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    Mobile Human Interface Robot
    2.
    发明申请
    Mobile Human Interface Robot 有权
    移动人机接口机器人

    公开(公告)号：US20150073598A1

    公开(公告)日：2015-03-12

    申请号：US14546192

    申请日：2014-11-18

    Applicant: iRobot Corporation

    Inventor： Michael T. Rosenstein ,  Chikyung Won ,  Geoffrey Lansberry ,  Steven V. Shamlian ,  Michael Halloran ,  Mark Chiappetta ,  Thoma P. Allen

    IPC: B25J13/08 ,  B25J5/00 ,  G05D1/02

    CPC classification number: B25J13/084 ,  B25J5/007 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211 ,  Y10S901/01

    Abstract: A mobile human interface robot including a drive system having at least one drive wheel driven by a corresponding drive motor, a localization system in communication with the drive system, and a power source in communication with the drive system and the localization system. The robot further including a touch response input supported above the drive system. Activation of the touch response input modifies delivery of power to the drive system to reduce a drive load of the corresponding drive motor of the at least one drive wheel white allowing continued delivery of power to the localization system.

    Abstract translation: 一种移动人机接口机器人，包括具有由相应的驱动电动机驱动的至少一个驱动轮的驱动系统，与驱动系统通信的定位系统以及与驱动系统和定位系统通信的电源。 机器人还包括在驱动系统上方支持的触摸响应输入。 激活触摸响应输入修改向驱动系统的电力传递，以减少至少一个驱动轮白色的相应驱动电机的驱动负载，从而允许向定位系统持续传递电力。

    Robotic fingers and end effectors including same
    3.
    发明授权
    Robotic fingers and end effectors including same 有权
    机器人手指和末端执行器包括相同

    公开(公告)号：US09545727B1

    公开(公告)日：2017-01-17

    申请号：US14933732

    申请日：2015-11-05

    Applicant: iRobot Corporation

    Inventor： Steven V. Shamlian ,  Mark R. Claffee ,  Erik Amaral ,  Timothy R. Ohm ,  Annan M. Mozeika

    IPC: B25J15/10 ,  B25J15/12

    CPC classification number: B25J15/08 ,  B25J9/1045 ,  B25J13/084 ,  B25J15/0009

    Abstract: A robotic end effector includes a finger and at least one actuator. The finger extends from a proximal end to a distal end along a finger axis. The finger includes a first phalanx proximate the proximal end, a second phalanx proximate the distal end, and a knuckle joint including at least one vertebra interposed between and separating the first and second phalanxes. The knuckle joint is configured to permit the second phalanx to pivot relative to the first phalanx about a pivot axis transverse to the finger axis. Each vertebra has an axial thickness extending along the finger axis and a lateral width extending perpendicular to its axial thickness, and its lateral width is greater than its axial thickness. The at least one actuator is operable to move the second phalanx relative to the first phalanx about the pivot axis.

    Abstract translation: 机器人末端执行器包括手指和至少一个致动器。 手指从手指轴线的近端延伸到远端。 手指包括靠近近端的第一指骨，靠近远端的第二指骨，以及包括插入在第一和第二指骨之间并分离第一和第二指骨的至少一个椎骨的关节关节。 关节关节构造成允许第二指骨相对于第一指骨围绕横向于手指轴线的枢转轴线枢转。 每个椎骨具有沿指状轴线延伸的轴向厚度和垂直于其轴向厚度延伸的横向宽度，并且其横向宽度大于其轴向厚度。 至少一个致动器可操作以围绕枢转轴线相对于第一指骨移动第二指骨。

    Proximity sensing on mobile robots
    4.
    发明授权
    Proximity sensing on mobile robots 有权
    移动机器人接近感知

    公开(公告)号：US09442488B2

    公开(公告)日：2016-09-13

    申请号：US14279598

    申请日：2014-05-16

    Applicant: iRobot Corporation

    Inventor： Steven V. Shamlian ,  Samuel Duffley ,  Nikolai Romanov ,  Dhiraj Goel ,  Frederic D. Hook ,  Mario E. Munich

    IPC: G05D1/02

    CPC classification number: G05D1/0238 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/027 ,  G05D2201/0215

    Abstract: A proximity sensor includes first and second sensors disposed on a sensor body adjacent to one another. The first sensor is one of an emitter and a receiver. The second sensor is the other one of an emitter and a receiver. A third sensor is disposed adjacent the second sensor opposite the first sensor. The third sensor is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each sensor is positioned at an angle with respect to the other two sensors. Each sensor has a respective field of view. A first field of view intersects a second field of view defining a first volume that detects a floor surface within a first threshold distance. The second field of view intersects a third field of view defining a second volume that detects a floor surface within a second threshold distance.

    Abstract translation: 接近传感器包括布置在彼此相邻的传感器主体上的第一和第二传感器。 第一个传感器是发射器和接收器之一。 第二个传感器是发射器和接收器中的另一个。 第三传感器被布置为与第二传感器相邻，与第一传感器相对。 如果第一传感器是发射器或第一传感器是接收器，则第三传感器是发射器。 每个传感器相对于其他两个传感器定位成一定角度。 每个传感器具有相应的视野。 第一视场与第二视场相交，第二视野限定了在第一阈值距离内检测楼层表面的第一容积。 第二视场与第三视野相交，第三视野限定了在第二阈值距离内检测楼面的第二体积。

    Robotic fingers and end effectors including same
    6.
    发明授权
    Robotic fingers and end effectors including same 有权

    公开(公告)号：US09744677B2

    公开(公告)日：2017-08-29

    申请号：US14933443

    申请日：2015-11-05

    Applicant: iRobot Corporation

    Inventor： Timothy R. Ohm ,  Mark R. Claffee ,  Erik Amaral ,  Steven V. Shamlian ,  Annan M. Mozeika

    IPC: B25J15/10 ,  B25J15/12 ,  B25J15/08 ,  B25J13/08 ,  B25J15/00

    CPC classification number: B25J15/08 ,  B25J9/1045 ,  B25J13/084 ,  B25J15/0009

    Abstract: A robotic end effector includes a finger and at least one actuator. The finger extends from a proximal end to a distal end along a finger axis. The finger includes a first phalanx proximate the proximal end, a second phalanx proximate the distal end, and a knuckle joint including at least one vertebra interposed between and separating the first and second phalanxes. The knuckle joint is configured to permit the second phalanx to pivot relative to the first phalanx about a pivot axis transverse to the finger axis. Each vertebra has an axial thickness extending along the finger axis and a lateral width extending perpendicular to its axial thickness, and its lateral width is greater than its axial thickness. The at least one actuator is operable to move the second phalanx relative to the first phalanx about the pivot axis.

    ROBOTIC FINGERS AND END EFFECTORS INCLUDING SAME
    7.
    发明申请
    ROBOTIC FINGERS AND END EFFECTORS INCLUDING SAME 有权

    公开(公告)号：US20170129110A1

    公开(公告)日：2017-05-11

    申请号：US14933443

    申请日：2015-11-05

    Applicant: iRobot Corporation

    Inventor： Timothy R. Ohm ,  Mark R. Claffee ,  Erik Amaral ,  Steven V. Shamlian ,  Annan M. Mozeika

    IPC: B25J15/08 ,  B25J13/08

    CPC classification number: B25J15/08 ,  B25J9/1045 ,  B25J13/084 ,  B25J15/0009

    Abstract: A robotic end effector includes a finger and at least one actuator. The finger extends from a proximal end to a distal end along a finger axis. The finger includes a first phalanx proximate the proximal end, a second phalanx proximate the distal end, and a knuckle joint including at least one vertebra interposed between and separating the first and second phalanxes. The knuckle joint is configured to permit the second phalanx to pivot relative to the first phalanx about a pivot axis transverse to the finger axis. Each vertebra has an axial thickness extending along the finger axis and a lateral width extending perpendicular to its axial thickness, and its lateral width is greater than its axial thickness. The at least one actuator is operable to move the second phalanx relative to the first phalanx about the pivot axis.

    Mobile human interface robot
    8.
    发明授权
    Mobile human interface robot 有权
    移动人机接口机器人

    公开(公告)号：US09498886B2

    公开(公告)日：2016-11-22

    申请号：US14546192

    申请日：2014-11-18

    Applicant: iRobot Corporation

    Inventor： Michael T. Rosenstein ,  Chikyung Won ,  Geoffrey Lansberry ,  Steven V. Shamlian ,  Michael Halloran ,  Mark Chiappetta ,  Thomas P. Allen

    IPC: B25J13/08 ,  B25J5/00 ,  G05D1/02

    CPC classification number: B25J13/084 ,  B25J5/007 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211 ,  Y10S901/01

    Abstract: A mobile human interface robot including a drive system having at least one drive wheel driven by a corresponding drive motor, a localization system in communication with the drive system, and a power source in communication with the drive system and the localization system. The robot further including a touch response input supported above the drive system. Activation of the touch response input modifies delivery of power to the drive system to reduce a drive load of the corresponding drive motor of the at least one drive wheel white allowing continued delivery of power to the localization system.

    Abstract translation: 一种移动人机接口机器人，包括具有由相应的驱动电动机驱动的至少一个驱动轮的驱动系统，与驱动系统通信的定位系统以及与驱动系统和定位系统通信的电源。 机器人还包括在驱动系统上方支持的触摸响应输入。 激活触摸响应输入修改向驱动系统的电力传递，以减少至少一个驱动轮白色的相应驱动电机的驱动负载，从而允许向定位系统持续传递电力。

    Mobile Robot
    9.
    发明申请
    Mobile Robot 审中-公开
    移动机器人

    公开(公告)号：US20150120057A1

    公开(公告)日：2015-04-30

    申请号：US14586341

    申请日：2014-12-30

    Applicant: iRobot Corporation

    Inventor： Cheuk Wah Wong ,  Eben Rauhut ,  Brian C. Benson, JR. ,  Peter J. Lydon ,  Michael T. Rosenstein ,  Michael Halloran ,  Steven V. Shamlian ,  Chikyung Won ,  Mark Chiappetta ,  Justin H. Kearns ,  Orjeta Taka ,  Robert Todd Pack ,  Timothy S. Farlow ,  Jasper Fourways Vicenti

    IPC: B25J9/16 ,  G05D1/02

    CPC classification number: B25J9/1697 ,  B25J9/1694 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0242 ,  G05D2201/0206 ,  G05D2201/0211 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/46 ,  Y10S901/47

    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 translation: 一种包括机器人主体，支撑机器人主体的驱动系统和与驱动系统通信的控制器的移动机器人。 机器人还包括致动器，其将机器人主体的一部分移动通过与移动机器人相邻的空间的容积以及与控制器通信的传感器盒。 传感器盒包括可旋转地支撑并具有至少部分地作为围绕垂直轴线的旋转表面形成的弯曲壁的轴环。 传感器盒还包括容纳点云传感器，其由轴环容纳并且沿着延伸穿过弯曲壁的观察轴线从轴环内观察邻近机器人的空间的体积。 套环执行器将套环和体积点云传感器围绕套环轴线旋转。

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