-
公开(公告)号：US20200016739A1
公开(公告)日：2020-01-16
申请号：US16570740
申请日：2019-09-13
申请人： Willow Garage, Inc.
发明人： Melonee Wise
摘要： One embodiment is directed to a personal robotic system, comprising: an electromechanical mobile base configured to be controllably movable upon a substantially planar surface in a global coordinate system wherein a Z axis is defined perpendicular to the substantially planar surface; a torso assembly movably coupled to the mobile base such that the torso may be controllably moved in a direction substantially parallel to the Z axis and also controllably rotated about an axis substantially perpendicular to the Z axis; a head assembly movably coupled to the torso assembly; a robotic arm operatively coupled to the torso assembly; and a controller operatively coupled to the mobile base, torso assembly, head assembly, and robotic arm, and configured to controllably manipulate nearby objects while also automatically minimizing destabilizing moments applied to the mobile base through movement of at least one of the mobile base, torso assembly, head assembly, and robotic arm.
-
公开(公告)号：US20200005534A1
公开(公告)日：2020-01-02
申请号：US16568073
申请日：2019-09-11
申请人： Willow Garage, Inc.
IPC分类号： G06T17/00 , G06F3/0484 , G06F16/51 , G06F16/22 , H04L29/08 , G06F3/0481 , G06T15/20 , G06T17/05
摘要： A system comprises a storage system comprising data representing a point cloud comprising a very large number of associated points; a controller operatively coupled to the storage cluster and configured to organize the data into an octree hierarchy of data sectors, each of which is representative of one or more of the points at a given octree mesh resolution; and a user interface through which a user may select a viewing perspective origin and vector, which may be utilized to command the controller to assemble an image based at least in part upon the selected origin and vector, the image comprising a plurality of data sectors pulled from the octree hierarchy, the plurality of data sectors being assembled such that sectors representative of points closer to the selected viewing origin have a higher octree mesh resolution than that of sectors representative of points farther away from the selected viewing origin.
-
公开(公告)号：US20190291269A1
公开(公告)日：2019-09-26
申请号：US16414299
申请日：2019-05-16
申请人： Willow Garage, Inc.
发明人： Matei Ciocarlie , Scott Stanford
摘要： A tendon-driven robotic gripper is disclosed for performing fingertip and enveloping grasps. One embodiment comprises two fingers, each with two links, and is actuated using a single active tendon. During unobstructed closing, the distal links remain parallel, creating exact fingertip grasps. Conversely, if the proximal links are stopped by contact with an object, the distal links start flexing, creating a stable enveloping grasp. The route of the active tendon and the parameters of the springs providing passive extension forces are optimized in order to achieve this behavior. An additional passive tendon is disclosed that may be used as a constraint preventing the gripper from entering undesirable parts of the joint workspace. A method for optimizing the dimensions of the links in order to achieve enveloping grasps of a large range of objects is disclosed and applied to a set of common household objects.
-
公开(公告)号：US20190188905A1
公开(公告)日：2019-06-20
申请号：US16273858
申请日：2019-02-12
申请人： Willow Garage, Inc.
IPC分类号： G06T17/00 , G06F16/22 , G06F16/51 , G06F3/0481 , G06T15/20 , H04L29/08 , G06T17/05 , G06F3/0484
CPC分类号： G06T17/005 , G06F3/04815 , G06F3/0484 , G06F16/2246 , G06F16/51 , G06T15/20 , G06T17/05 , G06T2200/24 , G06T2210/36 , G06T2210/56 , H04L67/1097
摘要： A system comprises a storage system comprising data representing a point cloud comprising a very large number of associated points; a controller operatively coupled to the storage cluster and configured to organize the data into an octree hierarchy of data sectors, each of which is representative of one or more of the points at a given octree mesh resolution; and a user interface through which a user may select a viewing perspective origin and vector, which may be utilized to command the controller to assemble an image based at least in part upon the selected origin and vector, the image comprising a plurality of data sectors pulled from the octree hierarchy, the plurality of data sectors being assembled such that sectors representative of points closer to the selected viewing origin have a higher octree mesh resolution than that of sectors representative of points farther away from the selected viewing origin.
-
公开(公告)号：US20190188904A1
公开(公告)日：2019-06-20
申请号：US16271148
申请日：2019-02-08
申请人： Willow Garage, Inc.
IPC分类号： G06T17/00 , G06F16/22 , G06F16/28 , G06F16/26 , G06F3/0484 , G06T17/05 , G06F3/0482 , G06T17/20
CPC分类号： G06T17/005 , G06F3/0482 , G06F3/04842 , G06F3/04845 , G06F3/04847 , G06F16/2246 , G06F16/26 , G06F16/282 , G06F16/287 , G06T15/20 , G06T17/05 , G06T17/20 , G06T2207/10028 , G06T2210/56
摘要： One embodiment is directed to a system for presenting views of a very large point data set, comprising: a storage system comprising data representing a point cloud comprising a very large number of associated points; a controller operatively coupled to the storage cluster and configured to automatically and deterministically organize the point data into an octree hierarchy of data sectors, each of which is representative of one or more of the points at a given octree mesh resolution; and a user interface through which a user may select a viewing perspective origin and vector, which may be utilized to command the controller to assemble an image based at least in part upon the selected origin and vector, the image comprising a plurality of data sectors pulled from the octree hierarchy.
-
公开(公告)号：US20190164339A1
公开(公告)日：2019-05-30
申请号：US16262750
申请日：2019-01-30
申请人： Willow Garage, Inc.
摘要： One embodiment is directed to a method for presenting views of a very large point data set, comprising: storing data on a storage system that is representative of a point cloud comprising a very large number of associated points; automatically and deterministically organizing the data into an octree hierarchy of data sectors, each of which is representative of one or more of the points at a given octree mesh resolution; receiving a command from a user of a user interface to present an image based at least in part upon a selected viewing perspective origin and vector; and assembling the image based at least in part upon the selected origin and vector, the image comprising a plurality of data sectors pulled from the octree hierarchy.
-
公开(公告)号：US20180361572A1
公开(公告)日：2018-12-20
申请号：US16059206
申请日：2018-08-09
申请人： Willow Garage, Inc.
发明人： Matei Ciocarlie , Scott Stanford
摘要： A tendon-driven robotic gripper is disclosed for performing fingertip and enveloping grasps. One embodiment comprises two fingers, each with two links, and is actuated using a single active tendon. During unobstructed closing, the distal links remain parallel, creating exact fingertip grasps. Conversely, if the proximal links are stopped by contact with an object, the distal links start flexing, creating a stable enveloping grasp. The route of the active tendon and the parameters of the springs providing passive extension forces are optimized in order to achieve this behavior. An additional passive tendon is disclosed that may be used as a constraint preventing the gripper from entering undesirable parts of the joint workspace. A method for optimizing the dimensions of the links in order to achieve enveloping grasps of a large range of objects is disclosed and applied to a set of common household objects.
-
公开(公告)号：US20180330540A1
公开(公告)日：2018-11-15
申请号：US16026491
申请日：2018-07-03
申请人： Willow Garage, Inc.
IPC分类号： G06T17/00 , G06T17/05 , G06F3/0481 , H04L29/08 , G06F3/0484 , G06T15/20 , G06F17/30
CPC分类号： G06T17/005 , G06F3/04815 , G06F3/0484 , G06F17/3028 , G06F17/30327 , G06T15/20 , G06T17/05 , G06T2200/24 , G06T2210/36 , G06T2210/56 , H04L67/1097
摘要： A system comprises a storage system comprising data representing a point cloud comprising a very large number of associated points; a controller operatively coupled to the storage cluster and configured to organize the data into an octree hierarchy of data sectors, each of which is representative of one or more of the points at a given octree mesh resolution; and a user interface through which a user may select a viewing perspective origin and vector, which may be utilized to command the controller to assemble an image based at least in part upon the selected origin and vector, the image comprising a plurality of data sectors pulled from the octree hierarchy, the plurality of data sectors being assembled such that sectors representative of points closer to the selected viewing origin have a higher octree mesh resolution than that of sectors representative of points farther away from the selected viewing origin.
-
公开(公告)号：US20150254896A1
公开(公告)日：2015-09-10
申请号：US14718655
申请日：2015-05-21
申请人： Willow Garage Inc.
CPC分类号： G06T17/005 , G01S17/89 , G06T15/10 , G06T15/20 , G06T17/05 , G06T2200/24 , G06T2207/10028 , G06T2210/36 , G06T2210/56
摘要： One embodiment is directed to a method for presenting views of a very large point data set, comprising: storing data on a storage system that is representative of a point cloud comprising a very large number of associated points; automatically and deterministically organizing the data into an octree hierarchy of data sectors, each of which is representative of one or more of the points at a given octree mesh resolution; receiving a command from a user of a user interface to present an image based at least in part upon a selected viewing perspective origin and vector; and assembling the image based at least in part upon the selected origin and vector, the image comprising a plurality of data sectors pulled from the octree hierarchy.
摘要翻译： 一个实施例涉及用于呈现非常大的点数据集的视图的方法，包括：将数据存储在表示包括非常大数量的关联点的点云的存储系统上; 自动且确定地将数据组织成数据扇区的八叉树分层，每个数据扇区代表给定八叉树网格分辨率下的一个或多个点; 至少部分地基于所选择的观看透视原点和向量，从用户界面的用户接收命令以呈现图像; 以及至少部分地基于所选择的原始和矢量组装所述图像，所述图像包括从所述八叉树层次结构中提取的多个数据扇区。
-
公开(公告)号：US20200047329A1
公开(公告)日：2020-02-13
申请号：US16596946
申请日：2019-10-09
申请人： Willow Garage, Inc.
发明人： Eric H. Berger , Keenan Wyrobek
摘要： Systems and methods related to construction, configuration, and utilization of humanoid robotic systems and aspects thereof are described. A system may include a mobile base, a spine structure, a body structure, and at least one robotic arm, each of which is movably configured to have significant human-scale capabilities in prescribed environments. The one or more robotic arms may be rotatably coupled to the body structure, which may be mechanically associated with the mobile base, which is preferably configured for holonomic or semi-holonomic motion through human scale travel pathways that are ADA compliant. Aspects of the one or more arms may be counterbalanced with one or more spring-based counterbalancing mechanisms which facilitate backdriveability and payload features.
-
-
-
-
-
-
-
-
-
搜索结果
57 条记录 (耗时 0.022 秒)
