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    Embedded diagnostic, prognostic, and health management system and method for a humanoid robot
    2.
    发明授权
    Embedded diagnostic, prognostic, and health management system and method for a humanoid robot 有权
    人形机器人的嵌入式诊断，预测和健康管理系统和方法

    公开(公告)号：US08369992B2

    公开(公告)日：2013-02-05

    申请号：US12564083

    申请日：2009-09-22

    Applicant: Leandro G. Barajas ,  Adam M Sanders ,  Matthew J Reiland ,  Philip A Strawser

    Inventor： Leandro G. Barajas ,  Adam M Sanders ,  Matthew J Reiland ,  Philip A Strawser

    IPC: G05B19/00

    CPC classification number: B25J9/1674 ,  G05B2219/39251 ,  G05B2219/40264

    Abstract: A robotic system includes a humanoid robot with multiple compliant joints, each moveable using one or more of the actuators, and having sensors for measuring control and feedback data. A distributed controller controls the joints and other integrated system components over multiple high-speed communication networks. Diagnostic, prognostic, and health management (DPHM) modules are embedded within the robot at the various control levels. Each DPHM module measures, controls, and records DPHM data for the respective control level/connected device in a location that is accessible over the networks or via an external device. A method of controlling the robot includes embedding a plurality of the DPHM modules within multiple control levels of the distributed controller, using the DPHM modules to measure DPHM data within each of the control levels, and recording the DPHM data in a location that is accessible over at least one of the high-speed communication networks.

    Abstract translation: 机器人系统包括具有多个柔性接头的类人形机器人，每个机器人可以使用一个或多个致动器进行移动，并且具有用于测量控制和反馈数据的传感器。 分布式控制器通过多个高速通信网络控制关节和其他集成系统组件。 诊断，预后和健康管理（DPHM）模块嵌入机器人内的各种控制级别。 每个DPHM模块在可通过网络或外部设备访问的位置测量，控制和记录相应控制级/连接设备的DPHM数据。 一种控制机器人的方法包括使用DPHM模块在每个控制级别内测量DPHM数据，并将DPHM数据记录在可访问的位置上，将多个DPHM模块嵌入分布式控制器的多个控制级别内 至少一个高速通信网络。

    Evaluation of communication middleware in a distributed humanoid robot architecture
    5.
    发明授权
    Evaluation of communication middleware in a distributed humanoid robot architecture 有权
    分布式人形机器人架构中通信中间件的评估

    公开(公告)号：US09079306B2

    公开(公告)日：2015-07-14

    申请号：US12252628

    申请日：2008-10-16

    Applicant: Victor Ng-Thow-Hing ,  Thor List ,  Kristinn R. Thorisson ,  Joel Wormer

    Inventor： Victor Ng-Thow-Hing ,  Thor List ,  Kristinn R. Thorisson ,  Joel Wormer

    IPC: G06F19/00 ,  B25J9/16 ,  G06N5/04

    CPC classification number: B25J9/1656 ,  G05B2219/33149 ,  G05B2219/39251 ,  G05B2219/39252 ,  G06N5/043

    Abstract: A publish-subscribe architecture based blackboard system for selecting and exchanging selected information among a plurality of processing modules using filters for implementing conditions described in a procedural language to reduce the amount of information transmitted between the processing modules. More than one filter may be dynamically installed in a message hub to select and collect the published information to be sent to a certain subscribing module. By using the procedural language to describe the filters, the message hub can more intelligently select the information to be sent to the subscribing module. This reduces the amount of information transmitted via communication channels. Further, the subscribing module may be relieved from the task of filtering the information received from the message hub, allowing the subscribing module to devote more resources to other operations.

    Abstract translation: 一种基于发布订阅架构的黑板系统，用于使用用于实现以过程语言描述的条件的滤波器来选择和交换多个处理模块中的选定信息，以减少处理模块之间传输的信息量。 可以在消息集线器中动态地安装多于一个的过滤器，以选择和收集要发送到某个订阅模块的已发布信息。 通过使用过程语言来描述过滤器，消息中心可以更智能地选择要发送到订阅模块的信息。 这减少了通过通信信道发送的信息量。 此外，订阅模块可以从过滤从消息集线器接收的信息的任务中消除，从而允许订阅模块将更多资源用于其他操作。

    WALKING ROBOT AND CONTROL METHOD THEREOF
    6.
    发明申请
    WALKING ROBOT AND CONTROL METHOD THEREOF 有权
    运动机器人及其控制方法

    公开(公告)号：US20120165980A1

    公开(公告)日：2012-06-28

    申请号：US13327862

    申请日：2011-12-16

    Applicant: Jong Owan KIM

    Inventor： Jong Owan KIM

    IPC: G05B19/04

    CPC classification number: B25J9/162 ,  G05B2219/39251 ,  G05B2219/39413 ,  G05B2219/40244

    Abstract: A walking robot and a control method thereof. The walking robot includes a main communication path, a subsidiary communication path, at least one master generating a communication protocol and transmitting the communication protocol through the main and subsidiary communication paths, and a plurality of slaves communicably connected to the at least one master through the main and subsidiary communication paths, increasing a value of an access counter of the communication protocol received through the main communication path, decreasing a value of the access counter of the communication protocol received through the subsidiary communication path, and forming loop-back paths connecting the main communication path and the subsidiary communication path when a communication error has occurred, wherein the at least one master judges whether or not the communication error has occurred from the values of the access counter of the communication protocol having passed through the plurality of slaves.

    Abstract translation: 一种步行机器人及其控制方法。 步行机器人包括主通信路径，辅助通信路径，至少一个主站，其生成通信协议，并通过主和辅通信路径发送通信协议;以及多个从站，可通信地连接到至少一个主站， 主通信路径和辅助通信路径，增加通过主通信路径接收的通信协议的接入计数器的值，减小通过辅助通信路径接收的通信协议的接入计数器的值，以及形成连接 主通信路径和辅助通信路径，其中至少一个主设备从通过多个从站的通信协议的访问计数器的值判断是否发生了通信错误。

    EMBEDDED DIAGNOSTIC, PROGNOSTIC, AND HEALTH MANAGEMENT SYSTEM AND METHOD FOR A HUMANOID ROBOT
    7.
    发明申请
    EMBEDDED DIAGNOSTIC, PROGNOSTIC, AND HEALTH MANAGEMENT SYSTEM AND METHOD FOR A HUMANOID ROBOT 有权
    嵌入式诊断，预防和健康管理系统和人类机器人的方法

    公开(公告)号：US20110071679A1

    公开(公告)日：2011-03-24

    申请号：US12564083

    申请日：2009-09-22

    Applicant: Leandro G. Barajas ,  Adam M. Sanders

    Inventor： Leandro G. Barajas ,  Adam M. Sanders

    IPC: G06F7/00

    CPC classification number: B25J9/1674 ,  G05B2219/39251 ,  G05B2219/40264

    Abstract: A robotic system includes a humanoid robot with multiple compliant joints, each moveable using one or more of the actuators, and having sensors for measuring control and feedback data. A distributed controller controls the joints and other integrated system components over multiple high-speed communication networks. Diagnostic, prognostic, and health management (DPHM) modules are embedded within the robot at the various control levels. Each DPHM module measures, controls, and records DPHM data for the respective control level/connected device in a location that is accessible over the networks or via an external device. A method of controlling the robot includes embedding a plurality of the DPHM modules within multiple control levels of the distributed controller, using the DPHM modules to measure DPHM data within each of the control levels, and recording the DPHM data in a location that is accessible over at least one of the high-speed communication networks.

    Abstract translation: 机器人系统包括具有多个柔性接头的类人形机器人，每个机器人可以使用一个或多个致动器进行移动，并且具有用于测量控制和反馈数据的传感器。 分布式控制器通过多个高速通信网络控制关节和其他集成系统组件。 诊断，预后和健康管理（DPHM）模块嵌入机器人内的各种控制级别。 每个DPHM模块在可通过网络或外部设备访问的位置测量，控制和记录相应控制级/连接设备的DPHM数据。 一种控制机器人的方法包括使用DPHM模块在每个控制级别内测量DPHM数据，并将DPHM数据记录在可访问的位置上，将多个DPHM模块嵌入分布式控制器的多个控制级别内 至少一个高速通信网络。

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