Abstract: A robot includes: an arm; a driving source that pivots the arm; an angle sensor that detects a pivot angle and outputs pivot angle information; an inertia sensor that is attached to the arm and outputs inertial force information; a control command generating unit that outputs a control command defining rotational operation of the arm; a control conversion determining unit that determines whether the inertial force information is used when the driving source is controlled; and an arm operation control unit that performs a first control based on the control command, the pivot angle information, and the inertial force information, if the control conversion determining unit determines that the inertial force information should be used, and performs a second control based on the control command and the pivot angle information, if the control conversion determining unit determines that the inertial force information should not be used.

Abstract: A method for training a robot to execute a robotic task in a work environment includes moving the robot across its configuration space through multiple states of the task and recording motor schema describing a sequence of behavior of the robot. Sensory data describing performance and state values of the robot is recorded while moving the robot. The method includes detecting perceptual features of objects located in the environment, assigning virtual deictic markers to the detected perceptual features, and using the assigned markers and the recorded motor schema to subsequently control the robot in an automated execution of another robotic task. Markers may be combined to produce a generalized marker. A system includes the robot, a sensor array for detecting the performance and state values, a perceptual sensor for imaging objects in the environment, and an electronic control unit that executes the present method.

Abstract: A clamp replacing apparatus includes a robot arm, a clamp and a connecting assembly configured for detachably connecting the clamp to the robot arm. The connecting assembly includes a first rotator and a second rotator. The first rotator is fixed to the robot arm and comprises a number of first locking portions each defining a receiving groove. The second rotator is fixed to the clamp and comprises a number of second locking portions corresponding to the first locking portions and each defining a bolt portion. The bolt portion can be received in the corresponding receiving groove or escaped from the receiving groove.

Abstract: A robot includes: an arm driven by a motor; an angle sensor that detects a pivoting angle of the motor; an inertia sensor that detects an inertial force acting on the arm; a noise detecting unit that detects a noise frequency of the inertia sensor from both an output of the angle sensor and an output of the inertia sensor; a filter-constant determining unit that determines a characteristic of a filter from information of the noise detecting unit; and the filter that removes noise of the inertia sensor on the basis of the filter-constant determining unit.

Abstract: An automatic veering structure for a floor cleaning apparatus comprises a driving wheel set to control moving direction of the floor cleaning apparatus, an auxiliary wheel set and a buffer module. It also has a detection module to detect whether the auxiliary wheel set is suspended in the air and whether the buffer module bumps into an obstacle, then output a first detection signal and a second detection signal to a control module to determine whether to trigger the driving wheel set to drive the floor cleaning apparatus to veer to prevent the floor cleaning apparatus from suspending and falling, or stopping moving when encounters the obstacle. Thus the lifespan of the floor cleaning apparatus is lengthened and cleaning efficiency improves.

Abstract: A system is employed for defining a position (location) of a receiving element inside an area surrounded by a wire loop, along the perimeter (a perimeter wire loop), of a work area or other bounded area. In particular, the system can determine whether the receiver is inside or outside the loop, and evaluate its distance from the perimeter wire.

Abstract: Methods and systems for representing information associated with an object in an area are provided. An example method includes determining a high-resolution representation of information associated with an area in which a robotic device is configured to operate. The high-resolution representation of information may include data associated with an object in the area and an indication of an occurrence of an update to the data. The method may further include determining a proximity of the robotic device to the object in the area. According to the method, when the proximity is less than a proximity threshold or the occurrence of the update is greater than an age threshold, a low-resolution representation of information associated with the area may be determined and provided to the robotic device.

Abstract: A mobile robot including a robot body, a drive system supporting the robot body, and a controller in communication with the drive system. The robot also includes an actuator moving a portion of the robot body through a volume of space adjacent the mobile robot and a sensor pod in communication with the controller. The sensor pod includes a collar rotatably supported and having a curved wall formed at least partially as a surface of revolution about a vertical axis. The sensor pod also includes a volumetric point cloud sensor housed by the collar and observing the volume of space adjacent the robot from within the collar along an observation axis extending through the curved wall. A collar actuator rotates the collar and the volumetric point cloud sensor together about the collar axis.

Abstract: A navigational control system for altering movement activity of a robotic device operating in a defined working area, comprising a transmitting subsystem integrated in combination with the robotic device, the transmitting subsystem comprising means for emitting a number of directed beams, each directed beam having a predetermined emission pattern, and a receiving subsystem functioning as a base station that includes a navigation control algorithm that defines a predetermined triggering event for the navigational control system and a set of detection units positioned within the defined working area in a known spaced-apart relationship, the set of detection units being configured and operative to detect one or more of the directed beams emitted by the transmitting system; and wherein the receiving subsystem is configured and operative to process the one or more detected directed beams under the control of the navigational control algorithm to determine whether the predetermined triggering event has occurred, an

Abstract: A system for controlling a human-controlled proxy robot surrogate is presented. The system includes a plurality of motion capture sensors for monitoring and capturing all movements of a human handler such that each change in joint angle, body posture or position; wherein the motion capture sensors are similar in operation to sensors utilized in motion picture animation, suitably modified to track critical handler movements in near real time. A plurality of controls attached to the proxy robot surrogate is also presented that relays the monitored and captured movements of the human handler as “follow me” data to the proxy robot surrogate in which the plurality of controls are configured such that the proxy robot surrogate emulates the movements of the human handler.

Abstract: The inventive concept of the metrology system (the system) actively determines the 6 Degree of Freedom (6-DOF) pose of a motion device such as, but not limited to, an industrial robot employing an end of arm tool (EOAT). A concept of the system includes using laser pointing devices without any inherent ranging capability in conjunction with the EOAT-mounted targets to actively determine the pose of the EOAT at distinct work positions of at least one motion device.

Abstract: A wearable robot may be worn by a user to record or teach a motion, including a motion such as sign language. The wearable robot includes a mode to record sign language data in a system by a sign language expert wearing the wearable robot and a mode to teach the sign language data recorded in the system to a sign language learner wearing the wearable robot. A user who wishes to learn sign language may easily learn sign language. In particular, a disabled person, who has poor eyesight and is unable to watch a video that teaches sign language, may learn sign language very intuitively using the wearable robot. Further, a user who has normal eyesight may also learn sign language more easily than from using a video which teaches sign language or from a sign language expert.

Abstract: A control apparatus for a master-slave robot includes a force correction section detecting unit that detects a section at which force information from at least one of force information and speed information is corrected, and a force correcting unit that corrects the force information at a section detected as a force correction section by the force correction section detecting unit. A small external force applied to a slave manipulator is magnified and transmitted to a master manipulator, or an excessive manipulation force applied to the master manipulator is reduced and transmitted to the slave manipulator.

Abstract: A robotic grasping device (10) has a first finger (20), a second finger (30) and an actuator (40). The first finger has a first fingertip (22), a first base (24) and a first actuator engagement end (26). A first gripping surface (21) of the first finger lies between the first fingertip and the first base. Similarly, the second finger has a second fingertip (32), a second base (34), a second actuator engagement end (36). A second gripping surface (31) of the second finger is between the second fingertip and the second base. The actuator (40) mechanically engages with the first actuator engagement end and the second actuator engagement end to open and close the fingers. A first force sensor (28) is disposed on the base of the first finger to measure a first operative force on the first finger, and a second force sensor (38) is disposed on the base of the second finger to measure a second operative force on the second finger.

Abstract: A robot apparatus includes a robot arm, a multi-fingered hand disposed at an end of the robot arm and including a force sensor for use in force control, an image processor that acquires at least location information on a gripping target by detection made by a visual sensor, and a control device that moves the robot arm on the basis of the at least location information on the gripping target acquired by the image processor to cause the multi-fingered hand to approach the gripping target, detects a contact location of actual contact with the gripping target on the basis of an output of the force sensor of the multi-fingered hand, and modifies the location information on the gripping target on the basis of information indicating the detected contact location.

Abstract: A robot system includes: a robot including a hand configured to hold a thin plate-shaped workpiece and an arm configured to move the hand; and a robot controller configured to control the robot. The robot controller controls the robot to perform a transfer of the workpiece at a predetermined workpiece transfer position in such a way that the hand is moved in a horizontal direction while being moved in a vertical direction after the hand has reached the workpiece transfer position.

Abstract: A transfer system according to an embodiment includes a plurality of robot hands, a storage unit, and an instructing part. The robot hands are operable to hold a thin sheet-like workpiece. The storage unit stores therein speed information that represents a temperature of the workpiece associated with a specified speed of a robot hand that holds the workpiece. The instructing part extracts the specified speed for each robot hand from the speed information and instructs to move all of the robot hands at or lower than a representative speed determined based on a set of extracted specified speed data.

Abstract: A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.

Abstract: A piezoelectric debris sensor and associated signal processor responsive to debris strikes enable an autonomous or non-autonomous cleaning device to detect the presence of debris and in response, to select a behavioral mode, operational condition or pattern of movement, such as spot coverage or the like. Multiple sensor channels (e.g., left and right) can be used to enable the detection or generation of differential left/right debris signals and thereby enable an autonomous device to steer in the direction of debris.

Abstract: The present disclosure discloses a cloud robot system, including: a cloud. computing platform and at least one robot; wherein the cloud computing platform is used for receiving perform information sent by the at least one robot in the system; the perform information includes data, status and requests of the at least one robot; the cloud computing platform is used for processing the data and status, sending process results back to the at least one robot, and sending control instructions to corresponding robot according to the requests; the at least one robot is used for sending the perform information to the cloud computing platform, receiving process results from the cloud computing platform, and performing according to the control instructions sent from the cloud computing platform. By using the present disclosure, computing ability and storage capacity of the robots can be expanded unlimited, while the thinking ability and memory of the robots are improved.

Abstract: A method of and apparatus for achieving dynamic robot accuracy includes a control system utilizing a dual position loop control. An outer position loop uses secondary encoders on the output side of the gear train of a robot joint axis, while the inner position loop uses the primary encoder attached to the motor. Both single and dual loop control can be used on the same robot and tooling axes.

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: An acoustic pretouch sensor or proximity sensor (110) includes a cavity (104) with a first microphone (106) disposed therein, and optionally a second microphone (108) disposed outside of the cavity. A processing system (110) receives the signals generated by the first microphone and analyzes the spectrum to produce a result representing the resonant frequency of the cavity. The processing system may optionally subtract the second microphone signal spectrum from the first to automatically compensate for changes in ambient noise. The processing system uses the resonant frequency to estimate the distance from the cavity opening to a surface (90). For example, the pretouch sensors may be incorporated into a stand alone device (100), into a robotic end effector (204), or into a device such as a phone (300).

Abstract: A sensor device includes a package, a sensor element that is disposed in the package, and a lid that seals the package, in which the sensor element includes a contacting surface that comes in contact with the lid, the package includes a joint surface which is joined to the lid, and the contacting surface and the joint surface are not on the same flat surface.

Abstract: A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger.

Abstract: A five-fingered hand device suitably applicable to a humanoid robot is provided. The device includes a hand body (2) which has a base (4) and five finger mechanisms (5) to (9), a drive unit (3) which drives the finger mechanisms, and a control unit (36) which controls bending and stretching of the finger mechanisms. The drive unit (3) has driven fluid pressure cylinders provided inside the hand body (2) and driving fluid pressure cylinders (37) provided outside the hand body (2), the driven fluid pressure cylinders being connected to the driving fluid pressure cylinders via fluid pressure transmission pipes (45).

Abstract: A submersible robot for operating a tool relative to a surface of an underwater structure has a tool holder movably mounted on a support assembly provided with a driving arrangement for movably holding the tool in operative position relative to the surface. Position and orientation of the support assembly relative to the surface is locked and adjusted by locking and leveling arrangements. A programmable control unit operates the driving, locking and leveling arrangements and the tool and receives measurements from a sensor unit. The control unit has an operation mode wherein a positioning of the robot is determined and controlled as function of an initial position for defining a first work area, and shifted positions of the robot for defining additional work areas, the work areas having overlapping portions with one another for tracking displacements of the robot relative to the surface of the structure using the sensor unit.

Abstract: A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.

Abstract: A shear force detection device for detecting a shear force includes: a support body including an opening defined by a pair of straight parts perpendicular to a detection direction of the shear force and parallel to each other; a support film on the support body and closing the opening, the support film having flexibility; a piezoelectric part on the support film and extending astride an inside and outside of the opening and along at least one of the pair of straight parts of the opening when viewed in a plane in which the support body is seen in a substrate thickness direction, the piezoelectric part being bendable to output an electric signal; and an elastic layer covering the piezoelectric part and the support film.

Abstract: A sensor element is formed by, when an ? axis, a ? axis orthogonal to the ? axis, and a ? axis orthogonal to the ? axis and the ? axis are set, laminating piezoelectric substrates and electrodes in the ? axis direction. The sensor element includes connecting sections arranged such that a part of external sections of the electrodes aligns with a part of external sections of the piezoelectric substrates. The connecting sections are arranged not to align with one another in a direction of the ? axis. Conductors that electrically connect the connecting sections and external connecting sections are formed along outer peripheral sections of the piezoelectric substrates.

Abstract: A mobile apparatus and a position recognition method thereof capable of enhancing performance in position recognition, such as accuracy and convergence in position recognition of the mobile apparatus performs the position recognition by use of a distributed filter system, which is composed of a plurality of local filters independently operating and a single fusion filter that integrates the position recognition result performed by each of the plurality of local filters. The mobile apparatus includes a plurality of sensors, a plurality of local filters configured to receive detection information from at least one of the plurality of sensors to perform a position recognition of the mobile apparatus, and a fusion filter configured to integrate the position recognition result of the plurality of local filters and to perform a position recognition of the mobile apparatus by using the integrated position recognition result.

Abstract: A robotic device for providing assistance in manipulation, including a base having a movable segment mounted thereon in association with a motor-drive mechanism connected to a control unit. The segment having an end portion provided with a member for holding an element to be manipulated and a handle for enabling the end portion to be manipulated by an operator. The control unit is connected to a detection mechanism for detecting an external force applied on the end portion and arranged to control the motor-drive mechanism as a function of an amplification factor for amplifying the detected force and servo-control gains. The control unit is connected to a pressure sensor mounted on the handle to detect the force with which the operator grips the handle and is arranged to modify the amplification factor and the servo-control gains as a function of the detected grip force.

Abstract: After switching a control method for a robot arm based upon characteristic information containing pieces of information relating to a grabbed position of the robot arm by a person and a presence/absence of detection of a force as well as to presence/absence of influences from a drag, during an operation of the robot arm, by a control method switching unit, information relating to the force of operation information is corrected by an operation correcting unit in response to a manipulation of the person.

Abstract: Disclosed is a method of generating a hip trajectory of a biped walking robot to allow the robot to stably walk on a two-dimensional space without falling down. An angular velocity of a hip of a swinging leg is obtained by measuring the angle/angular velocity of an ankle pitch joint part of a supporting leg in real time when the robot walks on the two-dimensional space, and desired trajectories of the ankle and the hip are generated based on the angular velocity of the ankle of the supporting leg and the angular velocity of the hip of the swinging leg.

Abstract: A robot system includes a container, a disposed-state detector, and a robot arm. The container is configured to accommodate a plurality of to-be-held objects and includes a reticulated portion. The disposed-state detector is configured to detect disposed states of the plurality of respective to-be-held objects disposed in the container. The robot arm includes a holder configured to hold a to-be-held object among the plurality of to-be-held objects based on the disposed states of the plurality of respective to-be-held objects detected by the disposed-state detector.

Abstract: A robot claw includes a base seat, more than one elastic assemblies, and at least two first clamping assemblies. The base seat includes a first fastening surface and a second fastening surface opposite to the first fastening surface. Each first clamping assembly includes a sliding unit fastened to the first fastening surface of the base seat and a clamping member fastened to the sliding unit. The sliding unit includes a guide rail. Two elastic assemblies are loaded at two opposite ends of each guide rail; when each of the clamping member slides to one end thereof, one elastic assembly elastically resists with an air cylinder to drive the air cylinder with the clamping member to slide towards the other end of the guide rail of the sliding unit.

Abstract: A robot apparatus includes a robot arm and a held-state detector. The robot arm includes a first holder configured to hold a to-be-held object. The held-state detector is coupled to the robot arm and is configured to detect a held state of the to-be-held object held by the first holder while the robot arm is transferring the to-be-held object.

Abstract: Movements of objects within a space are adaptively detected by emitting ultrasound waves into the space and detecting reflections of the ultrasound waves, determining locations of objects within the space based on the ultrasound reflections, and determining real-time movements of the objects based on, in certain embodiments, (i) amplitude differences between amplitudes of echoes in a current wave cycle and an average amplitude over a plurality of wave cycles and (ii) elapsed times of the ultrasound reflections associated with the amplitude differences.

Abstract: A robot and method of controlling the robot, the method including setting a target walking motion of the robot using an X-axis displacement, a y-axis displacement, and a z-axis rotation of a robot base, detecting and processing data of a position, a speed and a gradient of the robot base, a z-axis external force exerted on the foot, and a position, an angle, and a speed of each rotation joint using sensors, setting a support state and a coordination system of the robot, processing a state of the robot, performing an adaptive control by generating a target walking trajectory of the robot according to the target walking motion when a supporting leg of the robot is changed, setting a state machine representing a walking trajectory of the robot, and controlling a walking and a balancing of the robot by tracing the state machine that is set.

Abstract: A robot control apparatus, which controls motions of an industrial robot based on processing results of an image processing apparatus which images the robot or objects around the robot, includes: a first communication unit which communicates with a computer for development as an external computer; a second communication unit which is connected to the image processing apparatus via a network; and a command processing unit which opens a communication port of the second communication unit and causes the second communication unit to start communication with the image processing apparatus via a server on the network in response to an open command received by the first communication unit.

Abstract: A robot control apparatus includes an actuator; a generator unit; a first detection unit; a first computation unit to compute current positional data of the arm; a second computation unit to compute an input value; a third computation unit to compute an estimation value of a driving torque for driving the actuator; a fourth computation unit to compute a difference between the estimation value of the driving torque and a true value of the driving torque; and a second detection unit to detect a disturbance applied to the arm, wherein the second detection unit includes an update unit to estimate a parameter of a time-series model and updating the time-series model of the first sampling period by applying the parameter, and a determination unit to determine whether a disturbance occurs, by comparing the time-series model of the first sampling period with a time-series model of a second sampling period.

Abstract: The lower arm assembly for a humanoid robot includes an arm support having a first side and a second side, a plurality of wrist actuators mounted to the first side of the arm support, a plurality of finger actuators mounted to the second side of the arm support and a plurality of electronics also located on the first side of the arm support.

Abstract: A telepresence robot may include a manual navigation unit configured to move the telepresence robot according to navigation information received from a user device; an autonomous navigation unit configured to detect environment of the telepresence robot and control the movement of the telepresence robot using the detected result; a motion control unit comprising a database related to at least one motion, the motion control unit configured to receive selection information on the motion of the database and actuate the telepresence robot according to the selection information; and an output unit configured to receive expression information of a user from the user device and output the expression information. The telepresence robot may be applied to various fields such as language education by a native speaking teacher, medical diagnoses, teleconferences, or remote factory tours.

Abstract: A control system for a mobile robot (10) is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode (51) and a random bounce mode (49). In other embodiments, spot coverage, such as spiraling (45), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to implement the control system, and various escape behaviors are used to ensure full coverage.

Abstract: A robot is provided with a multi-joint robot arm, an external force detection unit that is installed in the arm, and detects an external force, a joint movable-state calculation unit that calculates a movable state of a joint of the arm, an external force conversion unit which, based on the movable state calculated by the joint movable-state calculation unit, converts the external force detected by the external force detection unit to a converted external force, and a control unit that controls the arm based on the converted external force so as to regulate the operation of the arm.

Abstract: A state where at least a part of the virtual object (e.g., a foot of a robot) enters into the actual object (e.g., floor), i.e., a state where at least a part of a plurality of virtual points located on the surface of the virtual object is inside the actual object, can be assumed. At each of the inside and the outside of the actual object, as a virtual point is located at a deeper position inside and away from the surface or the skin part of the actual object and as a coordinate value difference ?Zi is larger, a higher value is calculated for the cost Ei as well. The combination Z? of coordinate values of virtual points, bringing the total cost E=?iEi closer to an absolute minimum or a local minimum, can be searched.

Abstract: A robotic mapping method includes scanning a robot across a surface to be mapped. Locations of a plurality of points on the surface are sensed during the scanning. A first of the sensed point locations is selected. A preceding subset of the sensed point locations is determined. The preceding subset is disposed before the first sensed point location along a path of the scanning. A following subset of the sensed point locations is determined. The following subset is disposed after the first sensed point location along the path of the scanning. The first sensed point location is represented in a map of the surface by an adjusted first sensed point location. The adjusted first sensed point location is closer to each of the preceding and following subsets of the sensed point locations than is the first sensed point location.

Abstract: A method for energy management in a robotic device includes providing a base station for mating with the robotic device, determining a quantity of energy stored in an energy storage unit of the robotic device, and performing a predetermined task based at least in part on the quantity of energy stored. Also disclosed are systems for emitting avoidance signals to prevent inadvertent contact between the robot and the base station, and systems for emitting homing signals to allow the robotic device to accurately dock with the base station. Also disclosed are systems and methods for confirming a presence of a robotic device docked with a charger by recognizing a load formed by a circuit in the charger combined with a complementary circuit in the robotic device.

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 vacuum processing apparatus includes a robot connected to a vacuum container to carry a wafer on one of its two arms to or from a processing chamber; a unit to detect an amount of deviation of the wafer from a predetermined wafer mounting position on the arm that may occur when the robot carries the wafer into or out of the processing chamber; and an adjusting device to adjust the operation of the robot based on the detected amount of deviation. The adjusting device adjusts the robot operation based on the result of a teaching operation performed in advance. After being subjected to the initial teaching operation, the robot again undergoes a second teaching operation according to the information on the amount of wafer position deviation that is detected by moving the wafer in a predetermined transfer pattern, before the wafer processing is performed.