公开(公告)号：US20180250830A1

公开(公告)日：2018-09-06

申请号：US15755218

申请日：2016-06-24

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

发明人： Yasuhiko HASHIMOTO ,  Masayuki KAMON

IPC分类号： B25J13/08 ,  B25J9/16 ,  B25J19/02

CPC分类号： A61B34/37 ,  A61B34/32 ,  B23P19/04 ,  B23P21/00 ,  B23P21/002 ,  B23Q15/12 ,  B25J3/00 ,  B25J3/04 ,  B25J9/0081 ,  B25J9/0084 ,  B25J9/0087 ,  B25J9/0093 ,  B25J9/1602 ,  B25J9/161 ,  B25J9/1612 ,  B25J9/1628 ,  B25J9/163 ,  B25J9/1633 ,  B25J9/1646 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1674 ,  B25J9/1682 ,  B25J9/1689 ,  B25J9/1697 ,  B25J11/008 ,  B25J13/00 ,  B25J13/003 ,  B25J13/006 ,  B25J13/02 ,  B25J13/025 ,  B25J13/06 ,  B25J13/065 ,  B25J13/08 ,  B25J13/084 ,  B25J13/085 ,  B25J13/087 ,  B25J13/088 ,  B25J18/00 ,  B25J19/023 ,  B25J19/028 ,  B25J19/04 ,  G05B19/4182 ,  G05B2219/39004 ,  G05B2219/39102 ,  G05B2219/39439 ,  G05B2219/40022 ,  G05B2219/40136 ,  G05B2219/40142 ,  G05B2219/40146 ,  G05B2219/40161 ,  G05B2219/40162 ,  G05B2219/40163 ,  G05B2219/40169 ,  G05B2219/40183 ,  G05B2219/40195 ,  G06F3/017 ,  G06T7/62 ,  G06T7/70 ,  H04N5/23219 ,  H04N7/181 ,  Y10S901/02 ,  Y10S901/03 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/10 ,  Y10S901/27 ,  Y10S901/41 ,  Y10S901/46 ,  Y10S901/47

摘要： A robot system includes a robot including a tactile sensor and a hand having the tactile sensor, a tactile information generator configured to generate tactile information defined by a pressure distribution based on pressures detected by a plurality of pressure sensors and spatial positions of the plurality of pressure sensors, and output the tactile information, a manipulator configured to make an operator sense the pressure distribution according to the tactile information outputted from the tactile information generator, and when the operator manipulates the manipulator, output manipulating information according to the manipulation, and a robot controller configured to control operation of the hand of the robot according to the manipulating information outputted from the manipulator.

公开(公告)号：US20180243923A1

公开(公告)日：2018-08-30

申请号：US15755228

申请日：2016-06-24

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

发明人： Yasuhiko HASHIMOTO ,  Masayuki KAMON

IPC分类号： B25J13/08 ,  B25J3/00 ,  B25J9/00 ,  B25J13/02

CPC分类号： A61B34/37 ,  A61B34/32 ,  B23P19/04 ,  B23P21/00 ,  B23P21/002 ,  B23Q15/12 ,  B25J3/00 ,  B25J3/04 ,  B25J9/0081 ,  B25J9/0084 ,  B25J9/0087 ,  B25J9/0093 ,  B25J9/1602 ,  B25J9/161 ,  B25J9/1612 ,  B25J9/1628 ,  B25J9/163 ,  B25J9/1633 ,  B25J9/1646 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1674 ,  B25J9/1682 ,  B25J9/1689 ,  B25J9/1697 ,  B25J11/008 ,  B25J13/00 ,  B25J13/003 ,  B25J13/006 ,  B25J13/02 ,  B25J13/025 ,  B25J13/06 ,  B25J13/065 ,  B25J13/08 ,  B25J13/084 ,  B25J13/085 ,  B25J13/087 ,  B25J13/088 ,  B25J18/00 ,  B25J19/023 ,  B25J19/028 ,  B25J19/04 ,  G05B19/4182 ,  G05B2219/39004 ,  G05B2219/39102 ,  G05B2219/39439 ,  G05B2219/40022 ,  G05B2219/40136 ,  G05B2219/40142 ,  G05B2219/40146 ,  G05B2219/40161 ,  G05B2219/40162 ,  G05B2219/40163 ,  G05B2219/40169 ,  G05B2219/40183 ,  G05B2219/40195 ,  G06F3/017 ,  G06T7/62 ,  G06T7/70 ,  H04N5/23219 ,  H04N7/181 ,  Y10S901/02 ,  Y10S901/03 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/10 ,  Y10S901/27 ,  Y10S901/41 ,  Y10S901/46 ,  Y10S901/47

摘要： A robot system includes a robot including a tactile sensor and a hand having the tactile sensor, a robot controller configured to control operation of the hand of the robot according to robot manipulating information, a manipulator, a tactile information processor configured to generate tactile information defined by a pressure distribution based on pressures detected by at least the plurality of pressure sensors and spatial positions of the plurality of pressure sensors, convert the tactile information into sensible tactile information that is sensible by the operator, and output the sensible tactile information, a sensible tactile information presenting part configured to present to the operator the sensible tactile information outputted from the tactile information processor.

公开(公告)号：US20180243922A1

公开(公告)日：2018-08-30

申请号：US15755104

申请日：2016-05-27

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

发明人： Yasuhiko HASHIMOTO ,  Masayuki KAMON

IPC分类号： B25J13/08 ,  B25J9/00 ,  B25J13/00 ,  B25J9/16

CPC分类号： A61B34/37 ,  A61B34/32 ,  B23P19/04 ,  B23P21/00 ,  B23P21/002 ,  B23Q15/12 ,  B25J3/00 ,  B25J3/04 ,  B25J9/0081 ,  B25J9/0084 ,  B25J9/0087 ,  B25J9/0093 ,  B25J9/1602 ,  B25J9/161 ,  B25J9/1612 ,  B25J9/1628 ,  B25J9/163 ,  B25J9/1633 ,  B25J9/1646 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1674 ,  B25J9/1682 ,  B25J9/1689 ,  B25J9/1697 ,  B25J11/008 ,  B25J13/00 ,  B25J13/003 ,  B25J13/006 ,  B25J13/02 ,  B25J13/025 ,  B25J13/06 ,  B25J13/065 ,  B25J13/08 ,  B25J13/084 ,  B25J13/085 ,  B25J13/087 ,  B25J13/088 ,  B25J18/00 ,  B25J19/023 ,  B25J19/028 ,  B25J19/04 ,  G05B19/4182 ,  G05B2219/39004 ,  G05B2219/39102 ,  G05B2219/39439 ,  G05B2219/40022 ,  G05B2219/40136 ,  G05B2219/40142 ,  G05B2219/40146 ,  G05B2219/40161 ,  G05B2219/40162 ,  G05B2219/40163 ,  G05B2219/40169 ,  G05B2219/40183 ,  G05B2219/40195 ,  G06F3/017 ,  G06T7/62 ,  G06T7/70 ,  H04N5/23219 ,  H04N7/181 ,  Y10S901/02 ,  Y10S901/03 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/10 ,  Y10S901/27 ,  Y10S901/41 ,  Y10S901/46 ,  Y10S901/47

摘要： Plurality of robot main bodies a remote control device including contactless action detecting part configured to detect contactless action including at least one given operation instructing action by operator, and control device communicably connected to remote control device and configured to control operations of plurality of robot main bodies, are provided. Control device includes memory part configured to store operational instruction content data defining operation mode of robot main body corresponding to the at least one operation instructing action, operational instruction content identifying module configured to identify operation mode of robot main body corresponding to one of operation instructing action detected by contactless action detecting part based on operational instruction content data, and motion controlling module configured to control operation of at least one given robot main body among plurality of robot main bodies based on operation mode identified by operational instruction content identifying module.

公开(公告)号：US20180243897A1

公开(公告)日：2018-08-30

申请号：US15755115

申请日：2016-05-27

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

发明人： Yasuhiko HASHIMOTO ,  Nobuyasu SHIMOMURA ,  Tsuyoshi MAEHARA ,  Masayuki KAMON

IPC分类号： B25J3/00 ,  B25J13/06 ,  B23P19/04 ,  B25J19/04 ,  B25J13/08 ,  B25J9/16

CPC分类号： A61B34/37 ,  A61B34/32 ,  B23P19/04 ,  B23P21/00 ,  B23P21/002 ,  B23Q15/12 ,  B25J3/00 ,  B25J3/04 ,  B25J9/0081 ,  B25J9/0084 ,  B25J9/0087 ,  B25J9/0093 ,  B25J9/1602 ,  B25J9/161 ,  B25J9/1612 ,  B25J9/1628 ,  B25J9/163 ,  B25J9/1633 ,  B25J9/1646 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1674 ,  B25J9/1682 ,  B25J9/1689 ,  B25J9/1697 ,  B25J11/008 ,  B25J13/00 ,  B25J13/003 ,  B25J13/006 ,  B25J13/02 ,  B25J13/025 ,  B25J13/06 ,  B25J13/065 ,  B25J13/08 ,  B25J13/084 ,  B25J13/085 ,  B25J13/087 ,  B25J13/088 ,  B25J18/00 ,  B25J19/023 ,  B25J19/028 ,  B25J19/04 ,  G05B19/4182 ,  G05B2219/39004 ,  G05B2219/39102 ,  G05B2219/39439 ,  G05B2219/40022 ,  G05B2219/40136 ,  G05B2219/40142 ,  G05B2219/40146 ,  G05B2219/40161 ,  G05B2219/40162 ,  G05B2219/40163 ,  G05B2219/40169 ,  G05B2219/40183 ,  G05B2219/40195 ,  G06F3/017 ,  G06T7/62 ,  G06T7/70 ,  H04N5/23219 ,  H04N7/181 ,  Y10S901/02 ,  Y10S901/03 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/10 ,  Y10S901/27 ,  Y10S901/41 ,  Y10S901/46 ,  Y10S901/47

摘要： A remote control robot system includes a slave arm, a master main body imitating the shape of an object handled by the slave arm, a manipulation receiving device configured to receive manipulation of an operator based on the position and posture of the master main body, and a control device configured to control operation of the slave arm based on the manipulation received by the manipulation receiving device so that behavior of the object corresponds to behavior of the master main body.

公开(公告)号：US09969089B2

公开(公告)日：2018-05-15

申请号：US15221036

申请日：2016-07-27

申请人： iRobot Corporation

发明人： Dhiraj Goel ,  Ethan Eade ,  Philip Fong ,  Mario E. Munich

IPC分类号： B25J9/16 ,  G05D1/02 ,  B25J5/00 ,  B25J11/00

CPC分类号： B25J9/1697 ,  B25J5/007 ,  B25J9/1628 ,  B25J9/1664 ,  B25J11/0085 ,  G05D1/0253 ,  G05D1/0268 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0203 ,  G05D2201/0215 ,  Y10S901/01

摘要： Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.

公开(公告)号：US09802312B2

公开(公告)日：2017-10-31

申请号：US14945435

申请日：2015-11-19

申请人： NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY ,  Kabushiki Kaisha Yaskawa Denki ,  Robotic Biology Institute Inc.

发明人： Toru Natsume ,  Takashi Nagasaki ,  Makoto Umeno ,  Tatsuro Ipposhi ,  Hirokazu Kariyazaki

IPC分类号： G06F7/00 ,  B25J9/16 ,  G01N35/00

CPC分类号： B25J9/1628 ,  B25J9/1656 ,  B25J9/1679 ,  G01N35/0092 ,  G05B2219/40113 ,  G05B2219/45092

摘要： Provided is an operation command generation device configured to generate an operation command, which is a collection of jobs to be carried out by a process system including a robot based on a protocol chart including a process symbol representing a process to be carried out on a container containing a process subject, the operation command generation device including: a process job generation unit configured to generate, based on the process symbol, a job for causing the process system to carry out the process on the container at a work area; and a transfer job generation unit configured to generate, when the process represented by the process symbol is not a process to be carried out on the same container, a job to transfer the container from the work area to a retreat area after the process represented by the process symbol has been carried out.

公开(公告)号：US20170225327A1

公开(公告)日：2017-08-10

申请号：US15498972

申请日：2017-04-27

申请人： LIFE ROBOTICS INC.

发明人： Woo-Keun YOON

IPC分类号： B25J9/10 ,  H02P8/04 ,  B25J18/02 ,  H02P8/38 ,  B25J9/06 ,  B25J18/06

CPC分类号： B25J9/1005 ,  B25J9/06 ,  B25J9/126 ,  B25J9/1628 ,  B25J13/088 ,  B25J18/02 ,  B25J18/06 ,  H02P8/04 ,  H02P8/38 ,  Y10S901/24

摘要： An object of the present invention is to prevent unnecessary driving stop of a stepping motor. A robot arm section includes a robot arm, a stepping motor 31a, a motor driver 31b, an encoder 31c and a step-out detection section 31e. The robot arm has a joint J1. The stepping motor generates power for operating the joint. The motor driver drives the stepping motor according to a target angle. The encoder outputs an encoder pulse every time a drive shaft of the stepping motor rotates by a predetermined angle. The step-out detection section detects a step-out of the stepping motor based on the target angle and a current angle of the stepping motor that is identified based on the encoder pulse. When the stepping motor does not recover from the step-out before a predetermined grace time elapses from a time at which the step-out is detected, the motor driver stops driving the stepping motor at the time point at which the grace time elapses.

公开(公告)号：US20170220007A1

公开(公告)日：2017-08-03

申请号：US15061318

申请日：2016-03-04

申请人： Varian Semiconductor Equipment Associates, Inc.

发明人： Jack J. LoPiccolo ,  Robert J. Mitchell

IPC分类号： G05B11/42 ,  B25J9/16

CPC分类号： G05B11/42 ,  B25J9/1628 ,  B25J9/163 ,  G05B2219/41264 ,  G05B2219/41426 ,  Y10S901/09

摘要： Embodiments of the disclosure provide proportional integral derivative control (PID) using multiple actuators. In one embodiment, a process includes providing a PID controller in communication with a primary actuator and a secondary actuator, the primary actuator and the secondary actuator coupled to a handler. The process further includes receiving position feedback and a specified trajectory for the handler, and generating a dynamic feedforward force command and a position correction command for the handler based on the position feedback and the specified trajectory. The process further includes providing, from the PID controller, the dynamic feedforward force command to the secondary actuator and the position correction command to the primary actuator.

公开(公告)号：US20170144299A1

公开(公告)日：2017-05-25

申请号：US15300221

申请日：2015-04-17

申请人： SOFTBANK ROBOTICS EUROPE ,  INSTITUT NATIONAL DE LA RECHERCHE EN INFORMATIQUE ET AUTOMATIQUE

发明人： Jory LAFAYE ,  Cyrille COLLETTE ,  Pierre-Brice WIEBER

IPC分类号： B25J9/16 ,  G05D1/08 ,  B25J5/00

CPC分类号： B25J9/162 ,  B25J5/007 ,  B25J9/1628 ,  G05D1/0891 ,  G05D2201/0217

摘要： A humanoid robot with a body joined to an omnidirectional mobile ground base, equipped with: a body position sensor, a base position sensor and an angular velocity sensor to provide measures, actuators comprising at least 3 wheels located in the omnidirectional mobile base, extractors for converting sensored measures into useful data, a supervisor to calculate position, velocity and acceleration commands from the useful data, means for converting commands into instructions for the actuators, wherein the supervisor comprises: a no-tilt state controller, a tilt state controller and a landing state controller, each controller comprising means for calculating, position, velocity and acceleration commands based on a double point-mass robot model with tilt motion and on a linear model predictive control law, expressed as a quadratic optimization formulation with a weighted sum of objectives, and a set of predefined linear constraints.

公开(公告)号：US20160279793A1

公开(公告)日：2016-09-29

申请号：US14667413

申请日：2015-03-24

申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA

发明人： Emrah Akin Sisbot

IPC分类号： B25J9/16

CPC分类号： B25J9/1674 ,  B25J9/1628 ,  B25J9/1676 ,  G05B2219/40202 ,  G05B2219/40414 ,  Y10S901/01 ,  Y10S901/08 ,  Y10S901/09

摘要： The disclosure includes a method and a robot for projecting the one or more graphics on the surface of a user environment. The method may include determining robot velocity data describing one or more of an angular velocity and a linear velocity of the robot. The method may include determining graphical data describing one or more graphics for projection on the surface of a user environment based on the angular velocity and the linear velocity of the robot. The one or more graphics may include one or more arrows describing a past behavior of the robot and a pending behavior of the robot. The method may include projecting the one or more graphics on the surface of the user environment so that a user present in the user environment with the robot may have access to information describing the past and pending behavior of the robot.

摘要翻译： 本公开包括用于在用户环境的表面上投影一个或多个图形的方法和机器人。 该方法可以包括确定描述机器人的角速度和线速度中的一个或多个的机器人速度数据。 该方法可以包括基于角速度和机器人的线速度确定描述用于在用户环境的表面上投影的一个或多个图形的图形数据。 一个或多个图形可以包括描述机器人的过去行为的一个或多个箭头和机器人的待决行为。 该方法可以包括在用户环境的表面上投影一个或多个图形，使得在机器人中呈现在用户环境中的用户可以访问描述机器人的过去和未决行为的信息。