication with the move module to repeatedly calculate a required actuator activation signal from a joint position feedback signal.

Abstract: In exemplary implementations of this invention, an input/output device (“Bulb”) is attached to on an articulated, actuated robotic arm. The robotic arm can move the Bulb by translating it along three axes and by rotating it about the arm's base. In addition, the I/O can rotate about its own vertical axis. The Bulb comprises at least a pico-projector, two cameras, a depth sensor and an onboard computer. The onboard computer controls actuators in the robotic arm and Bulb that move the Bulb. It also processes visual data captured by the cameras in order to recognize objects or events, and to respond to them. This response may include changing the position of the Bulb or changing the parameters of an image projected by the pico-projector.

Abstract: A method of generating a behavior of a robot includes measuring input data associated with a plurality of user responses, applying an algorithm to the input data of the plurality of user responses to generate a plurality of user character classes, storing the plurality of user character classes in a database, classifying an individual user into a selected one of the plurality of user character classes by generating user preference data, selecting a robot behavior based on the selected user character class, and controlling the actions of the robot in accordance with the selected robot behavior during a user-robot interaction session. The selected user character class and the user preference data are based at least in part on input data associated with the individual user.

Abstract: A self-propelled device determines an orientation for its movement based on a pre-determined reference frame. A controller device is operable by a user to control the self-propelled device. The controller device includes a user interface for controlling at least a direction of movement of the self-propelled device. The self-propelled device is configured to signal the controller device information that indicates the orientation of the self-propelled device. The controller device is configured to orient the user interface, based on the information signaled from the self-propelled device, to reflect the orientation of the self-propelled device.

Abstract: A control system for controlling an industrial robot including a manipulator. The control system includes a plurality of modules adapted to handle various functions. A first of the modules is a drive module adapted to control the motors driving the movements of the manipulator. A second of the modules is a main computer module adapted to execute a program with instructions for the movements of the manipulator and to plan the movements of the manipulator based on the executed instructions. The control system is adapted to communicate with one or more external devices via an external network. The control system includes an internal network. Each of the modules is arranged as a node in the internal network and includes communication elements for communicating with the other nodes in the internal network. The internal network includes a first part adapted for normal communication and a second part adapted for time critical communication.

Abstract: Methods, devices (such as computer readable media), and systems (such as computer systems) for defining and executing automated movements using robotic arms (such as robotic arms configured for use in performing surgical procedures), so that a remotely-located surgeon is relieved from causing the robotic arm to perform the automated movement through movement of an input device such as a hand controller.

Abstract: Systems and methods as described for providing visual telepresence to an operator of a remotely controlled robot. The robot includes both video cameras and pose sensors. The system can also comprise a head-tracking sensor to monitor the orientation of the operator's head. These signals can be used to aim the video cameras. The controller receives both the video signals and the pose sensor signals from the robot, and optionally receives head-tracking signals from the head-tracking sensor. The controller stitches together the various video signals to form a composite video signal that maps to a robot view. The controller renders an image to a display from that portion of the composite video signal that maps to an operator view. The relationship of the operator view to the robot view is varied according to the signals from the pose sensors and the head-tracking sensor.

Abstract: System (100) and methods (500) for remotely controlling a slave device (102). The methods involve: using a Hybrid Hand Controller (“HHC”) as a full haptic controller to control the slave device when the HHC (406) is coupled to a docking station (460); detecting when the HHC is or is being physically de-coupled from the docking station; automatically and seamlessly transitioning an operational mode of at least the HHC from a full haptic control mode to a gestural control mode, in response to a detection that the HHC is or is being de-coupled from the docking station; and using at least the HHC as a portable gestural controller to control the slave device when the HHC is de-coupled from the docking station.

Abstract: In a method for the offline programming of an NC-controlled manipulator which follows at least one real trajectory, possibly in a sensor-supported manner, with tool center point thereof in the real working mode, a kinematic manipulator model and, possibly, an environmental model are stored in an offline programming environment with user interface, at least one virtual trajectory of the manipulator and a virtual tolerance zone assigned to said trajectory are defined using the offline programming environment in a definition routine, and the offline programming environment is used to check, in a check routine, the previously defined tolerance zone at least in part in terms of kinematic singularities of the manipulator, the occurrence of which prompts a singularity routine to be executed.

Abstract: A robotic system includes a dexterous robot and a controller. The robot includes a plurality of robotic joints, actuators for moving the joints, and sensors for measuring a characteristic of the joints, and for transmitting the characteristics as sensor signals. The controller receives the sensor signals, and is configured for executing instructions from memory, classifying the sensor signals into distinct classes via the state classification module, monitoring a system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the system state. A method for controlling the robot in the above system includes receiving the signals via the controller, classifying the signals using the state classification module, monitoring the present system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the present system state.

Abstract: Interface (101) for converting human control input gestures to telematic control signals. The interface includes a plurality of articulating arms (107a, 107b, 108a, 108b, and 109a, 109b) each mounted at a base end (113, 115, 117) to an interface base and coupled at an opposing end to a housing (106). The articulating arms are operable to permit linear translational movement of the housing in three orthogonal directions. At least one sensor (116) of a first kind is provided for measuring the linear translational movement. A pivot member (201) is disposed in the housing and is arranged to pivot about a single pivot point. A grip (102) is provided and is attached to the pivot member so that a user upon grasping the grip can cause the pivot to rotate within the housing.

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: There is provided a teaching method for a transfer robot which is capable of quickly performing teaching at high reliability. Relative to a transfer robot which, in a state in which a substrate to be processed in a plurality of processing chambers is supported, transfers the substrate to a predetermined position by turning and telescopic action on the same plane, teaching is made of the transfer actions. At this time, by using at least one detection means that is disposed so as to detect the substrate when the substrate is transferred among the processing chambers, the transfer robot is caused to perform transfer action. At least one index part provided in advance on an operating part of the transfer robot is detected by the detection means. From this detection position, a reference position which serves as an origin of at least one of the turning action and the telescopic action is taught.

Abstract: A robotic system that includes a mobile robot linked to a plurality of remote stations. One of the remote stations includes an arbitrator that controls access to the robot. Each remote station may be assigned a priority that is used by the arbitrator to determine which station has access to the robot. The arbitrator may include notification and call back mechanisms for sending messages relating to an access request and a granting of access for a remote station.

Abstract: In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.

Abstract: A dual system component-based industrial robot controller having a standard operating system, a real-time operating system, a route management module, a soft bus, a driver management module, a motion control module, a PLC module, an IO module, a teach pendent interface module and a protocol stack module. The controller employs a component-based structure and the components are operated respectively under a non real-time standard operating system and a real-time operating system, and supports distributed processing. The communications and function calls among the components are carried out by the route management module and the soft bus. The components in communication are managed through the route management module. The driver management module provides communications among other modules with a consistent interface which accords to the DS402 standard, and a servo driver that accords to this interface standard can be readily integrated into the controller.

Abstract: An apparatus for providing haptic feedback to a teach pendant including a teach pendant having a housing and a processor disposed therein. The processor is in signal communication with a robot controller and is configured to monitor and control a robot. At least one haptic device is disposed on the teach pendant. The haptic device is in signal communication with the processor and configured for providing haptic feedback through the teach pendant to a user upon the occurrence of a haptic event.

Abstract: A robot and a method of controlling the same are disclosed. The robot determines a presence or absence of a non-registration object if a registered object is not present in a photographing area, obtains an object name by communicating with a user if the presence of the non-registration object is decided, and additionally registers the object name in a database. Therefore, the robot recognizes the non-registration object present in the photographing area.

Abstract: A robot control system has a portable operating device TP and a robot control device RC. The portable operating device TP is actuated by a rechargeable secondary battery and used to operate a robot R. The robot control device RC is capable of wireless communication with the portable operating device TP and performs automatic operation of the robot R based on teaching data provided by the portable operating device TP. The robot control system causes an emergency stop of the robot R when the wireless communication between the portable operating device TP and the robot control device RC is interrupted. The robot control system further includes a charging device CU, a connection monitoring section 12, and an automatic operation continuing section 11. The charging device CU charges the secondary battery by electrically connecting the portable operating device TP to the robot control device RC.

Abstract: A method for configuring a network device includes activating a sensor of the network device to receive data. The data from the sensor is analyzed to determine physical location information indicated thereby. A network address is automatically assigned to the network device based on the physical location information indicated by the data from the sensor. Related methods, systems, and apparatus are also discussed.

Abstract: An interface (101) for converting human control input gestures to telematic control signals includes a plurality of articulating arms (107, 108, 109) each mounted at a base end (113, 115, 117) to an interface base and coupled at an opposing end to a housing (106). The articulating arms are operable to permit linear translational movement of the housing in three orthogonal directions. At least one sensor (116) of a first kind is provided for measuring the linear translational movement. A pivot member (201) is disposed in the housing and is arranged to pivot about a single pivot point. A grip (102) is provided and is attached to the pivot member so that a user upon grasping the grip can cause the pivot to rotate within the housing. A button (118) is provided to switch between at least two modes, wherein when in a first mode control signals are used to control a vehicle base (502), and when in the second mode control signals are used to control a robotic arm (504) coupled to the vehicle base (502).

Abstract: The invention relates to a teleoperation method and a human robot interface for remote control of a machine by a human operator (5) using a remote control unit, particularly for remote control of a drone, wherein a vestibular feedback is provided to the operator (5) to enhance the situational awareness of the operator (5), wherein the vestibular feedback represents a real motion of the remote-controlled machine.

Abstract: A patient-side surgeon interface provides enhanced capabilities in using a minimally invasive, teleoperated surgical system. The patient-side surgeon interface has components within the sterile surgical field of the surgery. The components allow a surgeon to control teleoperated slave surgical instruments from within the sterile surgical field. The patient-side surgeon interface permits a surgeon to be in the sterile surgical field adjacent a patient undergoing surgery. Controlling minimally invasive slave surgical instruments from within the sterile surgical field permits minimally invasive surgery combined with direct visualization by the surgeon. The proximity to the patient allows the surgeon to control a teleoperated slave surgical instrument in tandem with controlling manually controlled instruments such as a laparoscopic instrument. Also, the surgeon, from within the sterile surgical field, can use the patient-side surgeon interface to control at least one proxy visual in proctoring another surgeon.

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: In accordance with various embodiments, a user interface embedded into a robot facilitates robot training via direct and intuitive physical interactions.

Abstract: A robot cell according to an aspect of the embodiments includes a first surface part and a second surface part. A robot that performs a work by performing a predetermined operation is arranged on the first surface part. In the second surface part, a plurality of fixing portions that are used to fix a working unit used in the work by the robot is arranged at a predetermined position, and the working unit is fixed to the second surface part by using a fixing portion selected from the fixing portions.

Abstract: The invention relates to an apparatus for the operation of a robot having a product gripper which is designed to represent at least one approach position of the product gripper for the picking up and/or placing down of a product, in particular of a food product, as a graphical element on a display device. The apparatus is designed so that the respective graphical element can be directly displaced on the display device for the setting of the coordinates of the respective approach position, with the coordinates of the respective approach position being changed automatically in response to such a displacement of the graphical element in accordance with the displacement.

Abstract: A robotic arm module includes a chassis having at least one arm pod. At least one arm connected to the chassis is movable between a stowed position within the at least one arm pod and a deployed position extending from the at least one arm pod. Each arm has a gripping mechanism for gripping articles of work. An attachment structure is configured to allow a host robot to grip and manipulate the robotic arm module. An electrical interface is configured to receive electronic signals in response to a user moving remote manipulators. The electronic signals cause the at least one arm to mimic the movement of the user moving the remote manipulators.

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

Abstract: A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.

Abstract: Provided is a locomotive performance testing apparatus capable of testing the locomotive performance of a test subject while keeping the test subject at a suitable position on a treadmill. According to the locomotive performance testing apparatus (1), a robot (2) is moving its legs (22) toward a second direction on a plurality of endless belts (11) which are rotationally driven by a plurality of motors (12), respectively. In this situation, a positional deviation or the like of the robot (2) from a first desired position in a first direction different from a second direction is determined as a first deviation. Moreover, motions of the plurality of motors (12) are individually controlled to offset the first deviation.

Abstract: A system of manipulators including several manipulators, namely robots and/or external axes, such as workstations or transport tracks, whereby each manipulator is controlled by a control system via communication means and is programmed to carry out a plurality of tasks. The system of manipulators is movable in a first coordinate system. A second coordinate system is defined for each manipulator, so that one part of the manipulator, e.g. its tool center point, stands still in the second coordinate system, which is movable relative to the first coordinate system.

Abstract: An apparatus in an example comprises a manipulator, a force sensor, a signal modulator, and a visual indicator. The manipulator is employed by a user. The force sensor determines a force signal from a force applied by the manipulator on a part of an environment of the user. The signal modulator is adjustable by the user to select a switch point for the visual indicator based on relative fragility of the part of the environment. The signal modulator employs the force signal and the switch point to control the visual indicator for the user.

Abstract: A work apparatus sets a virtual target point on an image plane in an imaging apparatus, and obtains a plurality of coordinate values of a moving unit at which a work reference point of a work unit and the virtual target point are caused to match in an image captured by the imaging apparatus. Further, the work apparatus obtains, in the image, coordinate values of the moving unit at which a position of light projection by a distance information obtaining unit and the virtual target point are caused to match, and a plurality of pieces of distance information obtained from the distance information obtaining unit at those coordinate positions. Then, the work apparatus calculates, based on the plurality of coordinate values and the plurality of pieces of distance information obtained through the above processing, a calibration parameter for the moving unit and the distance information obtaining unit.

Abstract: A method for creating low-cost interactive entertainment robots is disclosed. The cost of the robots is reduced by using a commodity computing device: smart phone, and by having robotic bodies use a decoder of a set of movement commands that facilitates the interoperability between a variety of smart phones and a variety of robotic bodies. Smart phones are equipped with powerful CPU, touch screen, USB, camera, microphone, Bluetooth, WI-FI, etc. They are fit for being the robot control units with the relevant robot applications installed. The cost of robotic bodies can be reduced by minimizing the amount of processing and sensing there and having them focus on mechanical movements. Furthermore, by defining and using a set of movement commands that promotes interoperability between a variety of robot control units and a variety of robotic bodies, the cost of robotic bodies can be reduced through mass production.

Abstract: Continuous change of state directions are graphically provided on a display screen to assist a user in performing necessary action(s) for transitioning between operating modes in a medical robotic system or performing corrective action. A graphical representation of a target state of an element of the medical robotic system is displayed on a display screen viewable by the user. Current states of the element and indications directing the user to manipulate the element towards the target state are continuously determined and graphical representations of the continuously determined current states and indications are displayed on the display screen along with that of the target state.

Abstract: There is provided a self-propelled electronic device for use on a base surface. The electronic device includes a chassis disposable over the base surface. The chassis includes a first surface facing the base surface when the chassis is disposed thereover. A light meter is configured to detect light incident toward the first surface and determine a luminance level thereof the detected light. A light source is configured to transition between an ON and OFF states dependent on the luminance level of the detected light. A line sensor is coupled to the chassis and is configured to sense a line segment on the base surface. A movement mechanism is coupled to the chassis and is placeable on the base surface. The movement mechanism is in operative communication with the line sensor to move on the base surface in a pattern corresponding to the line sensed on the base surface.

Abstract: The invention proposes a method for imitation-learning of movements of a robot, wherein the robot performs the following steps: observing a movement of an entity in the robot's environment, recording the observed movement using a sensorial data stream and representing the recorded movement in a different task space representations, selecting a subset of the task space representations for the imitation learning and reproduction of the movement to be imitated.

Abstract: A robot includes: a moving mechanism; a position recognition section that recognizes a current position of the robot within a guide zone having at least one guide location; and a movement control section that moves the robot to each of guide locations in the guide zone by using the moving mechanism, while causing the position recognition section to recognize the current position. The robot further includes a transmission section that transmits, every time the robot moves to each of the guide locations, contents information corresponding to the guide location to a mobile receive terminal held by a person to be guided near the robot.

Abstract: Robots, robot systems, and methods may interact with users. Data from a sensor may be received by a processor associated with a robot. The processor may determine a user input based on the data from the sensor. The processor may send the user input to a remote service via a communication device. The processor may receive command data from the remote service via the communication device. The processor may cause an expressive element to perform an action corresponding to the command data.