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公开(公告)号：US20130096719A1
公开(公告)日：2013-04-18
申请号：US13272442
申请日：2011-10-13
CPC分类号： G05B19/409 , G05B2219/36133 , G05B2219/36542
摘要： A control interface for inputting data into a controller and/or controlling a robotic system is displayed on a human-to-machine interface device. The specific configuration of the control interface displayed is based upon the task to be performed, the capabilities of the robotic system, the capabilities of the human-to-machine interface device, and the level of expertise of the user. The specific configuration of the control interface is designed to optimize the interaction between the user and the robotic system based upon the above described criteria.
摘要翻译： 用于将数据输入到控制器和/或控制机器人系统的控制界面显示在人机接口设备上。 所显示的控制界面的具体配置基于要执行的任务，机器人系统的能力，人机界面设备的能力以及用户的专业知识水平。 控制接口的具体配置被设计为基于上述标准来优化用户与机器人系统之间的交互。
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公开(公告)号：US08511964B2
公开(公告)日：2013-08-20
申请号：US12564084
申请日：2009-09-22
申请人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Phillip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
发明人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Phillip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
IPC分类号： B25J11/00
CPC分类号： B25J18/00 , B25J15/0009 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.
摘要翻译： 人形机器人包括一个躯干，一双手臂，两只手，一个脖子和一个头。 躯干沿主轴延伸并呈现一对肩。 所述一对臂从所述一对肩部中的相应一个可移动地延伸。 每个臂具有多个臂关节。 颈部沿着主轴从躯干运动地延伸。 颈部至少有一个颈关节。 头部从颈部沿着主轴线可移动地延伸。 头部至少有一个头关节。 肩膀彼此倾斜，以每个肩膀之间所定义的耸肩角度相互倾斜，从而在肩膀之间定义工作空间。
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公开(公告)号：US08260460B2
公开(公告)日：2012-09-04
申请号：US12564096
申请日：2009-09-22
申请人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
发明人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
CPC分类号： B25J9/1661 , G05B2219/36056 , G05B2219/36425 , G05B2219/39376 , G05B2219/40099
摘要： A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.
摘要翻译： 机器人系统包括具有接头，致动器和传感器的机器人以及分布式控制器。 控制器包括命令级控制器，每个控制各自关节的嵌入式联合级控制器，以及联合协调级控制器协调关节的运动。 中央数据库（CDL）集中所有控制和反馈数据，用户界面使用CDL显示每个关节，执行器和传感器的状态。 参数化动作序列具有链接事件的层次结构，并允许实时修改控制数据。 控制机器人的方法包括通过控制器的各个级别发送控制数据，将所有控制和反馈数据路由到CDL，以及使用CDL显示机器人的状态和操作。 生成参数化动作序列以供机器人执行，并且在序列内创建链接事件的层次结构。
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公开(公告)号：US20110071676A1
公开(公告)日：2011-03-24
申请号：US12564096
申请日：2009-09-22
申请人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
发明人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
IPC分类号： G05B19/04
CPC分类号： B25J9/1661 , G05B2219/36056 , G05B2219/36425 , G05B2219/39376 , G05B2219/40099
摘要： A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.
摘要翻译： 机器人系统包括具有接头，致动器和传感器的机器人以及分布式控制器。 控制器包括命令级控制器，每个控制各自关节的嵌入式联合级控制器，以及联合协调级控制器协调关节的运动。 中央数据库（CDL）集中所有控制和反馈数据，用户界面使用CDL显示每个关节，执行器和传感器的状态。 参数化动作序列具有链接事件的层次结构，并允许实时修改控制数据。 控制机器人的方法包括通过控制器的各个级别发送控制数据，将所有控制和反馈数据路由到CDL，以及使用CDL显示机器人的状态和操作。 生成参数化动作序列以供机器人执行，并且在序列内创建链接事件的层次结构。
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公开(公告)号：US20110067521A1
公开(公告)日：2011-03-24
申请号：US12564084
申请日：2009-09-22
申请人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Philip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
发明人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Philip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
CPC分类号： B25J18/00 , B25J15/0009 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.
摘要翻译： 人形机器人包括一个躯干，一双手臂，两只手，一个脖子和一个头。 躯干沿主轴延伸并呈现一对肩。 所述一对臂从所述一对肩部中的相应一个可移动地延伸。 每个臂具有多个臂关节。 颈部沿着主轴从躯干运动地延伸。 颈部至少有一个颈关节。 头部从颈部沿着主轴线可移动地延伸。 头部至少有一个头关节。 肩膀彼此倾斜，以每个肩膀之间所定义的耸肩角度相互倾斜，从而在肩膀之间定义工作空间。
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公开(公告)号：US20100280663A1
公开(公告)日：2010-11-04
申请号：US12624445
申请日：2009-11-24
申请人： Muhammad E. Abdallah , Robert J. Platt, JR. , Charles W. Wampler, II , Matthew J. Reiland , Adam M. Sanders
发明人： Muhammad E. Abdallah , Robert J. Platt, JR. , Charles W. Wampler, II , Matthew J. Reiland , Adam M. Sanders
IPC分类号： B25J13/00
CPC分类号： H01R13/17 , H01R13/052
摘要： A robotic system includes a humanoid robot having a plurality of joints adapted for force control with respect to an object acted upon by the robot, a graphical user interface (GUI) for receiving an input signal from a user, and a controller. The GUI provides the user with intuitive programming access to the controller. The controller controls the joints using an impedance-based control framework, which provides object level, end-effector level, and/or joint space-level control of the robot in response to the input signal. A method for controlling the robotic system includes receiving the input signal via the GUI, e.g., a desired force, and then processing the input signal using a host machine to control the joints via an impedance-based control framework. The framework provides object level, end-effector level, and/or joint space-level control of the robot, and allows for functional-based GUI to simplify implementation of a myriad of operating modes.
摘要翻译： 机器人系统包括具有适于对由机器人作用的物体进行力控制的多个关节的人形机器人，用于从用户接收输入信号的图形用户界面（GUI）和控制器。 GUI为用户提供对控制器的直观编程访问。 控制器使用基于阻抗的控制框架控制关节，该框架响应于输入信号提供机器人的物体水平，末端执行器水平和/或联合空间级控制。 用于控制机器人系统的方法包括经由GUI接收输入信号，例如期望的力，然后使用主机处理输入信号，以经由基于阻抗的控制框架来控制关节。 该框架提供了机器人的对象级别，末端执行器级别和/或联合空间级别控制，并允许基于功能的GUI来简化无数操作模式的实现。
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公开(公告)号：US20130226350A1
公开(公告)日：2013-08-29
申请号：US13408675
申请日：2012-02-29
申请人： Bryan J. Bergelin , Chris A. Ihrke , Donald R. Davis , Douglas Martin Linn , Adam M. Sanders , R. Scott Askew , Evan Laske , Kody Ensley
发明人： Bryan J. Bergelin , Chris A. Ihrke , Donald R. Davis , Douglas Martin Linn , Adam M. Sanders , R. Scott Askew , Evan Laske , Kody Ensley
CPC分类号： B25J9/0006 , A41D19/0024 , A61B5/1107 , A61B5/225 , A61B5/6806 , A61H1/0288 , A61H2201/0184 , A61H2201/1246 , A61H2201/1638 , A61H2201/165 , A61H2201/5002 , A61H2201/5061 , A61H2201/5097 , A61H2230/605 , B25J9/104 , B25J13/08
摘要： A grasp assist system includes a glove and sleeve. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. The glove contains a tendon connected at a first end to the digit. The sleeve has an actuator assembly connected to a second end of the tendon and a controller in communication with the sensor. The controller includes a configuration module having selectable operating modes and a processor that calculates a tensile force to apply to the tendon for each of the selectable operating modes to assist the grasping force in a manner that differs for each of the operating modes. A method includes measuring the grasping force, selecting the mode, calculating the tensile force, and applying the tensile force to the tendon using the actuator assembly.
摘要翻译： 抓握辅助系统包括手套和套筒。 手套包括数字，即手指或拇指，以及力传感器。 传感器测量穿戴手套的操作者施加到物体的抓握力。 手套包含在第一端连接到数字的腱。 套筒具有连接到腱的第二端的致动器组件和与传感器连通的控制器。 控制器包括具有可选操作模式的配置模块和处理器，该处理器计算用于每个可选择操作模式的腱施加的拉力，以便以对于每个操作模式不同的方式来帮助抓握力。 一种方法包括测量抓取力，选择模式，计算张力，以及使用致动器组件将张力施加到腱上。
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公开(公告)号：US08731714B2
公开(公告)日：2014-05-20
申请号：US12887972
申请日：2010-09-22
IPC分类号： G06F19/00
CPC分类号： B25J9/1682 , B25J9/1661
摘要： A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.
摘要翻译： 机器人系统包括控制器和一个或多个机器人，每个机器人具有多个机器人接头。 每个机器人关节是独立可控的，从而执行具有至少一个任务执行叉的协作工作任务，导致多个独立子任务。 控制器在执行协作工作任务期间协调机器人的运动。 控制器将机器人接头组合到任务特定的机器人子系统中，并且在执行协作工作任务的各个子任务期间同步不同子系统的运动。 使用机器人系统执行协同工作任务的方法包括：将机器人接头自动分组为任务专用子系统，以及在达到任务执行叉时将协同工作任务的子任务分配给子系统。 该方法还包括在到达任务执行叉之后协调子任务的执行。
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公开(公告)号：US20120072019A1
公开(公告)日：2012-03-22
申请号：US12887972
申请日：2010-09-22
IPC分类号： B25J17/00
CPC分类号： B25J9/1682 , B25J9/1661
摘要： A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.
摘要翻译： 机器人系统包括控制器和一个或多个机器人，每个机器人具有多个机器人接头。 每个机器人关节是独立可控的，从而执行具有至少一个任务执行叉的协作工作任务，导致多个独立子任务。 控制器在执行协作工作任务期间协调机器人的运动。 控制器将机器人接头组合到任务特定的机器人子系统中，并且在执行协作工作任务的各个子任务期间同步不同子系统的运动。 使用机器人系统执行协同工作任务的方法包括：将机器人接头自动分组为任务专用子系统，以及在达到任务执行叉时将协同工作任务的子任务分配给子系统。 该方法还包括在到达任务执行叉之后协调子任务的执行。
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10.发明授权Method and system for controlling a dexterous robot execution sequence using state classification 有权使用状态分类控制灵巧机器人执行顺序的方法和系统公开(公告)号：US08706299B2
公开(公告)日：2014-04-22
申请号：US13196252
申请日：2011-08-02
申请人： Adam M. Sanders , Robert J. Platt, Jr. , Nathaniel Quillin , Frank Noble Permenter , Joseph Pfeiffer
发明人： Adam M. Sanders , Robert J. Platt, Jr. , Nathaniel Quillin , Frank Noble Permenter , Joseph Pfeiffer
CPC分类号： B25J9/1656 , G05B2219/40387
摘要： 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.
摘要翻译： 机器人系统包括灵巧机器人和控制器。 机器人包括多个机器人接头，用于移动接头的致动器，以及用于测量接头的特性的传感器，以及用于传送特性作为传感器信号。 控制器接收传感器信号，并且被配置为执行来自存储器的指令，经由状态分类模块将传感器信号分类为不同的等级，使用该类监视机器人的系统状态，以及控制机器人执行替代工作 基于系统状态的任务。 一种用于在上述系统中控制机器人的方法包括经由控制器接收信号，使用状态分类模块对信号进行分类，使用该类监视机器人的当前系统状态，以及在执行替代工作任务时控制机器人 基于当前的系统状态。
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