Greifersystem

Die Erfindung betrifft ein Greifersystem mit einem insbesondere pneumatisch betätigten Greifer (1) und einem System zum Erfassen, ob ein Werkstück von dem Greifer (1) gegriffen wurde. Um auf externe Verkabelungen verzichten zu können, ist erfindungsgemäß das Erfassungssystem als pneumatisches Erfassungssystem ausgebildet. Hierzu weist das Erfassungssystem einen Vakuum- oder Druckluftkanal (21) mit einer Mündungsöffnung auf, wobei die Mündungsöffnung (22) hinsichtlich des Greifers (1) derart angeordnet und/oder ausgebildet ist, dass die Mündungsöffnung (22) zumindest bereichsweise verschlossen ist, wenn von dem Greifer (1) ein Werkstück gegriffen wurde.

Force sensing device

A force sensing device for use in robotic fingers 14,16 of a robotic gripper 10. A finger comprising first, second and third segments 44,46,48 and each having a joint 20, 24,28 and being connected to each other. A torque sensing means senses the torque at each of the joints when a force is applied to the third segment. Therefore, in use, the contact force between the fingers and an object can be determined without using complex fingertip sensors. The first, second and third joints are disposed within the same plane and are disposed in a triangular arrangement. A method of determining force is also disclosed. Another invention relates to a robotic gripper having two fingers, each connected by a phalanx to a base section by a joint, at least one phalanx comprising a force sensor.

MANUALLY PROGRAMMABLE ROBOT WITH POWER-ASSISTED MOTION DURING PROGRAMMING

Measuring force electrically

A tactile sensing system is provided which consists of essentially four components including a touch surface having a plurality of mechanically and electrically isolated sensitive sites, transducer means associated with each of the sensitive sites for converting a mechanical response to an electrical signal, first signal processing means for scanning the signals produced by the transducer means and converting such signals to digital format, and second signal processing means including a computer for interpreting and displaying the data. The system of this invention is capable of providing high contrast, high normal load resolution, moderate spatial resolution and high sensitivity to determine such mechanical contact parameters as presence, pressure, pressure pattern, texture, hardness and topography of an object contacting the touch surface. In addition, separate means are included enabling the system to detect the location, magnitude and direction of shear forces applied to the touch surface ...

PRINTING IMAGING SYSTEM.

ACOUSTIC FEEDBACK INDICATOR FOR REMOTE-CONTROLLED HANDLING EQUIPMENT.

SIX DEGREE OF FREEDOM FORCE TRANSDUCER FOR A MANIPULATOR SYSTEM

SYSTEMS AND METHODS FOR PROVIDING DYNAMIC ROBOTIC CONTROL SYSTEMS

An articulated arm system is disclosed that includes an articulated arm including an end effector, and a robotic arm control systems including at least one sensor for sensing at least one of the position, movement or acceleration of the articulated arm, and a main controller for providing computational control of the articulated arm, and an on-board controller for providing, responsive to the at least one sensor, a motion signal that directly controls at least a portion of the articulated arm.

DEVICES, SYSTEMS, AND METHODS FOR ROBOTIC PIPE HANDLING

A pipe handling system including a lifting system for handling a load of a pipe stand, a pipe handling robot (116a, 116b) configured for engaging with the pipe stand (110) and manipulating a position of the pipe stand (110), and a feedback device configured to provide information about a condition of the pipe stand, the lifting system, or the pipe handling robot (116a, 116b). In some embodiments, the pipe handling robot (116a) may be a first robot configured for engaging with and manipulating a first end of the pipe stand, and the system may include a second pipe handling robot (116b) configured for engaging with and manipulating a second end of the pipe stand (110).

Method to control the activities of a robot.

Die Erfindung betrifft ein Verfahren zur Steuerung der Aktivitäten eines Roboters, wobei der Roboter einen Situationsmanager, der in ein Situationsnetzwerk zur Ermittlung von Bedürfnissen und in ein Aktionsnetzwerk zur Bestimmung von Massnahmen zur Erfüllung der Bedürfnisse unterteilt ist, einen Planer zur Priorisierung von Massnahmen, die vom Situationsmanager und optional von einem Eingabegerät vorgeschlagen werden, und einen Sensor zur Erfassung eines Ereignisses umfasst. Sowohl das Situationsnetzwerk als auch das Aktionsnetzwerk basieren auf Wahrscheinlichkeitsmodellen. Die Unterteilung des Situationsmanagers in ein Situationsnetzwerk und ein Aktionsnetzwerk bewirkt, dass die Berechnung der geeigneten Massnahme für eine konkrete Situation nicht direkt auf den tatsächlichen Daten basiert, sondern vielmehr auf der Berechnung der Bedürfnisse der konkreten Situation. Die Erfindung betrifft ferner einen Roboter zur Durchführung des Verfahrens.

The emotional state of a person by a robot detection method.

Die Erfindung betrifft ein Verfahren zur Erfassung des emotionalen Zustands einer Person durch einen Roboter, wobei der Roboter einen Situationsmanager, der in ein Situationsnetzwerk zur Ermittlung von Bedürfnissen und in ein Aktionsnetzwerk zur Bestimmung von Massnahmen zur Erfüllung der Bedürfnisse unterteilt ist, einen Planer zur Priorisierung von Massnahmen, die vom Situationsmanager und optional von einem Eingabegerät vorgeschlagen werden, und einen Sensor zur Erfassung eines Ereignisses umfasst. Sowohl das Situationsnetzwerk als auch das Aktionsnetzwerk basieren auf Wahrscheinlichkeitsmodellen. Die Unterteilung des Situationsmanagers in ein Situationsnetzwerk und ein Aktionsnetzwerk bewirkt, dass die Berechnung der geeigneten Massnahme für eine konkrete Situation nicht direkt auf den tatsächlichen Daten basiert, sondern vielmehr auf der Berechnung der Bedürfnisse der konkreten Situation. Die Erfindung betrifft ferner einen Roboter zur Durchführung des Verfahrens.

Method for social interaction with a robot.

Die Erfindung betrifft ein Verfahren zur sozialen Interaktion mit einem Roboter, wobei der Roboter einen Situationsmanager, der in ein Situationsnetzwerk zur Ermittlung von Bedürfnissen und in ein Aktionsnetzwerk zur Bestimmung von Massnahmen zur Erfüllung der Bedürfnisse unterteilt ist, einen Planer zur Priorisierung von Massnahmen, die vom Situationsmanager und optional von einem Eingabegerät vorgeschlagen werden, und einen Sensor zur Erfassung eines Ereignisses umfasst. Sowohl das Situationsnetzwerk als auch das Aktionsnetzwerk basieren auf Wahrscheinlichkeitsmodellen. Die Unterteilung des Situationsmanagers in ein Situationsnetzwerk und ein Aktionsnetzwerk bewirkt, dass die Berechnung der geeigneten Massnahme für eine konkrete Situation nicht direkt auf den tatsächlichen Daten basiert, sondern vielmehr auf der Berechnung der Bedürfnisse der konkreten Situation. Die Erfindung betrifft ferner einen Roboter zur Durchführung des Verfahrens.

Method for social interaction with a robot.

Die Erfindung betrifft ein Verfahren zur sozialen Interaktion mit einem Roboter, wobei der Roboter einen Situationsmanager, der in ein Situationsnetzwerk zur Ermittlung von Bedürfnissen und in ein Aktionsnetzwerk zur Bestimmung von Massnahmen zur Erfüllung der Bedürfnisse unterteilt ist, einen Planer zur Priorisierung von Massnahmen, die vom Situationsmanager und optional von einem Eingabegerät vorgeschlagen werden, und einen Sensor zur Erfassung eines Ereignisses umfasst. Sowohl das Situationsnetzwerk als auch das Aktionsnetzwerk basieren auf Wahrscheinlichkeitsmodellen. Die Unterteilung des Situationsmanagers in ein Situationsnetzwerk und ein Aktionsnetzwerk bewirkt, dass die Berechnung der geeigneten Massnahme für eine konkrete Situation nicht direkt auf den tatsächlichen Daten basiert, sondern vielmehr auf der Berechnung der Bedürfnisse der konkreten Situation. Die Erfindung betrifft ferner einen Roboter zur Durchführung des Verfahrens.

Method to control the activities of a robot.

Die Erfindung betrifft ein Verfahren zur Steuerung der Aktivitäten eines Roboters, wobei der Roboter einen Situationsmanager, der in ein Situationsnetzwerk zur Ermittlung von Bedürfnissen und in ein Aktionsnetzwerk zur Bestimmung von Massnahmen zur Erfüllung der Bedürfnisse unterteilt ist, einen Planer zur Priorisierung von Massnahmen, die vom Situationsmanager und optional von einem Eingabegerät vorgeschlagen werden, und einen Sensor zur Erfassung eines Ereignisses umfasst. Sowohl das Situationsnetzwerk als auch das Aktionsnetzwerk basieren auf Wahrscheinlichkeitsmodellen. Die Unterteilung des Situationsmanagers in ein Situationsnetzwerk und ein Aktionsnetzwerk bewirkt, dass die Berechnung der geeigneten Massnahme für eine konkrete Situation nicht direkt auf den tatsächlichen Daten basiert, sondern vielmehr auf der Berechnung der Bedürfnisse der konkreten Situation. Die Erfindung betrifft ferner einen Roboter zur Durchführung des Verfahrens.

The emotional state of a person by a robot detection method.

Die Erfindung betrifft ein Verfahren zur Erfassung des emotionalen Zustands einer Person durch einen Roboter, wobei der Roboter einen Situationsmanager, der in ein Situationsnetzwerk zur Ermittlung von Bedürfnissen und in ein Aktionsnetzwerk zur Bestimmung von Massnahmen zur Erfüllung der Bedürfnisse unterteilt ist, einen Planer zur Priorisierung von Massnahmen, die vom Situationsmanager und optional von einem Eingabegerät vorgeschlagen werden, und einen Sensor zur Erfassung eines Ereignisses umfasst. Sowohl das Situationsnetzwerk als auch das Aktionsnetzwerk basieren auf Wahrscheinlichkeitsmodellen. Die Unterteilung des Situationsmanagers in ein Situationsnetzwerk und ein Aktionsnetzwerk bewirkt, dass die Berechnung der geeigneten Massnahme für eine konkrete Situation nicht direkt auf den tatsächlichen Daten basiert, sondern vielmehr auf der Berechnung der Bedürfnisse der konkreten Situation. Ferner betrifft die Erfindung einen Roboter zur Durchführung des Verfahrens.

APPARATUS AND METHOD OF SEARCHING FOR LOCATING AND ENGAGING AN ARTICLE

PROCEDE POUR SAISIR DES OBJETS AU MOYEN D'UN BRAS DE PREHENSION ET PINCE DE PREHENSION

LA PRESENTE INVENTION CONCERNE UN PROCEDE POUR SAISIR DES OBJETS 3 AU MOYEN D'UN BRAS DE PREHENSION 4 TERMINE PAR UNE TETE 5 COMPORTANT DES DOIGTS 6, 7, 8 POUR PINCER LESDITS OBJETS. IL SE CARACTERISE PAR LE FAIT QU'IL CONSISTE A: -AMENER LADITE TETE 5 A UNE POSITION DETERMINEE, EN REGARD D'UN OBJET 3 A SAISIR; -A DEPLACER LADITE TETE POUR L'AMENER AU CONTACT DUDIT OBJET; -A DEPLACER A NOUVEAU LADITE TETE EN SENS CONTRAIRE D'UNE QUANTITE DETERMINEE, APRES QU'ELLE SOIT VENUE AU CONTACT DUDIT OBJET; -A COMMANDER LE DEPLACEMENT DES DOIGTS POUR VENIR PINCER LESDITS OBJETS; ET -A DEPLACER LEDIT OBJET EN COMMANDANT LEDIT BRAS 4. APPLICATION DU PROCEDE PLUS PARTICULIEREMENT A L'INDUSTRIE DES CONNECTEURS ELECTRIQUES ET OPTIQUES.

DISPOSITIF ET PROCEDE D'ENREGISTREMENT DE RESTITUTION ET DE SYNTHESE DE SENSATIONS TACTILES

La présente invention concerne l'étude, l'enregistrement, la création synthétique et l'exploitation de sensations tactiles. On décrit un procédé et un dispositif dans lesquels un objet est palpé par un récepteur 1 comportant des capteurs donnant des signaux représentatifs de sensations tactiles (déplacement, pression, temperature...) qui sont ensuite traités et mis en mémoire par un dispositif de traitement d'information 2-4-5. Des séquences de signaux ainsi formées et enregistrées sont appliquees à un émetteur comportant des excitateurs capables de créer des sensations tactiles à un corps qui y est appliqué. L'invention s'applique notamment dans le domaine de la recherche scientifique et médicale ainsi qu'à des fins récréatives.

Method for grasping objects by means of a gripper arm and a gripper

Pneumatic device for localising the point of application of a force and application of such a device

SYSTEM TO DETECT OBSTACLE OF AUTONOMOUS MOBILE ROBOT USING LRF IN DYNAMIC ENVIRONMENT

The present invention relates to a system to detect an obstacle of an autonomous mobile robot using an LRF in a dynamic environment. The system to detect the obstacle of the autonomous mobile robot using the LRF in a dynamic environment comprises: an LRF unit formed with a laser scanner scanning an obstacle; an encoder to determine a location and posture of the mobile robot; a data treatment unit making a map with data received from the LRF unit, extracting a feature point, and giving a driving unit control command; and the driving unit including a motor driver to drive the mobile robot and a motor. The system to detect the obstacle of the autonomous mobile robot using the LRF in the dynamic environment extracts a movable obstacle from the data of a fixated obstacle obtained through the LRF unit, thereby moving to a destination while avoiding the movable obstacle using the information of the fixated obstacle when the destination to be approached is designated. COPYRIGHT KIPO 2016 ...

Robot service cooperation system, platform and method

A robot service cooperation system (10) includes a server (12), a mobile terminal (14) and various robots (16a-16c) respectively connected to a network (100). Each of applications (A1, A2, A3, - - - ) on the network is written with cooperation information indicating that which other application can be cooperated with. A CPU (20) of the server specifies (S3) at least based on the cooperation information a plurality of cooperable services that can be provided to a user of the mobile terminal, presents (S7) the specified plurality of services to the user and makes (S13) the user select an arbitrary combination, and makes (S17, S19) a plurality of services constituting the selected combination cooperate mutually by registering at least a start condition of each service into an event queue in association with at least an end event of another service.

Robot arm control device and robot arm operation method

A robot arm control device includes a pressure sensing module, a workspace defining module and a control module. The pressure sensing module, arranged on a robot arm, detects whether an object hits or touches the robot arm to switch the operating mode of the robot arm. The workspace defining module includes a sensing region arranged on a peripheral area around the robot arm. The workspace defining module determines whether the object enters an operating space according to the position of the object in the sensing region, and sets the working range and the working mode of the robot arm according to which operating space the object has entered. The control module, connected to the robot arm, the pressure sensing module and the workspace defining module, switches the operating mode and outputs a motor driving signal to the robot arm according to the working mode of the robot arm.

PORTER MODULE AND ROBOT HAVING THE SAME

A porter module includes: a main body having a space formed between a left body and a right body spaced apart from each other in a left-right direction; a left pressing body disposed on the left body; a right pressing body disposed on the right body and disposed to face the left pressing body; and an adjusting mechanism installed in the main body and moving at least one of the left pressing body and the right pressing body to adjust an interval between the left pressing body and the right pressing body.

MANIPULATOR

PURPOSE: To enable distincting of quality and material of a work by mounting sensor at manipulator. COPYRIGHT: (C)1978,JPO&Japio ...

APPARATUS FOR SENSING OBJECTS

... 1524622 Manipulators INTERNATIONAL BUSINESS MACHINES CORP 15 Jan 1976 [7 April 1975] 1491/76 Heading B8H [Also in Division G3] A manipulator is positioned by a computer effecting a Boolean-decision logic search procedure in response to signals from contacts 40 A-C, Fig. 1, responsive to movements of a probe 18 mounted in a finger. The probe is extended by a piston and cylinder arrangement 20. For non-contacting operations, such as contouring, restriction, by the workpiece, of flow through a passage 57 is sensed by a semiconductor pressure-sensor 49. The manipulator, Fig. 4A, comprises a rotatable base 106 and pillar 104 on which is mounted positioning arms 66, 93. Gripping fingers 10, 12 are mounted in gimbals for positioning about roll, pitch and yaw axes 72, 68, 70. The probe 18 is mounted with the finger 10 and senses the pressure of a workpiece 48.

Autonomous robot which receives guest

After authentication by a host robot, a guest robot acquires access rights to a resource that the host robot can access. The host robot authenticates the guest robot on the condition that the guest robot is located within a prescribed distance. The guest robot receives behavioral characteristic information from a server that determines a behavioral characteristic of the host robot, and selects a motion in accordance with the behavioral characteristic information. Behavioral restrictions that do not apply to the host robot may be imposed on the guest robot.

ROBOTIC CLEANING APPARATUS AND RELATED METHODS

A robotic cleaning apparatus for cleaning a dirty object includes a cleaning head and an articulated body. The articulated body is coupled to the cleaning head and mountable to the dirty object. The body has one or more actuators that collectively move the cleaning head into contact with surfaces of the dirty object. The one or more actuators, when activated, collectively rotate the cleaning head relative to the dirty object about first and second axes, and translate the cleaning head relative to the dirty object along an extension axis. A method of robotically cleaning is also disclosed.

Vending robot and control method thereof

GRIPPING DEVICE WITH MONITORING ITS OPERATING STATE

DISPOSITIF DE MANIPULATION A DISTANCE

L'invention concerne les dispositifs de manipulation à distance d'objets. Pour améliorer la prise et la manipulation à distance d'un objet par une << main artificielle >> commandée par la main d'un opérateur, on dispose sur la main artificielle des capteurs de sensations tactiles reliés à des actionneurs recréant sur la main de l'opérateur des sensations tactiles que la main aurait eu en effectuant le palpage ou la manipulation réels de l'objet. L'invention s'applique plus particulièrement à la manipulation d'objets dans un environnement dangereux (industrie nucléaire, industrie chimique, etc.) ou hors de portée de la main de l'opérateur (manipulations sous-marines ou dans l'espace etc) ...

Unit for recording and reconstituting sense of touch - has transducer signals stored in memory unit for subsequent transmission to reference signals

Wearable Device for Assisting Grasping Power

Molding system

A molding system for assembling a part by moving a workpiece gripped by a hand of a robot toward a mold of an injection molding machine, while rotating a molded article supported on the mold and the workpiece relative to each other, whereby the molded article and the workpiece are screw-engaged. The molding system includes a rotation detector for detecting a rotational amount between the molded article and the workpiece, an assembled state judging unit for judging if the assembled part is in a predetermined state, and a control unit for relatively rotating and displacing the molded article and the workpiece until the rotational amount exceeds a predetermined rotational amount and the assembled state becomes the predetermined state.

Selection of a device or object using a camera

A method for actuating a manipulator system by means of a portable end device, a corresponding portable end device, and a robot system. The portable end device includes a 3-D camera that is a plenoptic camera. A three-dimensional image is acquired by means of the 3-D camera of the portable end device of at least part the manipulator system to be actuated. The image identifies at least one actuatable object in the manipulator system. A task is selected for the identified object to actuate. By selecting the identified actuatable object, the object is actuated to perform the task.

Electronic guide dog

An electronic guide dog includes: a main frame, front drive wheels disposed on both sides of a front portion of the main frame, and rear drive wheels disposed on both sides of a rear portion of the main frame, wherein the front drive wheels and the rear drive wheels are connected to the main frame through front arms and rear arms, respectively; wherein the electronic guide dog further comprises: a head frame hinged to a front of a top end of the main frame, wherein a signal receiving board is provided on the head frame; a drive mechanism comprising a rear drive motor; a swivel obstacle avoidance mechanism comprising an infrared sensor provided on a front side of the main frame, a left front drive motor and a right front drive motor; an identification braking mechanism; a front arm swing mechanism; and an auxiliary support mechanism. 1. An electronic guide dog; comprising: a main frame , front drive wheels disposed on both sides of a front portion of the main frame , and rear drive wheels disposed on both sides of a rear portion of the main frame , wherein the front drive wheels and the rear drive wheels are connected to the main frame through front arms and rear arms , respectively; wherein the electronic guide dog further comprises:a head frame hinged to a front of a top end of the main frame, wherein a signal receiving board is provided on the head frame;a drive mechanism comprising a rear drive motor for driving the rear drive wheels;a swivel obstacle avoidance mechanism comprising an infrared sensor provided on a front side of the main frame; and a left front drive motor and a right front drive motor for driving the front drive wheels;an identification braking mechanism comprising a color sensor provided at a bottom end of the main frame;a front arm swing mechanism comprising two front arm drive motors for adjusting inclination angles of the two front arms; andan auxiliary support mechanism comprising an auxiliary arm mounted on a rear side of the main frame; an ...

ROBOTIC COATING APPLICATION SYSTEM AND METHOD

The specification and drawings present a robotic coating application system and a method for coating at least one part with a robotic coating application system. The robotic coating application system may comprise an enclosure configured to receive at least one part. The robotic coating application system may further comprise at least one robot configured to operate at least partially within the enclosure. The robotic coating application system may also comprise a graphical user interface to display a model of the at least one part and allow a user to select a portion or subportion of the model for application of a coating. The coating may be automatically applied to the at least one part based upon, at least in part, the user-selected portion or subportion. 1. A robotic coating application system , comprising:at least one robot configured to apply a coating to at least one part;a graphical user interface to display a model of the at least one part and allow a user to select a portion or subportion of the model for application of a coating; andautomatically applying the coating to the at least one part based upon, at least in part, the user-selected portion or subportion.2. The robotic coating application system of claim 1 , further comprising:a scanner configured to scan the part; andat least one processor configured to generate the model of the part.3. The robotic coating application system of claim 2 , wherein the at least one robot includes at least one of a turntable and a robotic arm configured to hold the scanner.4. The robotic coating application system of claim 3 , wherein the robotic arm includes an end effector configured to perform scanning or applying of the coating.5. The robotic application system of claim 2 , wherein the scanner is detachably affixed to the enclosure.6. The robotic coating application system of claim 1 , further comprising:a computing device configured to retrieve a model of the at least one part.7. The robotic coating application ...

Detecting device

A detecting device including a pressure sensor that is deformed by a load from an outside and causes stress dispersion includes a slip detecting unit that calculates a pressure center position using a pressure value detected by the pressure sensor, calculates a movement value of the calculated pressure center position using a temporal change of the pressure center position, and detects a slip on the basis of the calculated movement value of the pressure center position. The pressure sensor has a multilayer structure in which two detecting units that detect pressure are arranged to hold a viscoelastic body made of a viscoelastic material that is deformed by a load from the outside.

Grippers for robotic manipulation of objects and related technology

A robot in accordance with at least some embodiments of the present technology is configured for bimanual manipulation of objects. The robot includes a body and two arms individually defining an arm length and including an end effector, an end effector joint proximally adjacent to the end effector along a kinematic chain corresponding to the arm, and a gripper proximal to the end effector along the arm length. The end effector joint is configured to rotate the end effector relative to the gripper. The robot is configured to move at least a portion of a bottom surface of an object away from a support surface by applying force to the object via frictional interfaces between convex gripping surfaces of the grippers and side surfaces of the object. This creates a gap into which paddles of the end effectors can be inserted to support the object from below.

Pressure imaging system

A pressure imaging system for describing an object's configuration based on a pressure distribution resulting from contact between a sensor plate and the object. Optical signals, used to describe the pressure distribution, are converted into electrical signals which can be used to define the object.

自動移動装置のバンパー構造

Maschinensystem zum Ausführen einer Werkstückauslassungserkennung

Ein Maschinensystem umfasst eine Maschine, die einen Arbeitsgang an einem Werkstück, das einen Arbeitsbereich durchläuft, ausführt, einen Auslassungserkennungsabschnitt, der erkennt, dass das Werkstück eine Arbeitsgrenzlinie der Maschine in einem Stadium eines unvollendeten Arbeitsgangs durchlaufen hat, und einen Meldeabschnitt, der auf der Grundlage von Informationen des Auslassungserkennungsabschnitts Informationen in Bezug auf das ausgelassene Werkstück meldet.

ROBOT ASPARAGUS HARVESTER

Verfahren zur Erzeugung intrinsisch impulskodierter sensorischer Informationen und entsprechend diesem Verfahren arbeitender biomimetischer Sensor für Robotersysteme und Prothesen

ROBOTERARMMECHANISMUS

Ein Zweck ist es, die Sicherheit eines Roboterarmmechanismus zu erhöhen. Ein Roboterarmmechanismus gemäß der vorliegenden Ausführungsform weist eine Vielzahl von Verbindungsabschnitten 21, 22, 23, 24, 25, 2, 27, 28 und 29 auf. Die Vielzahl der Verbindungsabschnitte ist durch eine Vielzahl von Verbindungen J1, J2, J3, J4, J5 und J6 verbunden. Die Vielzahl der Verbindungsabschnitte ist jeweils mit Abdeckungen 31, 32, 33, 34, 35, 36 und 37 abgedeckt. Die jeweiligen Abdeckungen werden durch Drucktaster 100 oder Drucksensoren 300 unterstützt. Wenn ein Arbeiter oder dergleichen eine der Abdeckungen berührt, wird der Drucktaster oder der Drucksensor, der die Abdeckung trägt, eingeschaltet. Dadurch wird der Kontakt zu einer der Abdeckungen durch den Arbeiter oder dergleichen erkannt. Der Kontakt des Arbeiters oder dergleichen kann in einem weiten Bereich erkannt werden.

MEASURING FORCE ELECTRICALLY

Improvements in or relating to sensors

A whisker sensor comprising a whisker shaft and a follicle is provided. The shaft is made of glass reinforced plastic (GRP) and has a root end and a tip end such that the shaft tapers from the root end to the tip end so that the root end is wider and the tip end is narrower (e.g. 1.5 vs 0.7mm) The root end is attached to a hub mounted in an elastomeric block located or provided in the follicle such that the root end is pivotably mounted in the follicle with the pivot point being substantially at its centre. A magnet is provided at or near the root end. A magnetic sensor is placed in or near the follicle to detect movement of the whisker cause by contact with another object or movement of fluid around it. Vibrations may be detected. The whisker sensor may be part of an array and provided on a remotely operated vehicle for tactile detection underwater or in challenging environmental conditions or in poor visibility such as underwater.

Autonomously acting robot that accepts a guest

System and Method for Picking and Placing Items and Contact Pressure Sensing Assembly for Item Picking Systems

A contact pressure sensing assembly 210 comprises an electronic skin for digits of an end effector of a robotic arm, wherein the electronic skin comprises a plurality of piezoresistive sensors, a plurality of piezoelectric sensors and a control unit 230 coupled to the electronic skin to receive piezoresistive and piezoelectric signals from the sensors. The control unit processes the piezoresistive signals to identify one or more piezoresistive parameters and processes the piezoelectric signals to identify one or more piezoelectric parameters in order to identify that an item held by the digits of the end effector is moving relative to the electronic skin based on a difference in magnitude and/or phase between: (i) one or more of the piezoelectric parameters in piezoelectric signals from one piezoelectric sensor, and (ii) one or more of the piezoelectric parameters in piezoelectric signals from another piezoelectric sensor. The control unit determines a contact pressure between the item ...

PROCEDURE FOR THE PRODUCTION INTRINSISCH OF IMPULSE-CODED OF SENSORY INFORMATION AND ACCORDING TO THIS PROCEDURE OF WORKING BIOMIMETI SENSOR FOR ROBOT SYSTEMS AND PROSTHESES

COMPUTER CONTROLLED PNEUMATIC RETRACTABLE SEARCH SENSOR

A METHOD FOR SEIZING OBJECTS BY MEANS OF AN ARM OF GRIPPING AND GRIP OF GRIPPING

MECHANICAL MANIPULATOR PROVIDED WITH RETRACTABLE DETECTORS

THRESHOLD LOAD SENSOR

Elément d'appui (23,40) au sol d'un exosquelette (1), comprenant un capteur de contact à seuil (50, 51) pour détecter un effort d'appui appliqué sur l'élément d'appui, le capteur de contact à seuil (50,51) comprenant un premier interrupteur de haute précision (55) et un élément élastiquement déformable (64, 54) agencé pour faire passer le premier interrupteur de haute précision (55) d'un premier état électrique à un deuxième état électrique lorsque ledit élément élastiquement déformable (54,64) est soumis à un effort d'appui supérieur à un premier seuil prédéterminé, l'élément élastiquement déformable (54,64) et le premier interrupteur de haute précision (55) étant agencés pour que le premier interrupteur de haute précision (55) passe du deuxième au premier état électrique lorsque l'effort d'appui est inférieur au premier seuil déterminé. Capteur de contact à seuil (50,51) ...

ASSISTANT ROBOT FOR AIRPORT AND OPERATION METHOD THEREOF

According to one embodiment of the present invention, an assistant robot for an airport comprises: a communication portion transmitting and receiving data; a display portion displaying at least one image; a charging module charging a battery of the robot for an airport; and a control portion controlling the operation of the robot. The control portion identifies a battery level of the robot for an airport, determines whether or not to charge based on an identified battery level, connects the charging module to the robot for an airport based on determination about whether or not to charge, and controls the battery of the robot for an airport to be charged up to the predetermined battery level. COPYRIGHT KIPO 2018 ...

비상 정지 압력 센서, 안전 장치 및 안전 시스템

... 비상 정지 압력 센서(17)가 조립 로봇의 로봇 팔(14)의 가동 링크(11)의 양측 표면 상에 설치된다. 작업자(S)가 의도치않게 로봇 팔(14)의 회전 범위(Ra) 내에 걸어 들어가며 비상 정지 압력 센서(17)와 접촉할 때, 검출 신호가 제어 유닛(19)에 전송되고, 제어 유닛(19)은 로봇 팔을 회전시키는 구동원에의 전력 전송을 차단한다. 비상 정지 압력 센서(17)는 한 쌍의 전극들을 구성하는 제1 전극과 제2 전극, 그리고 고무 또는 고무 조성물로 형성되며 한 쌍의 전극들 사이에 배치되는 중간층을 갖고, 중간층은 피접촉체(작업자)와의 접촉에 의해 야기되는 변형시 전력을 발생시킨다. 적층 방향으로 중간층의 한 면은 표면 개질 처리 및/또는 비활성화 처리를 받는다. 이 처리로, 중간층의 한 면과 다른 면은 동일한 변형 부여력에 대해 상이한 변형도를 갖는다.

Imprint input apparatus

Provided is an imprint input apparatus which is able to extract imprints of stamps certainly at short time. The apparatus does not need both intermediate medium such as paper, and troublesome cleaning. The apparatus comprises a shock reducing position adjuster 12 and a translate circuit 3. The shock reducing position adjuster 12 consists of a pressure transmission sheet 9 filling in an interspace between a pressure sensor group 2 which obtains an imprint from a stamp 5 and the stamp 5, a spring 13 absorbing excess pressure from the pressure sensor group 2 in order to adjusting a position of a supporter 11. The translate circuit 3 converts signals from a pressure sensor 4 into image data. When the pressure transmission sheet 9 is stamped with the stamp 5, the pressure sensor group 2 detects the pressure and image data is converted at the translate circuit 3. When the stamp 5 is not vertical to the pressure sensor group 2, the spring 13 adjusts a position of the supporter 11 and modifies ...

Conveyance system and operation method therefor

A conveyance system comprising: a container (103) that houses a sheet member (102) in a vertical orientation such that a main surface thereof is slanted; a robot (101) that comprises an arm having an adhesion part; and a control device (14). Therein, the conveyance system is configured such that after adhesion of the sheet member (102) by the adhesion part of the arm, the control device (14) actuates the arm such that the sheet member (102) moves in an angular direction which is an elevation angle direction other than the direction of a normal of the main surface of the sheet member (102).

Industrial robot, controller, and method thereof

An industrial robot having high operability for a user is provided. An industrial robot includes a manipulator, a controller which controls an operation of the manipulator, and a detection device attached to the manipulator and detecting a gesture input. The controller executes a process corresponding to the detected gesture input.

Legged mobile robot and floor reaction force detection system thereof

In a legged mobile robot ( 1 ), an elastic member ( 382 ) is installed at a position between a second joint ( 18, 20 ) connecting a distal end of a leg ( 2 ) and a foot ( 22 ) and a floor contact end of the foot, and a displacement sensor ( 70 ) is installed in a space defined by a top-to-bottom height of the elastic member. With this, it becomes possible to make the displacement sensor including its components such as the converter or the like compact enough to be housed in the elastic member at the limited space of the foot of the legged mobile robot. Further, it is arranged to self-diagnose abnormality of the displacement sensor by utilizing the redundancy of freedom, and also to detect the floor reaction force accurately such that the legged mobile robot can be controlled to walk more stably.

SYSTEMS AND METHODS FOR PROVIDING DYNAMIC ROBOTIC CONTROL SYSTEMS

An articulated arm system is disclosed that includes an articulated arm including an end effector, and a robotic arm control systems including at least one sensor for sensing at least one of the position, movement or acceleration of the articulated arm, and a main controller for providing computational control of the articulated arm, and an on-board controller for providing, responsive to the at least one sensor, a motion signal that directly controls at least a portion of the articulated arm.

Object detection to activiate pressure sensors

An example system comprising a pressure sensor array, a proximity sensor comprising circuitry to sense an object approaching the pressure sensor array based on a change in a resonance frequency of the proximity sensor, and a controller to receive from the proximity sensor the sensed change in the resonance frequency and designate the pressure sensor array as active responsive to the sensed resonance frequency being below a threshold or inactive responsive to the sensed resonance frequency being above the threshold, wherein a data transmission rate of the active pressure sensor array is greater than a data transmission rate of the inactive pressure sensor array.

Pipe handling arm

A drilling rig having a lift arm, which may be an auxiliary lift arm provided in addition to a primary lifting cable system of the drilling rig. The lift arm may be configured to hoist and/or manipulate drill collar, drill pipe, or other drilling pipe or conduit. The lift arm may be coupled to a mast of the drilling rig and may have a cantilevered boom extending therefrom. The boom may be configured to pivot between alignment, or near alignment, with well center and a racking board. The lift arm may additionally have a pipe engaging element coupled to the boom. The pipe engaging element may be configured to couple to stands or lengths of drilling pipe. The pipe engaging element may be raised and lowered together with or relative to the boom via a lift line controllable via a hydraulic cylinder, winch, or other suitable mechanism for withdrawing and releasing the line.

Safety switch device attached to mobile terminal for operating machine and machine operation device including safety switch device

A safety switch device includes a first support member and a second support member which are formed so as to secure a mobile terminal, and a grip part to be grasped by an operator's hand. The safety switch device includes an enable switch for transmitting a signal for permitting a robot to operate, and an emergency stop button for transmitting a signal for stopping the robot. The first support member and the second support member are formed so as to secure a plurality of types of mobile terminals having different sizes. The grip part is disposed at the center part of the shape of the back surface of the mobile terminal, which corresponds to the position of the center of gravity of the mobile terminal.

Gripping device

A gripping device for an apparatus for placing electronic and/or electrical components on a substrate comprises a pair of grippers (1 and 2) which are movable relative to one another by compressed-air or vacuum operated means to close and open the jaws (4 and 5) of the grippers. For indicating the absence of a component between the gripper jaws when the jaws are closed, an orifice (11) is provided which communicates with a source of compressed air or vacuum at least during the closing movement of the jaws so that air flows through the orifice during this movement. If the jaws are closed to less than a predetermined distance between them which is equal to the width of the smallest component to be handled by the gripping device, the orifice is closed by one (1) of the grippers to interrupt the flow of air through the orifice, and means responsive to the interruption produce a signal to indicate this closure of the gripper jaws. The orifice is formed in a body (6) which is fixed in relation ...

Kraft-Detektor

Ein Kraft-Detektor (11) beinhaltet eine Stütze (6), Fluidbälge (B1, B2), einen Fluid (BS), Drucksensoren (S1, S2) und eine Berechnungseinheit (C). Der Fluidbalg (BS) ist gegenüber zu der Seite angeordnet, auf welcher die Fluidbälge (B1, B2) in Berührung mit der Stütze (6) sind, und wird bereitgestellt, um benachbart zu beiden Fluidbälgen (B1, B2) zu sein. Die Berechnungseinheit (C) erhält Information bezüglich der Innendrücke der Fluidbälge (B2, B2) von den Drucksensoren (S1, S2). Bei dem Aufbringen einer externen Kraft an dem Fluidbalg (BS) von einem Objekt berechnet die Berechnungseinheit (C) eine Kraft, welche in einer tangentialen Richtung auf eine Berühroberfläche (CS) zwischen dem Objekt und dem Fluidbalg (BS) wirkt, basierend auf einer Differenz zwischen dem Innendruck des Fluidbalges (B1) und dem Innendruck des Fluidbalges (B2). Ein Kraft-Detektor, welcher in der Lage ist, eine Kraft zu berechnen, welche auf die Berühroberfläche (CS) in der tangentialen Richtung wirkt, kann erhalten ...

Auswahl eines Gerätes oder eines Objektes mit Hilfe einer Kamera

Die vorliegende Erfindung betrifft ein Verfahren zum Ansteuern eines Manipulator-Systems mittels eines tragbaren Endgerätes, ein entsprechendes tragbares Endgerät als auch ein Robotersystem. Das tragbare Endgerät umfasst dabei vorzugsweise eine 3D-Kamera, welche ferner vorzugsweise eine plenoptische Kamera ist. Das erfindungsgemäße Verfahren umfasst dabei unter anderem ein erfassen eines dreidimensionalen Bildes mittels der 3D-Kamera des tragbaren Endgeräts von zumindest einem Teil des anzusteuernden Manipulator-Systems, und ein Identifizieren zumindest eines ansteuerbaren Objektes des Manipulator-Systems.

LOAD REDUCTION DEVICE, LOAD REDUCTION METHOD, AND STORAGE MEDIUM STORING PROGRAM

The present invention comprises: a ground reaction force load difference calculation part that, on the basis of a first measured value that is a weight that is transmitted to a contact surface and is based on the weight of a user and the weight of a load reduction device that reduces the load applied to the user and has a mechanism that holds cargo and is at least worn by the user and of a second measured value that is a weight that is transmitted to the contact surface and is based on the weight of the user, calculates a ground reaction force load difference that is the amount of load from which the user is to be relieved; and a torque control part that, on the basis of the ground reaction force load difference, controls the torque that is outputted by a drive mechanism of the load reduction device to reduce the load applied to the joints of the legs of the user.

TRANSDUCER OF FORCE FOR MANIPULATOR

DEVICE OF REMOTE CONTROL

MECHANICAL MANIPULATOR PROVIDED WITH RETRACTABLE DETECTORS

PROGRAMMABLE ROBOT WITH THE HAND AND EXECUTANT OF DISPLACEMENTS ASSIST DURING THE PROGRAMMING

DISPOSITIF PNEUMATIQUE DE LOCALISATION DU POINT D'APPLICATION D'UN EFFORT ET APPLICATION D'UN TEL DISPOSITIF

LE DISPOSITIF PNEUMATIQUE DE LOCALISATION DU POINT D'APPLICATION D'UN EFFORT MODIFIANT LA SECTION DE PASSAGE OFFERTE PAR UN ELEMENT DE CIRCUIT ELASTIQUE TROUVE UNE APPLICATION IMPORTANTE DANS LA REALISATION DE PALPEURS POUR DES MANIPULATEURS OU ROBOTS. L'ELEMENT ACB EST PLACE DANS UN CIRCUIT DONT UN POINT EST RELIE A UN EXCITATEUR 11 DESTINE A CREER AUDIT POINT UNE EXCITATION HARMONIQUE DONT LA LONGUEUR D'ONDE EST TRES SUPERIEURE AUX DIMENSIONS TRANSVERSALES DU CIRCUIT. UN APPAREIL 12 DE MESURE DU DEBIT EST PLACE SUR UN CONDUIT RELIANT LES EXTREMITES DE L'ELEMENT ELASTIQUE.

APPARATUS AND METHOD OF SEARCHING FOR LOCATING AND ENGAGING AN ARTICLE

Touch sensor module, and artificial robot having the same

TRANSFER DEVICE, PROCESSING SYSTEM, CONTROL METHOD OF TRANSFER DEVICE, AND COMPUTER-READABLE STORAGE MEDIUM

Mobile robot included servo-wheel for topography conquest

카메라를 이용한 장치 또는 물체의 선택

... 본 발명은 휴대용 단말기를 이용하여 매니퓰레이터 시스템을 액추에이팅하기 위한 방법, 상응하는 휴대용 단말기, 및 로봇 시스템에 관한 것이다. 상기 휴대용 단말기는 바람직하게는 3D 카메라를 포함하고, 상기 3D 카메라는 그 밖에 바람직하게는 플렌옵틱 카메라이다. 이때, 본 발명에 따른 방법은 무엇보다도 상기 액추에이팅되어야 하는 매니퓰레이터 시스템의 적어도 하나의 부분에 대하여 상기 휴대용 단말기의 상기 3D 카메라를 이용한 3차원적 이미지의 캡처, 및 상기 매니퓰레이터 시스템의 적어도 하나의 액추에이팅 가능한 물체의 확인을 포함한다.

APPARATUS AND METHOD TO DISTINGUISH OBSTACLE

The present invention relates to an apparatus and a method to distinguish an obstacle. According to the present invention, an apparatus to distinguish the obstacle makes a distinction of the obstacle placed in front of a robot from a distance measurement data acquired by a distance measurement sensor of the robot. Disclosed is the apparatus to distinguish the obstacle, comprising: a change rate calculation unit calculating a distance information change rate in a predetermined time section from the distance measurement data; and an obstacle distinction unit making a distinction of the obstacle by comparing the calculated distance information change rate with a driving speed of the robot. COPYRIGHT KIPO 2016 (10) Robot (110) Distance measurement sensor (120) Driving unit (130) Low-band penetration filter (140) Change rate calculation unit (141) Interpolation unit (142) Slope calculating unit (150) Deviation calculation unit (160) Speed control unit (170) Obstacle distinction unit (180) Memory ...

METHOD FOR REMOTE-CONTROLLING ROBOT BASED ON 3D IMAGE AND REMOTE-CONTROLLED ROBOT BASED ON 3D IMAGE

The present invention provides a method for remote-controlling a robot based on a 3D image, taking 3D images of environment surrounding the robot to generate a plurality of stereoscopic images which enable an operator to stereoscopically recognize a work target and enabling the operator to definitely recognize and check a state of target work objects, information on environment surrounding the target work objects, distances to the target work objects, etc. and to precisely control the robot, and a remote controlled robot based on a 3D image. The method for remote-controlling the robot based on the 3D image comprises the steps of: taking images of multiple places in front of the robot with a robot arm, and editing generated unit images to generate one wide observation image; taking images of the target work objects arranged in front of the robot from multiple viewpoints, and editing generated unit viewpoint images to generate one multi-viewpoint stereoscopic image; taking images of front ...

HUMAN MUSCULAR STRENGTH AMPLIFYING ROBOT DRIVEN ACCORDING TO INTENTION OF USER AND DRIVING METHOD THEREOF

A human muscular strength amplifying robot driven according to the intention of a user and a driving method thereof are disclosed. The human muscular strength amplifying robot driven according to the intention of a user comprises: an actuator which amplifies human muscular strength in the moving direction of a human body; an encoder which is connected to the actuator and measures the actual speed of the actuator; a force/torque sensor which measures the intensity of force applied in the moving direction of the human body; an admittance modeling module which calculates a target speed by using the intensity of force measured by the force/torque sensor; and a proportional integral derivative (PID) control module which controls the driving of the actuator in proportion to the speed difference between the target speed calculated by the admittance modeling module and the actual speed measured by the encoder. COPYRIGHT KIPO 2016 (110) Driver (120) Encoder (130) Force/ Torque sensor (140) Admittance ...

Sheet conveying device and sheet conveying method

Provided are a sheet conveying device and a sheet conveying method with which it is possible to convey a sheet in a more accurate manner. A sheet conveying device according to the present invention has a holding part that is capable of: holding a sheet; bringing the sheet into a stretched state while holding the sheet; and conveying the held sheet. In addition, the sheet conveying device has a sheet-state recognition means for recognizing a sheet state when the sheet is held in a stretched state by means of the holding part.

A ROBOTIC ICE CREAM DELIVERY SYSTEM

A self-serve kiosk system comprising a controller interfacing an order configuration interface and a scoop subsystem comprising a robotic arm having a scoop mechanism at a distal end thereof. The scoop mechanism has a coplanar rim about the interior and the controller controls the robotic arm in a particular manner to position the scoop mechanism in relation to an ice cream container in accordance with an order received via the order configuration interface, to lower the scoop mechanism into the ice cream container and to stroke until the coplanar rim hits flat against an opposing inner side wall surface of the container thereby entrapping a fixed volume of ice cream between the opposing inner side wall surface and the interior of the scoop so that a fixed volume of ice cream can be extracted from the ice cream container for dispensing. 1. A self-serve kiosk system comprising a controller interfacing an order configuration interface and a scoop subsystem comprising a robotic arm having a scoop mechanism at a distal end thereof , the scoop mechanism comprising a scoop defining an interior volume , the scoop comprising a coplanar rim around the interior volume and wherein , in use , the controller is configured for controlling the robotic arm to position the scoop mechanism in relation to an ice cream container in accordance with an order received via the order configuration interface , to lower the scoop mechanism into the ice cream container , to stroke the scoop across the ice cream container until such time that the coplanar rim hits flat against an opposing inner side wall surface of the container thereby entrapping a fixed volume of ice cream between the inner side wall surface and the interior of the scoop , to raise the scoop to wipe the coplanar rim up the opposing inner side wall surface to withdraw the fixed volume of ice cream from the ice cream container and to position the scoop with respect to a receptacle to deposit the fixed volume of ice cream ...

Certain principles of biomorphic robots including foot placement selection using non-geometric visual properties

Robots and other mobile apparatus, especially robotic bipeds, that exhibit agile capabilities can become easily destabilized by obstacles or particular surfaces. An algorithm for controlling the movement of a robot based on visual cues and learning processes will help to avoid destabilization and movement interruption by altering the gait measurement. As such, when the robot predicts that an obstacle is upcoming, it can make adjustments by either increasing or decreasing stride so that a smooth transition can be made in bypassing the obstacle.

TERMINAL FOR ACTION ROBOT AND METHOD OF OPERATING THE SAME

A terminal for an action robot allows a user to easily manage motion data for controlling movement of the action robot and a method of operating the same. The terminal may include a storage configured to store motion data, a wireless communicator configured to transmit the motion data to an action robot, a display configured to display a motion production screen for generating the motion data, an input interface configured to receive a command for generating pieces of motion part data for controlling motion parts of the action robot through the motion production screen respectively, and a controller configured to generate the motion data by combining the pieces of motion part data.

Autonomous robot scenario re-simulation

A virtualization system implemented within a cloud server enables the simulation of robot structure and behavior in a virtual environment. The simulated robots are controlled by clients remote from the cloud server, enabling human operators or autonomous robot control programs running on the clients to control the movement and behavior of the simulated robots within the virtual environment. Data describing interactions between robots, the virtual environment, and objects can be recorded for use in future robot design. The virtualization system can include robot templates, enabling users to quickly select and customize a robot to be simulated, and further enabling users to update and re-customize the robot in real-time during the simulation. The virtualization system can re-simulate a portion of the robot simulation when an intervention by a human operator is detected, positioning robots, people, and objects within the virtual environment based on the detected intervention.

Humanoid Hugging Assembly

A humanoid hugging assembly includes a humanoid animatronic that has a torso, a pair of arms and a pair of hands each is disposed on a respective one of the arms. The arms are positionable in a resting position having the arms extending downwardly along the torso and having a palm of each of the hands facing the torso. Each of the arms is positionable in a hugging position has each of the arms is crossed in front of the torso wherein the pair of arms is configured to embrace the user. A motion sensor is integrated into the humanoid animatronic to sense motion of the user approaching the humanoid animatronic. A motion unit is integrated into the humanoid animatronic and the motion unit actuates each of the arms into the hugging position when a predetermined duration of time has passed when motion sensor senses motion.

SURGICAL ROBOT AND METHOD OF MANIPULATING POSITIONER

A surgical robot includes: a plurality of manipulator arms; a platform to which the plurality of manipulator arms are coupled; a positioner configured to change the position and posture of the platform; a controller configured to control the positioner; and a user interface. The user interface includes: first manipulation tools each configured to receive an input of manipulation which selects one of a plurality of operating modes for changing the position and posture of the platform; and a single second manipulation tool configured to receive an input of manipulation information regarding the position and posture. The controller generates a command regarding the position and posture of the platform based on the acquired manipulation information and the selected operating mode and operates the positioner based on the generated command.

Robotersystem und Verfahren zur Steuerung eines Robotersystems

Robotersystem mit zumindest einem Roboterarm, einer Steuereinheit zur Steuerung des Roboterarms und einer Roboterarm-Sensorik, wobei die Steuerung und Roboterarm-Sensorik so ausgelegt sind, dass sie auf vorherbestimmte, über Berührung durch einen Benutzer aufbringbare Kräfte und Momente, die auf den Roboterarm wirken, so reagieren, dass das Robotersystem mindestens eine vorherbestimmte Operation ausführt, die diesen Kräften und Momenten zugeordnet ist, dadurch gekennzeichnet, dass die Kräfte und Momente einer Steuerung auf der graphischen Benutzeroberfläche einer Anzeigevorrichtung des Robotersystems zugeordnet sind.

Electronic device, control device, and recording medium

Hand and robot

DEVICE ROBOTIZES HAVING the ASPECT Of a DOG.

L'objet de l'invention est un dispositif robotisé ayant l'aspect d'un quadrupède comprenant un corps, une tête disposée à l'avant du corps selon la direction longitudinale et quatre pattes comportant des articulations et à l'extrémité inférieure un pied (34) comprenant une zone (36) de support susceptible d'être en contact avec le sol (38) et un capteur (40) permettant d'identifier l'instant du contact du pied avec le sol (38), caractérisé en ce que le pied (34) comprend une zone de déformation (44) entre la zone de liaison entre le pied (34) et le reste de la patte et la zone (36) de support et en ce que, pour chaque pied, ladite zone (36) de support est disjointe dudit capteur (40) et comprend une surface (42) d'appui sensiblement plane.

DEVICE OF DETECTION BY CONTACT, IN PARTICULAR FOR ROBOT

METHOD AND DEVICE FOR DETECTING AND MEASURING A FORCE OR PRESSURE APPLIED TO A ROBOT, AND ROBOT EQUIPPED WITH SUCH A DEVICE

ROBOT PROGRAMMABLE A LA MAIN ET EXECUTANT DES DEPLACEMENTS ASSISTES PENDANT LA PROGRAMMATION

Robot comprenant plusieurs membres mobiles 16, 18, 20, 38, 40, 42 qui sont reliés bout à bout en série. Un appareil de commande 22, 28, 33, 44, 48, 52 et un transducteur de position 24, 30, 34, 46, 50, 54 est combiné avec chaque membre. Certains de ceux-ci 16, 18, 20 sont relativement massifs et ne peuvent pas être déplacés facilement sans apport d'énergie extérieure lorsque le robot est programmé à la main, tandis que d'autres 38, 40, 42, c'est-à- -dire ceux qui constituent le poignet 14, sont relativement légers et sont déplaçables sans apport d'énergie extérieure. Un transducteur de force 61 est monté en série avec l'élément de sortie 42 du robot et coopère avec l'un des éléments articulés massifs 20 qui est placé entre le poignet et l'embase fixe 10 sur laquelle le robot est monté. Ce transducteur détecte pendant la programmation les forces exercées sur les éléments articulés massifs par l'intermédiaire du poignet et émet des signaux de sortie destinés à chacun de ces éléments massifs ...

GRIPPING DEVICE WITH MONITORING ITS OPERATING STATE

Robot arm control apparatus, robot arm control method, robot, robot arm control program, and integrated electronic circuit

A robot arm includes a grip part which is structured to be separated from an end effector attached to the robot arm. When the grip part is gripped by the user and shifted, the robot arm shifts tracking the grip part. Further, the grip part includes contact sensors, and a tracking control method is switched according to the value of the contact sensors.

Pressure detection device

A pressure detection device includes a supporting member, a pressure sensor, a force transmission member, and a limiting member. The supporting member includes a receiving portion and a mounting portion protruding from an end of the receiving portion. The pressure sensor is fixedly received in the receiving portion of the supporting member. The force transmission member includes a main body received in the mounting portion, a transmission portion and an assembly portion protruding from opposite ends of the main body, the transmission portion fixedly extending through the pressure sensor. The limiting member extends through the assembly portion and is fixedly connected to the mounting portion of the supporting member, thereby preventing the force transmission member from rotating. The assembly portion of the force transmission member protrudes from the supporting member, and abuts against an end of the supporting member.

METHOD AND SYSTEM FOR OPERATING A ROBOTIC DEVICE

Embodiments of a method (e.g., for operating a robotic device such as a dog device, etc.) can include: receiving one or more inputs (e.g., sensor input data, etc.) at a dog device (e.g., at one or more sensors of the dog device; a robotic dog device; etc.) from one or more users and/or other suitable entities (e.g., additional dog devices; etc.); determining one or more events (and/or a lack of one or more events), such as based on the one or more inputs (and/or a lack of one or more inputs); processing (e.g., determining, implementing, etc.) one or more scenes based on the one or more events (and/or lack of one or more events); and/or performing one or more output actions with the dog device, based on the one or more scenes (e.g., individual scenes; scene flows; etc.). 1. A method for operating a dog device , comprising:receiving a first input, at a sensor of the dog device, from a user;determining an event based on the first input, the event comprising at least one of a touch event, a voice command recognition event, and a dog device position event;processing a scene based on the event, the scene including scene parameters indicating instructions for a first output action; andcausing the dog device to perform the first output action based on the scene, wherein the first output action comprises at least one of a mechanical output action and an audio output action.2. The method of claim 1 , wherein the first input comprises sensor input data comprising at least one of: touch sensor data claim 1 , audio sensor data claim 1 , light sensor data claim 1 , mechanical actuator sensor data claim 1 , and biometric sensor data.3. The method of claim 2 , wherein the sensor input data comprises light sensor data claim 2 , and wherein processing the scene comprises determining a scene associated with a low activity level for the first output action claim 2 , based on the light sensor data.4. The method of claim 1 , wherein the sensor of the dog device comprises a touch sensor ...

ROBOT SYSTEM AND CONTROL METHOD OF THE SAME

The present embodiment includes a left exercise module and a right exercise module which are horizontally spaced apart from each other and each of which includes: a lifting guide; a carrier lifted/lowered and guided along the lifting guide; and a robot arm installed on the carrier, including an end effector connected to an arm; and having a height changed by the carrier. 1. A robot system comprising a left exercise module and a right exercise module , which are horizontally spaced apart from each other and each of which comprises:a lifting guide;a carrier lifted/lowered and guided along the lifting guide; anda robot arm installed on the carrier, comprising an end effector connected to an arm, and having a height changed by the carrier.2. The robot system of claim 1 , wherein a maximum length of the robot arm is shorter than a length of the lifting guide.3. The robot system of claim 1 , wherein the maximum length of the robot arm is shorter than a distance between the lifting guide of the left exercise module and the lifting guide of the right exercise module.4. The robot system of claim 1 , further comprising a controller configured to controlling the robot arm claim 1 , wherein a waiting mode in which the robot arm is moved to a waiting position, and', 'an exercise mode in which the robot arm is moved to an exercise region where the robot arm is operable by a user, and wherein, 'the controller controls the robot arm in a plurality of modes, the plurality of modes comprises'}a first distance between the robot arm of the left exercise module and the robot arm of the right exercise module in the waiting mode is larger than a second distance between the robot arm of the left exercise module and the robot arm of the right exercise module in the exercise mode.5. The robot system of claim 1 , further comprising lifting mechanisms configured to raise/lower the carriers.6. The robot system of claim 5 , wherein the lifting mechanisms lifts/lowers the carrier of the left ...

ROBOT AND CONTROLLING METHOD THEREOF

A robot includes a display configured to display a face image indicating a face of the robot, an input unit configured to receive a customizing request for the face of the robot, and a processor configured to acquire customizing data based on the received customizing request, to generate a face design based on the acquired customizing data, and to control the display to display a face image based on the generated face design. 1. A robot comprising:a display configured to display a face image indicating a face of the robot;an input unit configured to receive a customizing request for the face of the robot; anda processor configured to acquire customizing data based on the received customizing request, to generate a face design based on the acquired customizing data, and to control the display to display a face image based on the generated face design.2. The robot of claim 1 , wherein the input unit includes a touchscreen claim 1 , andwherein the processor displays a drawing interface through the display in response to the received customizing request, and acquires drawing data corresponding to touch input of a user as the customizing data through the displayed drawing interface and the input unit.3. The robot of claim 2 , wherein the processor corrects the drawing data to generate the face design.4. The robot of claim 3 , wherein the processor generates a plurality of face design candidates by correcting the drawing data claim 3 , and upon selecting any one among the plurality of generated face design candidates claim 3 , the processor generates the selected face design candidate as the face design.5. The robot of claim 2 , wherein the drawing data includes partial drawing image for each respective at least one face part.6. The robot of claim 5 , wherein the processor recognizes a face part of each of the at least one partial drawing image claim 5 , and generates the face design from the drawing data based on the recognized face part.7. The robot of claim 6 , wherein ...

SYSTEM AND METHOD FOR REAL-TIME ROBOTIC CONTROL

Embodiments included herein are directed towards a system and method for robotic control. The system may include a graphical user interface configured to allow a user to access a data storage unit associated with a robot. The system may further include a configurable portion including the data storage unit, a manipulator controller, and a data transfer layer. The system may also include a generic portion configured to parse the configurable portion to generate a robotic controller. 1. A robotic control system , comprising:a graphical user interface configured to allow a user to access a data storage unit associated with a robot;a configurable portion including the data storage unit, a manipulator controller, and a data transfer layer; anda generic portion configured to parse the configurable portion to generate a robotic controller.2. The robotic control system of claim 1 , wherein the configurable portion further includes a hardware communication layer in communication with at least one robot.3. The robotic control system of claim 1 , wherein the graphical user interface is configured to allow a user to access the data store.4. The robotic control system of claim 3 , wherein the graphical user interface is configured to allow a user to customize the manipulator controller claim 3 , a thread and a hardware communication layer.5. The robotic control system of claim 1 , wherein the manipulator controller is configured to synchronize one or more states between a plurality of controllers using the data store.6. The robotic control system of claim 2 , wherein the hardware communication layer is selected from the group consisting of EtherCAT claim 2 , PROFINET claim 2 , and real-time data exchange (“RTDE”).7. The robotic control system of claim 5 , wherein the data transfer layer is configured to allow communication between the graphical user interface and the plurality of controllers.8. The robotic control system of claim 1 , wherein the data storage unit includes a ...

SAFETY SWITCH DEVICE ATTACHED TO MOBILE TERMINAL FOR OPERATING MACHINE AND MACHINE OPERATION DEVICE INCLUDING SAFETY SWITCH DEVICE

A safety switch device includes a first support member and a second support member which are formed so as to secure a mobile terminal, and a grip part to be grasped by an operator's hand. The safety switch device includes an enable switch for transmitting a signal for permitting a robot to operate, and an emergency stop button for transmitting a signal for stopping the robot. The first support member and the second support member are formed so as to secure a plurality of types of mobile terminals having different sizes. The grip part is disposed at the center part of the shape of the back surface of the mobile terminal, which corresponds to the position of the center of gravity of the mobile terminal. 1. A safety switch device attached to a mobile terminal for operating a machine , comprising:a fixation mechanism formed so as to secure the mobile terminal;a grip part supported by the fixation mechanism, which is to be grasped by a hand of an operator;a permission switch which is disposed on the grip part and which transmits a signal for permitting the machine to operate; andan emergency stop button for transmitting a signal for stopping the machine, whereinthe fixation mechanism is formed so as to secure a plurality of types of the mobile terminals having different sizes; andthe grip part is supported by the fixation mechanism so as to be disposed at a center part of the shape of the back surface of the mobile terminal, which corresponds to the position of the center of gravity of the mobile terminal.2. The safety switch device according to claim 1 , wherein the fixation mechanism includes:a first support member having a first recess part to be engaged with one end of the mobile terminal;a second support member having a second recess part to be engaged with the other end of the mobile terminal; anda securing member for securing the second support member to the first support member,the second support member is formed so as to slide with respect to the first support ...

ROBOT SYSTEM WITH SUPPLEMENTARY METROLOGY POSITION DETERMINATION SYSTEM

A supplementary metrology position determination system is provided for use with a robot. The robot includes a movable arm configuration and a motion control system configured to control an end tool position with a robot accuracy (i.e., based on sensors included in the robot). The supplementary system includes cameras and 2D scales, each of which is attached to the movable arm configuration (e.g., as attached on arm portions and/or rotary joints). The cameras are operated to acquire images for determining relative positions of the scales. The scales may be coupled to rotary joints (e.g., as may be utilized to determine rotary motion as well as any motion transverse to a rotary axis), and/or to arm portions (e.g., as may be utilized to determine any bending or twisting of the arm portions). Such information may be utilized to achieve higher accuracy (e.g., for measurement operations and/or control of the robot, etc.). 1. A robot system , comprising: [ a first arm portion mounted to a first rotary joint at a proximal end of the first arm portion, the first rotary joint having a first rotary axis, wherein the first arm portion has a second rotary joint located at a distal end of the first arm portion, the second rotary joint having a second rotary axis;', 'a second arm portion mounted to the second rotary joint at a proximal end of the second arm portion, such that the second arm portion rotates about the second rotary joint; and', 'an end tool mounting configuration for mounting an end tool, wherein the end tool mounting configuration is located proximate to a distal end of the movable arm configuration; and, 'a movable arm configuration, comprising, 'a motion control system configured to control an end tool position of the end tool with a level of accuracy defined as a robot accuracy, based at least in part on sensing and controlling the angular positions of the first and second arm portions about the first and second rotary joints, respectively, using rotary sensors ...

Mobile robot and method for operating the same

Disclosed is a mobile robot configured to cut lawn in a work area. The mobile robot may include a main body, a weight sensing sensor, an obstacle sensing sensor, a blade, and a processor. The mobile robot may execute an artificial intelligence (AI) algorithm and/or a machine learning algorithm, and perform communication with other electronic devices in a 5G communication environment. As a result, it is possible to enhance user convenience.

ROBOT AND OPERATION METHOD THEREOF

A robot and an operation method thereof are disclosed. A robot may include a loading box provided to load goods, and to be movable at a certain distance with respect to the robot when closed and opened, a drive wheel configured to drive the robot, an auxiliary wheel provided at a position spaced apart from the drive wheel, and a variable supporter configured to change the position of the auxiliary wheel, and supporting the loading box, and the variable supporter may move the auxiliary wheel so as to correspond to the movement direction of the center of gravity of the robot. The robot may transmit and receive a wireless signal on the mobile communication network constructed according to a 5 Generation (G) communication. 1. A robot capable of autonomous driving , the robot comprising:a loading box provided to load goods, and to be movable at a certain distance with respect to the robot when closed and opened;a drive wheel configured to drive the robot;an auxiliary wheel provided at a position spaced apart from the drive wheel; anda variable supporter configured to change the position of the auxiliary wheel, and supporting the loading box,wherein the variable supporter moves the auxiliary wheel so as to correspond to the movement direction of the center of gravity of the robot.2. The robot of claim 1 , wherein the variable supporter comprisesa motor;a linear mover mounted with the auxiliary wheel, and configured to move linearly;a guider having one side fixed to the motor, and having the other side coupled to the linear mover that is movable; anda screw having one side coupled to a rotary shaft of the motor to rotate together according to the rotation of the motor and having the other side coupled to the linear mover that is movable to convert the rotational motion of the motor into the linear motion of the liner mover.3. The robot of claim 1 , wherein the variable supporter moves the auxiliary wheel in a first direction so that a first length measured from the drive ...

Touch-down Sensing for Robotic Devices

Example methods and devices for touch-down detection for a robotic device are described herein. In an example embodiment, a computing system may receive a force signal due to a force experienced at a limb of a robotic device. The system may receive an output signal from a sensor of the end component of the limb. Responsive to the received signals, the system may determine whether the force signal satisfies a first threshold and determine whether the output signal satisfies a second threshold. Based on at least one of the force signal satisfying the first threshold or the output signal satisfying the second threshold, the system of the robotic device may provide a touch-down output indicating touch-down of the end component of the limb with a portion of an environment. 1. A computer implemented method , when executed by data processing hardware of a legged robot , causes the data processing hardware to perform operations comprising:receiving an output signal from a sensor of an end component of a limb of the legged robot, the sensor including a bladder of fluid and a pressure sensor configured to measure a magnitude of pressure in the bladder as the output signal;determining whether the output signal satisfies a threshold; andwhen the output signal satisfies the threshold, providing a touch-down output indicating a touch-down of the end component of the limb against a surface in an environment of the legged robot.2. The method of claim 1 , wherein the bladder of fluid comprises a tube of air disposed at the end component of the limb claim 1 , the pressure sensor coupled to the tube of air to determine the magnitude of pressure of the air in the tube as the output signal.3. The method of claim 2 , wherein the end component of the limb comprises a deformable end component claim 2 , the tube of air disposed at the deformable end component so that deformation of the deformable end component results in a change in the magnitude of pressure of the air in the tube.4. The ...

FRUIT AND VEGETABLE HARVESTING DEVICE

Provided is a fruit and vegetable harvesting device () for harvesting a fruit or vegetable () connected to a branch () via a pedicel (). The fruit and vegetable harvesting device () includes: a harvesting hand () including a holding unit () having a suction pad () for holding the fruit or vegetable () and a finger unit () that can abut on the pedicel (); and a robot arm () that turns the harvesting hand () to cause the finger unit () abutting on the pedicel () to press the pedicel (). 1. A fruit and vegetable harvesting device for harvesting a fruit or vegetable formed at a distal end of a pedicel , the device comprising:a harvesting hand including a hand base, a holding unit that holds the fruit or vegetable, and a finger unit that abuts on the pedicel, the holding unit and the finger unit being supported by the hand base; anda turning mechanism that turns the harvesting hand to cause the finger unit abutting on the pedicel to press the pedicel.2. The fruit and vegetable harvesting device according to claim 1 , whereinthe harvesting hand includes a movable unit that causes the finger unit to move along the fruit or vegetable and abut on the pedicel.3. The fruit and vegetable harvesting device according to claim 1 , further comprising:a sensor that detects holding of the fruit or vegetable and abutment on the pedicel, whereinthe turning mechanism turns the harvesting hand in response to detection of the holding and the abutment.4. The fruit and vegetable harvesting device according to claim 1 , further comprising:a movement mechanism for moving the harvesting hand;a recognition device that recognizes a fruit or vegetable around the harvesting hand; anda control unit that causes the movement mechanism to move the harvesting hand toward the fruit or vegetable recognized by the recognition device, causes the holding unit to hold the recognized fruit or vegetable, causes the finger unit to abut on the pedicel, and causes the turning mechanism to turn the harvesting hand ...

ROBOT SYSTEM AND METHOD FOR CONTROLLING THE SAME

Provided is a robot system. The robot system includes a manipulator configured to perform a preset operation on a plurality of objects, a transparent cover configured to define a chamber in which the plurality of objects and the manipulator are accommodated, the transparent cover being provided with a touch panel, a camera installed to face an internal region of the chamber, a projector configured to emit light to one area within the chamber, and a controller configured to control the projector so that the projector emits the light to a target area corresponding to a touch point of the touch panel, recognize a target object disposed in the target area based on image information of the camera, and control the manipulator so that an operation is performed on the target object. 1. A robot system comprising:a manipulator configured to perform a preset operation on a plurality of objects;a transparent cover configured to define a chamber in which the plurality of objects and the manipulator are accommodated, the transparent cover being provided with a touch panel;a camera installed to face an internal region of the chamber;a projector configured to emit light to one area within the chamber; anda controller configured to control the projector so that the projector emits the light to a target area corresponding to a touch point of the touch panel, recognize a target object disposed in the target area based on image information of the camera, and control the manipulator so that an operation is performed on the target object.2. The robot system according to claim 1 , wherein the target area overlaps the touch point in a direction perpendicular to the touch panel.3. The robot system according to claim 1 , wherein the controller controls claim 1 , when a preset first gesture is inputted into the touch panel claim 1 , the manipulator to perform a first action corresponding to the first gesture claim 1 , andcontrols, when a preset second gesture different from the preset first ...

ROBOT SERVICE COOPERATION SYSTEM, PLATFORM AND METHOD

A robot service cooperation system () includes a server (), a mobile terminal () and various robots (-) respectively connected to a network (). Each of applications (A, A, A, - - - ) on the network is written with cooperation information indicating that which other application can be cooperated with. A CPU () of the server specifies (S) at least based on the cooperation information a plurality of cooperable services that can be provided to a user of the mobile terminal, presents (S) the specified plurality of services to the user and makes (S) the user select an arbitrary combination, and makes (S, S) a plurality of services constituting the selected combination cooperate mutually by registering at least a start condition of each service into an event queue in association with at least an end event of another service. 1. A robot service cooperation system that includes a server connected to a network , a mobile terminal connected to the network and a robot connected to the network , and makes a plurality of services cooperate mutually , the plurality of services being respectively provided to a user of the mobile terminal by a plurality of applications software on the network by using the robot ,wherein cooperation information indicating which another application software can be cooperated with is described in each of the applications software, and a specifying module operable to specify a plurality of cooperable services that can be provided to the user of the mobile terminal at least based on the cooperation information described in each of the service applications software;', 'a presentation selection module operable to present to the user of the mobile terminal a plurality of services that are specified by the specifying module and make the user select an arbitrary combination of the services; and', 'a cooperation module operable to make a plurality of services constituting the combination that is selected by the presentation selection module cooperate mutually ...

CONTROL DEVICE OF ROBOT ARM AND TEACHING SYSTEM AND METHOD USING THE SAME

A control device of robot arm including a pressure sensing module and a control module is provided. The pressure sensing module, disposed on an operating portion of a robot arm, has a touch-sensing surface for detecting an operation command applied to the touch-sensing surface. The control module receives at least a pressure sensing signal outputted by the pressure sensing module and outputs a motor driving signal to the robot arm in response to the operation command. The touch-sensing surface includes a first touch-sensing region and a second touch-sensing region. The first touch-sensing region is for defining a first reference coordinate system satisfying a translational motion mode. The second touch-sensing region is for defining a second reference coordinate system satisfying a rotational motion mode. The control module controls the robot arm according to the operation command. 1. A control device of a robot arm , comprising:a pressure sensing module disposed on an operating portion of a robot arm and having a touch-sensing surface for detecting an operation command applied to the touch-sensing surface, wherein the touch-sensing surface comprises a first touch-sensing region and a second touch-sensing region, the first touch-sensing region is for defining a first reference coordinate system related to a translational motion mode, and the second touch-sensing region is for defining a second reference coordinate system related to a rotational motion mode; anda control module configured to receive at least a pressure sensing signal outputted by the pressure sensing module and to output a motor driving signal to the robot arm in response to the operation command, wherein the control module controls the robot arm to move towards a target position according to the operation command.2. The control device according to claim 1 , wherein the pressure sensing module comprises a plurality of pressure sensing elements interconnected and arranged in a form of an array claim 1 ...

Touch sensor with multifunctional layers, electronic skin and intelligent robot

The present application relates to a touch sensor with multifunctional layers and an intelligent robot. The touch sensor comprises a plurality of sensor units. Each of the sensor units comprises regions contained in four multifunctional layers. The first multifunctional layer and the third multifunctional layer are higher than the second multifunctional layer and the fourth multifunctional later, and the distance from the center of the first multifunctional layer to the center of the third multifunctional layer is greater than the distance from the center of the second multifunctional layer to the center of the fourth multifunctional layer. The first multifunctional layer and the third multifunctional layer form a capacitor C1, and the second multifunctional layer and the fourth multifunctional layer form a capacitor C2.

ROBOT AND A METHOD OF CONTROLLING A ROBOT

The present invention relates to a robot comprising a horizontal or horizontally slanted transparent experiment layer being adapted to support items at arbitrary positions on or in the experiment layer, and a moveable sensor arranged below the transparent experimental layer said sensor being configured for providing a sensor signal indicative of item(s)' location on the experiment layer, an actuator arranged for being moved into different positions above the horizontal transparent layer a display device being configured for visually representing located item(s) a user input device configured for receiving information as to operation of the actuator. 1. A robot comprising:a horizontal or horizontally slanted transparent experiment layer being adapted to support items at arbitrary positions on the experiment layer;a moveable sensor arranged below the transparent experimental layer said sensor being configured for providing a sensor signal indicative of item(s)' location on the experiment layer;an actuator arranged for being moved into different positions above the horizontal transparent layer;a display device being configured for visually representing located item(s);a user input device; on the basis of the sensor signal locate an item on the transparent layer;', 'display the located item(s) or a graphical presentation thereof on the display device;', 'receive a manipulation input through the user input device, and', 'in response to said manipulation input, control the actuator to manipulate the content of the displayed item(s)., 'wherein the robot further comprising a processor to'}228-. (canceled)2955-. (canceled)56. The robot according to claim 1 , wherein the location of an item comprising determining the relative position in the robot of the item.57. The robot according to claim 1 , wherein the sensor further being adapted to determine the content of an item.58. The robot according to claim 1 , wherein the transparent layer extends in one horizontal plane.59. The ...

AUXILIARY ROBOT WITH ARTIFICIAL INTELLIGENCE

The following abstract for invention refers to the development of an auxiliary robot with artificial intelligence, performing several tasks and managing teams, said robot () having movable head (), rotating torso (), movable arms ( and ), a hinged hand () and hand having a laser system (), the torso () being rotatable over a base (), being able of interacting with the user () by means of voice commands (), and can also receive settings, personalization and manual control () by means of a Web interface (), by means of a computer (), wherein said computer can request data () and synchronize the robot (), which can be controlled by means of wireless connection by some application (APPs) to carry out interactions (). 1130111218193038- AUXILIARY ROBOT WITH ARTIFICIAL INTELLIGENCE , characterized in that it has movable head () , rotatable torso () , movable arms ( and ) , articulated hand () and hand with laser system () , the torso () being rotatable over a base ().212345- AUXILIARY ROBOT according to and characterized in that the head () is comprised of a touch screen () carrying a front camera () claim 1 , transparent ears illuminated by colored LEDs () claim 1 , with effects of blinking/rotation and two microphones () claim 1 , with stereo pickup for audio location.3671819- AUXILIARY ROBOT according to and characterized in that it has claim 1 , internally to the head claim 1 , a set of four loudspeakers () arranged in the rear part claim 1 , having a servomotor () for moving the head () on the axis claim 1 , another servomotor () for moving the head () on the horizontal axis claim 1 , the neck () connecting the horizontal axis to the vertical axis.410111213141514- AUXILIARY ROBOT according to and characterized in that the robot () has two arms ( and ) attached to the inner base () by means of a plastic bearing () which connects each arm with their respective servomotor () claim 1 , the bearings () allowing rotation from 180° upward claim 1 , with return to the rest ...

Information processing apparatus and non-transitory computer readable medium

An information processing apparatus includes a controller. The controller controls, in accordance with a touch on one or plural devices by a user, execution of a cooperative function that uses the one or plural devices.

COMPOUND SENSOR

A compound sensor that is capable of being used with robotics is provided such that the compound sensor includes a distance measurement unit and a pressure measurement unit. Further, a contact detection unit, which is dedicated to performing a detection when a measurement target contacts with a surface of the sensor is included. 1. A compound sensor comprising:a distance measurement unit configured to measure a distance from a measurement target by transmitting an ultrasonic wave and receiving the ultrasonic wave returned from the measurement target;a pressure measurement unit configured to measure a pressure applied from the measurement target; anda contact detection unit configured to detect a presence of a contact with the measurement target.2. The compound sensor according to claim 1 , whereina vibrating membrane having a piezoelectric film is included in one or more of the distance measurement unit, the pressure measurement unit, or the contact detection unit.3. The compound sensor according to claim 1 , whereina vibrating membrane having an electrode and another electrode that faces the electrode is included in one or more of the distance measurement unit, the pressure measurement unit, or the contact detection unit.4. The compound sensor according to claim 3 , whereinone or more of the distance measurement unit, the pressure measurement unit, or the contact detection unit is a static capacitance type sensor.5. The compound sensor according to claim 1 , further comprisinga unit configured to switch between a distance measurement mode in which only the distance measurement unit operates, a pressure detection mode in which the pressure measurement unit operates, and a contact detection mode in which all the distance measurement unit, the pressure measurement unit, and the contact detection unit operate.6. The compound sensor according to claim 1 , further comprisinga shear force detection unit.7. The compound sensor according to claim 1 , whereinon a first ...

HOME ANIMATION APPARATUS AND METHODS

Computerized appliances may be operated by users remotely. A learning controller apparatus may be operated to determine association between a user indication and an action by the appliance. The user indications, e.g., gestures, posture changes, audio signals may trigger an event associated with the controller. The event may be linked to a plurality of instructions configured to communicate a command to the appliance. The learning apparatus may receive sensory input conveying information about robot's state and environment (context). The sensory input may be used to determine the user indications. During operation, upon determine the indication using sensory input, the controller may cause execution of the respective instructions in order to trigger action by the appliance. Device animation methodology may enable users to operate computerized appliances using gestures, voice commands, posture changes, and/or other customized control elements. 1. A home animation apparatus , comprising:a sensor interface configured to receive one or more sensor inputs;a user interface configured to receive one or more user indications; determine an action by a user of the home animation apparatus based on analysis of the one or more sensor inputs; and', 'based on an occurrence of the one or more user indications being provided by the user contemporaneous with the user action, assign an action tag, the action tag configured to enable provision of a control instruction to a home appliance device when a subsequent user action is detected., 'a processing component in communication with the sensor interface and the user interface, the processing component configured to2. The apparatus of claim 1 , wherein:the user interface comprises a touch activated interface; andthe one or more user indications comprise a button touch of the touch activated interface by the user.3. The apparatus of claim 1 , wherein:the user interface comprises pressure wave sensing component; andthe one or more user ...

ROBOTIC TERMINAL EFFECTOR FOR AUTOMATIC PLACEMENT OF INSERTS IN A COMPOSITE PANEL OF THE SANDWHICH TYPE WITH A CELLULAR CORE

A robotic terminal effector for automatic placement of an insert in a cavity formed in a composite panel of the sandwich type with a cellular core. The insert including an upper flange having a resin inlet orifice and a resin outlet orifice. The effector being intended to be mounted on a carrier, and having a contact body with a contact surface. The contact surface having a means for injecting resin into an empty space delimited by the insert and the cavity when the insert is positioned in the cavity, and a means for grasping hold of the insert by suction. The resin-injection and grasping means being configured in such a way as to leave the contact surface free to be pressed firmly against an upper face of the composite panel so as to generate a continuous sealed region around the cavity while the insert is being placed in the cavity. 2. The effector as claimed in claim 1 , wherein the injection means comprises a resin injection orifice formed in the contact surface and intended to be placed opposite the resin inlet orifice of the insert.3. The effector as claimed in claim 1 , wherein the means for grasping the insert comprises at least one suction orifice formed in the contact surface claim 1 , said at least one orifice being connected to a negative pressure circuit.4. The effector as claimed in claim 1 , wherein it comprises an image sensor intended to be positioned opposite the resin outlet orifice of the insert via an opening formed in the contact surface.5. The effector as claimed in claim 1 , wherein the contact body is made of a sealing material.6. The effector as claimed in claim 1 , wherein it comprises a seal intended to be inserted between the contact surface and the zone around the cavity.7. The effector as claimed in claim 1 , wherein it comprises a contact detection sensor configured to detect the contact between the contact surface and the upper face of the panel in the vicinity of the cavity and to generate a control signal when the contact surface ...

Robot system and control method of the same

A robot system includes a mobile robot configured to travel by driving wheels, a user interface, via which user service information and user information are input, and a controller configured to select one of at least two paths including a path including a moving walkway by using the user information and generate a map of a selected path, if the user service information and the user information are input via the user interface, and move the mobile robot to the path of a generated map.

Soft Gripper Apparatus

A soft gripper apparatus is provided. In another aspect, a soft gripper includes tribo-skin pressure sensors, an internal bending sensor, at least one flexible gripping finger and an actuator. A further aspect of a soft gripper apparatus employs longitudinally elongated, laterally spaced apart and self-powering, electrically conductive strips that sense and send a bending signal to a programmable controller indicative of a bending angle of a gripping finger within which the strips are encapsulated. Another aspect of a gripping apparatus includes at least one workpiece pressure sensor and/or at least one bending sensor, which are connected to a programmable controller and electrical circuit to automatically determine a characteristic of the workpiece.

SHEET CONVEYING DEVICE AND SHEET CONVEYING METHOD

A sheet conveying device and a sheet conveying method whereby it is possible to convey a sheet more accurately. This sheet conveying device includes a holder capable of holding a sheet, bringing the sheet into a stretched state while holding the sheet, and conveying the held sheet. This sheet conveying device also includes a sheet state recognizer that recognizes the state of the sheet when the sheet is held in a stretched state by the holder. 1. A sheet conveying device comprising:a holder capable of holding a sheet, bringing the sheet into a stretched state while holding the sheet, and conveying the held sheet; anda sheet state recognizer that recognizes a state of the sheet when the sheet is held in a stretched state by the holder.2. The sheet conveying device according to claim 1 , wherein the sheet state recognizer recognizes a position of the sheet.3. The sheet conveying device according to claim 2 , wherein the holder conveys the sheet to a conveyance target position on the basis of the position of the sheet recognized by the sheet state recognizer.4. The sheet conveying device according to claim 3 , wherein the sheet state recognizer recognizes claim 3 , from the recognized position of the sheet claim 3 , whether or not the sheet can be conveyed to the conveyance target position by the holder.5. The sheet conveying device according to claim 2 , whereinthe sheet is provided with a pattern, andthe sheet state recognizer recognizes the position of the sheet by recognizing a position of the pattern.6. The sheet conveying device according to claim 5 , whereinthe sheet is divided into a plurality of regions, andthe pattern is a line that divides each of the plurality of regions.7. The sheet conveying device according to claim 6 , wherein a single substrate is produced from one of the plurality of divided regions in the sheet.8. The sheet conveying device according to claim 1 , wherein the sheet state recognizer recognizes a type of the sheet.9. The sheet conveying ...

Machine system performing workpiece miss detection

A machine system includes a machine which performs an operation on a workpiece passing through an operational area, a miss detection section which detects that a workpiece has passed through an operation limit line of the machine in an incomplete operation state, and a notification section which notifies information related to the missed workpiece based on information of the miss detection section.

SYSTEM AND METHOD FOR OBTAINING FORCE BASED ON PHOTOELASTICITY

A method and system for obtaining force are provided, wherein the system includes a block made of a photoelastic material having multiple surfaces including a first surface on which an object is exerting the force to the block, and one or more polariscopes configured around the block, and wherein the method includes measuring photoelastic intensities by using three polariscopes simultaneously and obtaining each set of the photoelastic intensities sequentially in time to obtain a sequence of measured photoelastic intensities, and obtaining the force by using an optimization method based on the quantity associated with the difference between the measured and predicted photoelastic intensities. 1. A system for obtaining force , the system comprising:a block made of a photoelastic material having a plurality of surfaces including a first surface on which an object is exerting the force to the block; andone or more polariscopes configured around the block to measure photoelastic intensities.2. The system of claim 1 , whereinone or more polariscopes are configured around the block based on information that the force has one or more component.3. The system of claim 1 , whereinthree or more polariscopes are configured around the block.4. The system of claim 1 , whereinthe block includes a reflective coating along the first surface.5. The system of claim 4 , whereinthe block has a shape of substantially a cuboid;two polariscopes are configured perpendicular to each other, each on a plane parallel to the first surface, wherein each light source is configured to emit a ray of light to enter the block through a first side surface, transmit through the block, and exit the block through a second side surface opposite to the first side surface; andanother polariscope is configured, wherein a light source is configured to emit a ray of light to enter the block through a second surface opposite to the first surface, transmit through the block, reflect off the first surface having ...

ROBOT CONTROL SYSTEM, ROBOT CONTROL METHOD AND USER APPARATUS FOR ROBOT CONTROL SYSTEM

A robot control system, including: a mobile robot having a situation-detecting unit detecting surrounding situations; a user apparatus operating in a manner recognizable by a user based on signals detected by the situation-detecting unit; an action-detecting unit detecting a predetermined action of the user; a brain-activity-detecting unit detecting a brain activity of the user; and a robot-controlling unit controlling the robot. The user apparatus has a computing unit analyzing the brain activity of the user detected by the brain-activity-detecting unit to output a first-action instruction from the user to the robot. The robot controlling unit further controlling the robot in accordance with the first-action instruction output by the computing unit and controlling, when the predetermined action is detected by the action-detecting unit during operation of the user apparatus, the robot in accordance with a second-action instruction different from the first-action instruction output by the computing unit. 1. A robot control system , comprising:a mobile robot having a situation detecting unit configured to detect surrounding situations of the robot;a user apparatus configured to operate in a manner recognizable by a user based on signals detected by the situation detecting unit;an action detecting unit configured to detect a predetermined action of the user;a brain activity detecting unit configured to detect a brain activity of the user; anda robot controlling unit configured to control the robot, whereinthe user apparatus has a computing unit configured to analyze the brain activity of the user detected by the brain activity detecting unit to output a first action instruction from the user to the robot, whereinthe robot controlling unit further configured to control the robot in accordance with the first action instruction output by the computing unit and configured to control, when the predetermined action is detected by the action detecting unit during operation of ...

ALIGNMENT SYSTEMS AND METHODS FOR MOVING FUSELAGE STRUCTURES OF AN AEROSPACE VEHICLE INTO ASSEMBLY ALIGNMENT

A system for moving first and second fuselage structures into assembly alignment, the system including a first transmitter indexed to a first seat track of the first fuselage structure, a first reflector target indexed to a first seat track of the second fuselage structure, a second transmitter indexed to a second seat track of the first fuselage structure, a second reflector target indexed to a second seat track of the second fuselage structure, wherein the first and second transmitters and the first and second reflector targets cooperate to provide first and second measurements indicative of position of the first fuselage structure relative to the second fuselage structure, and a manipulator system including at least one assembly actuator coupled to the first fuselage structure to move the first fuselage structure into assembly alignment with the second fuselage structure based upon the first and second measurements. 1. A system for moving a first fuselage structure and a second fuselage structure of an aerospace vehicle into assembly alignment , the system comprising:a first transmitter coupled to the first fuselage structure and indexed to a first seat track of the first fuselage structure;a first reflector target coupled to the second fuselage structure and indexed to a first seat track of the second fuselage structure, wherein the first transmitter and the first reflector target cooperate to provide a first measurement indicative of position of the first fuselage structure relative to the second fuselage structure;a second transmitter coupled to the first fuselage structure and indexed to a second seat track of the first fuselage structure;a second reflector target coupled to the second fuselage structure and indexed to a second seat track of the second fuselage structure, wherein the second transmitter and the second reflector target cooperate to provide a second measurement indicative of position of the first fuselage structure relative to the second ...

Haptic Controller with Touch-Sensitive Control Knob

Example implementations may relate to a haptic hand-holdable controller. In particular, an example device may take the form of a haptic controller, which senses tactile information and provides force feedback for a more intuitive user experience. The force feedback may indicate a state of the device that is being controlled. An example haptic handheld controller may be utilized to manipulate data input to a robot, a tablet computer, and/or any other type of computing device. In an example embodiment, the haptic handheld controller may be such that the controller indicates to the user what manipulation of different types of data feels like, for example, by using operating modes for the haptic handheld controller where a motor varies feedback to the handheld controller. 1. A controller comprising:a rotatable knob;at least one motor that is operable to apply torque to the rotatable knob;one or more touch sensors arranged on the rotatable knob; and receive touch data generated by the one or more touch sensors;', 'based on a comparison of the touch data to predetermined grip data that specifies parameters for detection of a plurality of grips on the rotatable knob, detect when each of the plurality of grips occurs on the rotatable knob, wherein the plurality of grips comprises at least a first and second grip;', 'detect a first rotation of the rotatable knob;', 'when the first rotation is detected in association with detection of the first grip, generate first command data for a computing device; and', 'when the first rotation is detected in association with detection of the second grip, generate second command data for the computing device, wherein the second command data is different from the first command data., 'a control system configured to2. The hand-holdable controller of claim 1 , wherein at least a portion of the touch data is indicative of a touch gesture.3. The hand-holdable controller of claim 2 , wherein the touch gesture comprises a palming or a multi- ...

INFORMATION PROCESSING DEVICE, MOBILE BODY, AND MOBILE-BODY-STATE DETERMINATION METHOD

An information processing device () includes a sensing section () that senses a pressure variation of a fluid filling a deformable filled section () that is provided to a portion of a leg of a mobile body () that is in either a contact state or a non-contact state at which portion the leg contacts an external environment, and a determining section () that determines a state of the leg of the mobile body () on the basis of the pressure variation of the fluid sensed by the sensing section (). 1. An information processing device comprising:a sensing section that senses a pressure variation of a fluid filling a deformable filled section that is provided to a portion of a leg of a mobile body that is in either a contact state or a non-contact state at which portion the leg contacts an external environment; anda determining section that determines a state of the leg on a basis of the pressure variation sensed by the sensing section.2. The information processing device according to claim 1 , further comprising:a control section that controls driving of the leg on a basis of a determination result of the determining section.3. The information processing device according to claim 2 , wherein the control section performs first control according to the contact state in a case that the determination result represents that the leg is in the contact state claim 2 , and performs second control according to the non-contact state in a case that the determination result represents that the leg is in the non-contact state.4. The information processing device according to claim 1 , whereinthe filled section is divided into plural segments each having a closed inner space,the sensing section senses pressure variations of the fluid filling each of the plural segments, andthe determining section determines the state of the leg on a basis of a segment where a pressure variation is sensed by the sensing section.5. The information processing device according to claim 4 , wherein the ...

PIPE HANDLING ARM

A drilling rig having a lift arm, which may be an auxiliary lift arm provided in addition to a primary lifting cable system of the drilling rig. The lift arm may be configured to hoist and/or manipulate drill collar, drill pipe, or other drilling pipe or conduit. The lift arm may be coupled to a mast of the drilling rig and may have a cantilevered boom extending therefrom. The boom may be configured to pivot between alignment, or near alignment, with well center and a racking board. The lift arm may additionally have a pipe engaging element coupled to the boom. The pipe engaging element may be configured to couple to stands or lengths of drilling pipe. The pipe engaging element may be raised and lowered together with or relative to the boom via a lift line controllable via a hydraulic cylinder, winch, or other suitable mechanism for withdrawing and releasing the line. 1. A lift arm for handling drilling pipe , the arm comprising:a boom secured to a mast of the drilling rig at a pivotable coupling, arranged at a first end of the boom, and at a location above a racking board of the drilling rig, the boom extending laterally, relative to the mast, from the first end to a second end;a pipe engaging element coupled to the boom at the second end and configured to engage with a box end of the drilling pipe; anda lift line configured to raise and lower the pipe engaging element along the mast to lift and carry the drilling pipewherein the boom pivotally swings the second end about the pivotable coupling while carrying drilling pipe between a position at well center and a position in a setback area.2. The lift arm of claim 1 , wherein the boom is extendable along a longitudinal axis of the boom.3. The lift arm of claim 1 , wherein the lift line extends from a hydraulic cylinder or a winch.4. The lift arm of claim 1 , wherein the boom is arranged on a rail claim 1 , and wherein the lift line is configured to raise and lower the pipe engaging element by way of raising and ...

CONTROL DEVICE, ROBOT, CONTROL METHOD, AND NON-TRANSITORY COMPUTER-READABLE RECORDING MEDIUM

A control device includes a processor configured to 1. A control device , comprising:a processor configured todetermine whether or not an accessory fitted onto an apparatus interferes with operation of a movable part of the apparatus;set a movable range of the movable part to a range within which operation of the movable part is not interfered by the attachment, when a determination is made that the accessory interferes with operation of the movable part; andcontrol a driver that drives the movable part such that the movable part is driven within the set movable range.2. The control device according to claim 1 , wherein the processor acquires data indicating a position of the movable part and sets a movable range of the movable part based on the data indicating a position of the movable part acquired when a determination was made that the accessory interfered with operation of the movable part.3. The control device according to claim 2 , wherein the processor claim 2 , when the accessory is fitted onto the apparatus claim 2 , executes an interference drive control processing in which the driver is control such that the accessory interferes with operation of the movable part and sets a movable range of the movable parts based on the data indicating the position of the movable part acquired when the determination was made that the accessory interfered with operation of the movable part.4. The control device according to claim 3 , wherein the processor determines whether or not the accessory is fitted onto the apparatus claim 3 , and executes the interference drive control processing when a determination is made that the accessory is fitted onto the apparatus.5. The control device according to further comprising:a memory that stores data indicating an initial image being an image of the apparatus in an initial state in which the accessory is not fitted onto the apparatus,wherein the processor acquires data indicating an image captured by the apparatus, compares the ...

HAND AND ROBOT

A hand includes a grasper that grasps a target object and a sensor section that detects force exerted on the grasper when the grasper grasps the target object, and the sensor section includes a pressure sensitive section including a resin and carbon nanotubes. The sensor section includes a first sensor section located between the target object and the grasper in a state in which the grasper grasps the target object. 1. A hand comprising:a grasper that grasps a target object; anda sensor section that detects force exerted on the grasper when the grasper grasps the target object,wherein the sensor section includes a pressure sensitive section including a resin and carbon nanotubes.2. The hand according to claim 1 , wherein the sensor section is disposed between the target object and the grasper in a state in which the grasper grasps the target object.3. The hand according to claim 2 , wherein the sensor section is capable of independently detecting the force in a plurality of portions of the sensor section.4. The hand according to claim 1 , further comprising:a base section; anda movable section movable relative to the base section,wherein the grasper is connected to the movable section, andthe sensor section is also disposed between the movable section and the grasper.5. The hand according to claim 4 , wherein the sensor section disposed between the movable section and the grasper is formed of a plurality of sensor sections arranged along a direction perpendicular to a movement direction of the movable section.6. The hand according to claim 1 , wherein the resin contains a thermoplastic resin.7. The hand according to claim 6 , wherein the resin contains polycarbonate.8. The hand according to claim 1 , wherein the resin contains a thermoset resin.9. The hand according to claim 1 ,wherein the sensor section includes a pair of electrodes, andthe pressure sensitive section disposed between the pair of electrodes.10. The hand according to claim 1 ,wherein the sensor ...

Mobile phone robot

A mobile phone robot is able to perform multi-touch operations on a mobile phone. A fastener holds a mobile phone stationary relative to the mobile phone robot. A first robot arm subsystem controls location and timing of contact of a first stylus tip with a touchscreen of the mobile phone. A second robot arm subsystem controls location and timing of contact of a stylus tip with a touchscreen of the mobile phone. Screen mirroring technology is used to capture images displayed by the mobile phone. Control circuitry controls the first robot arm subsystem and the second robot arm subsystem. The control circuitry processes the images captured by the screen mirroring technology to detect text displayed within the image and to detect layout of the image.

TRAJECTORY CONTROL DEVICE

A trajectory control device includes: a contact sensor that can contact side surfaces of a workpiece; an actuator that moves a trajectory tracking member and the contact sensor; and a trajectory controller that calculates XY coordinates of a trajectory on the workpiece that is placed in an arbitrary position, by transforming XY coordinates of the trajectory on the workpiece in a reference position, based on positional information about the side surfaces of the workpiece in the reference position and positional information about the side surfaces of the workpiece placed in the arbitrary position. The positional information about the side surfaces of the workpiece placed in the arbitrary position is obtained by the contact sensor. 1. A trajectory control device for moving a trajectory tracking member along a trajectory on a workpiece that is placed in an arbitrary position , the trajectory control device comprising:a contact sensor configured to contact side surfaces of the workpiece;an actuator configured to move the trajectory tracking member and the contact sensor; anda trajectory controller configured to calculate XY coordinates of the trajectory on the workpiece placed in the arbitrary position, by transforming XY coordinates of the trajectory on the workpiece in a reference position, based on positional information about the side surfaces of the workpiece in the reference position and positional information about the side surfaces of the workpiece placed in the arbitrary position, whereinthe positional information about the side surfaces of the workpiece placed in the arbitrary position is obtained by the contact sensor.2. The trajectory control device according to claim 1 , wherein the actuator includes an X-axis actuator claim 1 , a Y-axis actuator claim 1 , and a Z-axis actuator claim 1 , and the contact sensor and the trajectory tracking member are attached to the Z-axis actuator.3. The trajectory control device according to claim 2 , wherein positions of ...

Surgical robot and method of manipulating positioner

A surgical robot includes: a plurality of manipulator arms; a platform to which the plurality of manipulator arms are coupled; a positioner configured to change the position and posture of the platform; a controller configured to control the positioner; and a user interface. The user interface includes: first manipulation tools each configured to receive an input of manipulation which selects one of a plurality of operating modes for changing the position and posture of the platform; and a single second manipulation tool configured to receive an input of manipulation information regarding the position and posture. The controller generates a command regarding the position and posture of the platform based on the acquired manipulation information and the selected operating mode and operates the positioner based on the generated command.

INFORMATION PROCESSING APPARATUS AND ROBOT ARM CONTROL SYSTEM

An information processing apparatus supplies information to a robot arm that includes a holding mechanism for holding an article by suctioning the article and a moving mechanism for moving the holding mechanism. The apparatus comprises a communication interface and a controller. The controller calculates a suction point at which the holding mechanism attempts to suction the article. The suction point is calculated using an image captured by a camera. When the controller cannot calculate the suction point using the image, the controller acquires a selected region from an operation terminal operated by an operator, then recalculates the suction point on the basis of the selected region, and attempts suctioning at suction point calculated using the selected region. 1. An information processing apparatus for a robot arm , comprising:a communication interface connected to a robot arm that includes a holding mechanism for holding an article by suction of the article and arm mechanism for moving the holding mechanism; calculate a suction point on the article at which the holding mechanism can suction the article, the suction point being calculated on the basis of an image of the article captured by a camera from a predetermined range, and', 'when the suction point is successfully calculated, indicate the calculated suction point to the robot arm via the communication interface; and, 'a controller configured towhen the suction point cannot be calculated by the controller, the controller is further configured to supply the image to an operation terminal as image information and to acquire a selected region from the operation terminal that generates the selected region in the image information using operator input, recalculate the suction point using the selected region, and supply the recalculated suction point to the robot arm via the communication interface.2. The information processing apparatus according to claim 1 , wherein the controller is configured to recalculate ...

VEHICLE PART HOLE PATCH APPLICATOR ARRANGEMENT

A patch applicator arrangement for securing a patch over a hole in a vehicle part. The arrangement provides a robotic arm having at least one movable joint that allows the robotic arm to move about several axes. At the end of the robotic arm is a spindle that has several spring loaded patch applicators connected. The arrangement also includes a patch dispensing apparatus that the arrangements uses along with the robotic arm to place patches over holes in a vehicle part. The arrangement also provides a verification method to make sure the holes have been properly covered. 1. (canceled)2. (canceled)3. (canceled)4. A patch applicator arrangement for securing a patch over a hole in a vehicle part comprising:a robotic arm having at least one movable joint;a spindle attachment connected to an end of the robotic arm, wherein the spindle has a neck portion with having a longitudinal axis and a first end connected to the robotic arm and a second end connected to a base of the spindle, the spindle is rotatable about the longitudinal axis of the neck portion;a plurality of spring loaded applicators connected to the spindle, wherein each one of the plurality of spring loaded applicators includes a static base connected to the base of the spindle, a spring seated on the static base and a plunger that having a hollow portion that is slidably connected about the static base with the spring positioned between the static base and the plunger so that the spring acts on the plunger when compressed, wherein the plunger is configured to slide between a compressed position where the plunger compresses against the spring and moves towards the base of the spindle and an uncompressed position where the plunger moves away from the base of the spindle, wherein each of the plurality of spring loaded applicators further include an alignment slot formed on the plunger, an applicator pad with a soft layer and a plastic base layer, wherein the plastic base layer includes a connection edge ...

POSTURE CONTROL DEVICE, ROBOT, AND POSTURE CONTROL METHOD

The present invention enhances user convenience with regards to a user operation etc. of a robot conducted in response to a notification event. A posture control device () includes a notification event detecting section () configured to detect the notification event having occurred and a driving control section () that controls a driving section () so that in a case where the notification event detecting section () has detected an occurrence of the notification event, a robot () takes on a notification event posture. 1: A posture control device which controls a posture of a robot by controlling driving of a driving section included in a movable part of the robot , the posture control device comprising:a notification event detecting section configured to detect an occurrence of at least one notification event of a plurality of notification events; anda driving control section configured to control the driving section so that in a case where the notification event detecting section has detected the occurrence of the at least one notification event, the robot takes on a notification event posture in accordance with the at least one notification event, the notification event posture being suited to a possible user response.2: A posture control device as set forth in claim 1 , further comprising a grip determining section configured to determine whether or not the user is gripping the robot claim 1 ,the driving control section controlling the driving section so that in a case where the grip determining section determines, while the robot is in the notification event posture, that the user has gripped the robot, the robot undergoes a transition from the notification event posture to an operation-compatible posture which is suited to an operation of the robot conducted by the user.3: A posture control device as set forth in claim 1 , further comprising an operation detecting section configured to detect claim 1 , while the robot is in the notification event posture claim 1 ...

FOOT DEVICE OF BIONIC MACHINE AND BIONIC MACHINE AND CONTROL METHOD THEREFOR

This application provides a foot device of a bionic machine and a bionic machine relating to bionic machine technologies. The foot device includes a foot body, a pressure sensor, and a distance sensor. The pressure sensor is connected to the foot body for detecting a pressure between a bottom end surface and the ground. The distance sensor is located on the bottom end surface of the foot body, is connected to the foot body, for detecting a distance between the bottom end surface and the ground. When the bionic machine moves, the distance sensor transmits a distance detection signal indicating a distance between a sole component of the foot body and the ground to a control device of the bionic machine, and the pressure sensor transmits a pressure detection signal indicating a contact pressure between the sole component and the ground to the control device. 1. A foot device of a bionic machine , comprising:a foot body, a pressure sensor, and a distance sensor;wherein:the pressure sensor is connected to the foot body, and is configured to detect a pressure between a bottom end surface of the foot body and a ground; andthe distance sensor is located on the bottom end surface, connected to the foot body, and configured to detect a distance between the bottom end surface and the ground.2. The foot device according to claim 1 , wherein the pressure sensor is located on the bottom end surface.3. The foot device according to claim 2 , wherein the bottom end surface is a convex surface claim 2 , and a plurality of pressure sensors are distributed around the distance sensor.4. The foot device according to claim 1 , wherein the distance sensor is located in center of the bottom end surface.5. The foot device according to claim 1 , wherein the foot body comprises a connection component claim 1 , a support component claim 1 , and a sole component claim 1 , wherein a first end of the support component is connected to the sole component claim 1 , and a second end of the support ...

Robot controlling method using portable device including touchscreen

A method for controlling a robot device using a portable terminal including a touchscreen is provided. The method includes displaying an enable button in a first area of the touchscreen, displaying an emergency stop button in a second area of the touchscreen, displaying a plurality of robot control buttons in a third area of the touchscreen, in response to simultaneously receiving from a user an input on the first area and an input on the third area, transmitting a robot control signal to a control device configured to control the robot device, and in response to receiving an input from the user on the second area, transmitting an emergency signal to the control device.

ROBOTIC SURGICAL FINGER AND CONTROLLER WITH TACTILE FEEDBACK AND ROBOTIC HAND USING THE SAME

The robotic surgical finger and controller with tactile feedback is a remotely controllable robotic finger for surgical examination and procedures, for example, that provides real-time temperature and pressure feedback to the user, as well as friction feedback for detecting texture, slippage and the like. The robotic finger includes a plurality of joined segments simulating a human finger, and a sensor module mounted on each of the segments. A control sheath receives a finger of a user's hand and includes at least one joint angle sensor in communication with a plurality of servomotors for driving angular movement of the plurality of segments of the robotic finger. A plurality of tactile feedback modules are further mounted in the control sheath for providing temperature, pressure and friction feedback signals to the user's finger based on measurements made by the sensor modules of the robotic finger. A hand using multiples fingers is further provided. 1. A robotic finger with tactile feedback , comprising: a plurality of segments, each of the segments being pivotally joined to at least one adjacent segment;', 'a plurality of sensor modules, each of the sensor modules being mounted on a corresponding one of segments, each of the sensor modules including a pressure sensor, a temperature sensor, and a friction sensor; and', 'a plurality of servomotors in communication with the plurality of segments for selectively driving and controlling angular movement thereof; and, 'a robotic finger having ["a sheath housing adapted for receiving a finger of a user's hand;", "at least one joint angle sensor mounted in the sheath housing and positioned adjacent at least one joint of the finger of the user's hand, the at least one joint angle sensor being in communication with the plurality of servomotors such that movement of at least one joint of the finger of the user's hand is detected by the at least one joint angle sensor, and in response, the plurality of servomotors drive and ...

END OF ARM TOOLS FOR SOFT ROBOTIC SYSTEMS

Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). In particular, exemplary embodiments provide structures allowing a displacement fluid to be discharged from a distal end of a robotic finger. The discharge may be used to displace a target object, such as an object that is adjacent to another blocking object or the side of a container. After the target object is displaced, the EOAT may be better able to maneuver into a gripping posture and may be able to secure a better grasp on the target object. 1. A soft robotic end effector comprising:a gripper hub; an inlet located at a proximal end of the soft robotic finger,', 'an outlet located at a distal end of the soft robotic finger, and', 'a channel connecting the inlet to the outlet;, 'a soft robotic finger supported by the hub, the soft robotic finger including an elastomeric outer surface surrounding an internal void, and configured to curl when a pressure change occurs within the internal void, wherein the soft robotic finger comprisesa sensor configured to detect when a target object is located in close proximity to a blocking object; anda controller configured to provide a displacement fluid to the inlet to cause a discharge of the displacement fluid through the outlet.2. The end effector of claim 1 , wherein the displacement fluid is compressed air.3. The end effector of claim 1 , further comprising a strain limiting layer on a radially interior surface of the soft robotic finger claim 1 , the strain limiting layer comprising a plurality of rigid slats claim 1 , wherein the channel is embedded in the strain limiting layer.4. The end effector of claim 1 , wherein the channel is embedded in the elastomeric outer surface of the soft robotic finger.5. The end effector of claim 1 , wherein the controller is configured to approach a target object based on an output of the sensor and apply the discharge of the displacement fluid to displace the target object6. The end effector of ...

CAPACITIVE AND TACTILE SENSORS AND RELATED SENSING METHODS

Aspects of various embodiments are directed to sensor apparatuses and methods thereof. An example sensor apparatus includes a capacitor and sensor circuitry. The capacitor includes a first substrate having a first electrode, a second substrate having a second electrode, and a dielectric layer. The dielectric layer has a plurality of dielectric structures arranged in a pattern, the first and second electrode being separated by the dielectric layer and arranged with an overlapping area with respect to one another. The sensor circuitry is coupled to the capacitor and configured and arranged to detect normal and shear forces applied to the sensor apparatus based on changes in capacitance derived from changes in at least one of a distance between first and second electrodes and the overlapping area of the first and second electrodes. 1. A sensor apparatus comprising: a first substrate having a first electrode;', 'a second substrate having a second electrode; and', 'a dielectric layer having a plurality of dielectric structures arranged in a pattern, the first and second electrode being separated by the dielectric layer and arranged with an overlapping area with respect to one another; and, 'a capacitor including'}sensor circuitry coupled to the capacitor and configured and arranged to detect normal and shear forces applied to the sensor apparatus based on changes in capacitance derived from changes in at least one of a distance between first and second electrodes and the overlapping area of the first and second electrodes.2. The sensor apparatus of claim 1 , wherein first and second substrates are formed of a flexible material and configured and arranged to be placed on a curved surface.3. The sensor apparatus of claim 1 , further including processing circuitry in communication with the sensor circuitry claim 1 , wherein the sensor circuitry is configured and arranged to define a magnitude of the normal and shear forces by measuring changes in capacitance derived from ...

ROBOT, CONTROL METHOD FOR ROBOT, AND PROGRAM

While a location where a user is touching a robot () is being detected, a movement control section () controls a plurality of movable members such that (i) out of the plurality of movable members, a movable member corresponding to the location is prohibited from moving and (ii) every other movable member of the plurality of movable members is permitted to move. This makes it possible to provide a robot () that enables injury-free use by a user while the user is touching the robot (). 1. A robot comprising:a plurality of movable members;a detecting section configured to detect a location where the robot is being touched; anda control section configured to control the plurality of movable members such that, while the location is being detected, (i) out of the plurality of movable members, a movable member corresponding to the location is prohibited from moving and (ii) every other movable member of the plurality of movable members is permitted to move.2. The robot as set forth in claim 1 , whereinin a case where the location is detected while at least one of the plurality of movable members is moving, the control section controls (i) a movable member, which corresponds to the location and is currently moving, to stop moving while the location is being detected and (ii) a movable member, which does not correspond to the location and is currently moving, to continue moving.3. The robot as set forth in claim 1 , further comprising a receiving section configured to receive a movement commencement instruction claim 1 , whereinin a case where (i) none of the plurality of movable members are currently being moved, (ii) the receiving section receives the movement commencement instruction, and (iii) the location is detected, the control section controls (a) a movable member, which corresponds to the location and is currently stopped, to continue stopping and (b) a movable member, which does not correspond to the location and is currently stopped, to commence moving.4. The ...

ELECTRONIC DEVICE AND CONTROL DEVICE

The present invention has an object to ensure safety while allowing an electronic device to fulfill its function. At least one contact sensor and at least one driving device are arranged so that an operation of the at least one driving device does not cause a change in positional relationship between the at least one contact sensor and the at least one driving device. A storage device stores therein a correspondence between the at least one contact sensor and the at least one driving device. The control device identifies, from among the at least one contact sensor, a contact sensor which has detected contact of an object; and (i) identify, with reference to the correspondence, a predetermined driving device corresponding to the contact sensor identified and (ii) cause an operation of the predetermined driving device identified to stop. 1. An electronic device comprising:at least one detecting device configured to detect contact or approach of an object;at least one driving device;a storage device; anda control device configured to control an operation of the at least one driving device,the at least one detecting device and the at least one driving device being arranged so that the operation of the at least one driving device does not cause a change in positional relationship between the at least one detecting device and the at least one driving device,the storage device storing therein a correspondence between the at least one detecting device and the at least one driving device,the control device being configured to:identify, from among the at least one detecting device, a detecting device which has detected contact of an object; and(i) identify, with reference to the correspondence, a predetermined driving device corresponding to the detecting device identified and (ii) cause an operation of the predetermined driving device identified to stop.2. The electronic device as set forth in claim 1 , whereinthe control device lets continue, instead of causing to stop, an ...

Agent robot control system, agent robot system, agent robot control method, and storage medium

[Object] To provide an agent robot control system, an agent robot system, an agent robot control method, and a storage medium that can support optimum shopping in a physical shop and an online shop. [Solution] An agent robot control system including: an acquisition section configured to acquire a purchase master list indicating a candidate of a purchase commercial product of a user; and a control section configured to generate a purchase execution list for recommending purchase in a physical shop for a partial commercial product of the purchase master list, and recommending purchase in an online shop for another commercial product.

Automated Device With A Sensorized Covered Movable Structure, In Particular A Robot

An automated device has a movable structure covered at least in part by a sensorised covering. The sensorised covering comprises a plurality of covering modules, which includes one or more sensorised covering modules. Each sensorised covering module includes a plurality of distinct layers stacked on top of one another and including a load-bearing layer and at least one cushioning layer. Each sensorised covering module integrates at least one contact sensor device (C), which includes a first lower electrically conductive layer () and a second upper electrically conductive layer (), set between which is an electrically insulating layer (). 1. An automated device comprising:a movable structure;actuator means operable to cause displacements of the movable structure;a control system operable to control the actuator means; anda sensorised covering which covers at least part of the movable structure,wherein the sensorised covering comprises a plurality of covering modules, which include one or more sensorised coveringwherein each sensorised covering module (has a structure that comprises a plurality of superimposed distinct layers, which comprises a load-bearing layer made of rigid or semi-rigid material, having a predefined shape, and at least one cushioning layer made of elastically compressible material, carried by the load-bearing layer,wherein the contact sensor device further comprises a first lower electrically conductive layer and a second upper electrically conductive layer between which an electrically insulating layer is set,wherein the electrically insulating layer of the contact sensor device is made of an elastically compressible material and has a plurality of through openings arranged in such a way that the first lower electrically conductive layer and the second upper electrically conductive layer locally face each other at said through openings.2. The automated device according to claim 1 , wherein the contact sensor device further comprises:a first ...

System and Method for Autonomously Loading Cargo Into Vehicles

Systems and methods are provided for autonomously loading cargo into a vehicle. Cargo is stacked into a storage apparatus of an autonomous mobile robot in a pre-loading configuration based on a predetermined loading configuration. A signal is received indicating a location of the vehicle to be loaded with the cargo. The robot autonomously navigates to the location of the vehicle. The robot scans one or more fiducial marks located on a first piece of cargo in the storage apparatus with an imaging sensor, wherein the fiducial marks are configured to communicate one or more manipulation points of the first piece of cargo when scanned. The robot manipulates the first piece of cargo at the manipulation points and loads the first piece of cargo into the designated area of the vehicle. The robot repeatedly scans and manipulates a next piece of cargo until a predetermined amount of cargo has been loaded into the designated area. 1. An autonomous mobile loading robot comprising:an autonomously guided vehicle platform configured to navigate to a location of a vehicle to be loaded with cargo;a storage apparatus configured to hold one or more pieces of cargo, wherein each piece of cargo is labeled with one or more fiducial marks configured to communicate distinguishing features of a piece of cargo when scanned;an imaging sensor;a processor configured to determine a cargo placement plan in a designated area of the vehicle, wherein cargo placement is based on dimensions of the area or any obstacles within the area; anda manipulator comprising a mechanism for loading cargo into positions in the designated area of the vehicle according to the cargo placement plan, wherein one or more manipulation points on each piece of cargo are determined from a scan of their respective fiducial marks by the imaging sensor.2. The loading robot of claim 1 , wherein the cargo placement within the designated area of the vehicle is determined based on a make and model of the vehicle to be loaded.3. ...

CHARACTERISTIC ESTIMATION SYSTEM, CHARACTERISTIC ESTIMATION METHOD, AND INFORMATION STORAGE MEDIUM

A characteristic estimation system, comprising circuitry configured to, cause a robot hand configured to grip an object to operate based on operation information defining an operation of the robot hand, acquire a physical quantity at a time when the robot hand grips the object, and estimate a characteristic of the object based on the physical quantity. 1. A characteristic estimation system , comprising circuitry configured to:cause a robot hand configured to grip an object to operate based on operation information defining an operation of the robot hand;acquire a physical quantity at a time when the robot hand grips the object; andestimate a characteristic of the object based on the physical quantity.2. The characteristic estimation system according to claim 1 , wherein the circuitry is configured to conduct a process for transmitting data including the physical quantity to a computer configured to analyze the physical quantity claim 1 , based on the estimated characteristic.3. The characteristic estimation system according to claim 1 , wherein the circuitry is configured to change claim 1 , based on the estimated characteristic claim 1 , a process before a process of the robot hand gripping the object.4. The characteristic estimation system according to claim 1 , wherein the circuitry is configured to change the operation information based on the estimated characteristic.5. The characteristic estimation system according to claim 1 ,wherein the physical quantity includes a torque signal, andwherein the circuitry is configured to estimate the characteristic of the object based on a change in the torque signal acquired in each manufacturing cycle of the object.6. The characteristic estimation system according to claim 1 ,wherein the physical quantity includes a torque signal, andwherein the circuitry is configured to estimate the characteristic of the object based on a rise time of the torque signal.7. The characteristic estimation system according to claim 1 ,wherein ...

ROBOTIC CLEANING APPARATUS AND RELATED METHODS

A robotic cleaning apparatus for cleaning a dirty object includes a cleaning head and an articulated body. The articulated body is coupled to the cleaning head and mountable to the dirty object. The body has one or more actuators that collectively move the cleaning head into contact with surfaces of the dirty object. The one or more actuators, when activated, collectively rotate the cleaning head relative to the dirty object about first and second axes, and translate the cleaning head relative to the dirty object along an extension axis. A method of robotically cleaning is also disclosed. 1. A method of robotically cleaning an inner surface of a toilet , the method comprising: 'mapping a cleaning path of the segment of the inner surface, wherein mapping the cleaning path comprises (i) moving the cleaning head into contact with a plurality of locations along a length of the segment, and (ii) recording head position information for each of the plurality of locations; and', 'for each of one or more segments of the inner surfacecleaning the segment of the inner surface by moving the cleaning head along the cleaning path in contact with the segment.2. The method of claim 1 , wherein cleaning the segment comprises:repeatedly moving the cleaning head along the cleaning path to brush the length of the segment.3. The method of claim 1 , wherein moving the cleaning head into contact with a plurality of locations comprises claim 1 , for each location:moving the cleaning head radially outwards until the cleaning head exerts a force on the inner surface that is within a predetermined range of force values.4. The method of claim 1 , wherein moving the cleaning head into contact with a plurality of locations comprises claim 1 , for each location:a) moving the cleaning head radially outwards until the cleaning head exerts a force on the inner surface, andb) rotating the cleaning head about a yaw axis by a predetermined offset angle relative to the basin to a subsequent location.5. ...

PRESSURE SENSORS

An example system comprising a pressure sensor array, a proximity sensor comprising circuitry to sense an object approaching the pressure sensor array based on a change in a resonance frequency of the proximity sensor, and a controller to receive from the proximity sensor the sensed change in the resonance frequency and designate the pressure sensor array as active responsive to the sensed resonance frequency being below a threshold or inactive responsive to the sensed resonance frequency being above the threshold, wherein a data transmission rate of the active pressure sensor array is greater than a data transmission rate of the inactive pressure sensor array. 1. A system comprising:a pressure sensor array;a proximity sensor comprising circuitry to sense an object approaching the pressure sensor array based on a change in a resonance frequency of the proximity sensor; and receive from the proximity sensor the sensed change in the resonance frequency; and', 'designate the pressure sensor array as active responsive to the sensed resonance frequency being below a threshold or inactive responsive to the sensed resonance frequency being above the threshold, wherein, if the pressure sensor array is designated as active, a data transmission rate of the pressure sensor array is greater than the data transmission rate of the pressure sensor array if the pressure sensor array is designated as inactive., 'a controller to2. The system of claim 1 , wherein the proximity sensor includes a variable capacitor claim 1 , a fixed plate of the variable capacitor claim 1 , and a fixed inductor that together are to generate the resonance frequency of the proximity sensor.3. The system of claim 1 , wherein the resonance frequency of the proximity sensor is to vary as:i) an object varies in distance from the proximity sensor;ii) a total number of objects within an electromagnetic field varies; oriii) a combination of i) and ii).4. The system of claim 1 , wherein the proximity sensor and ...

ACTUATION APPARATUS FOR WEARABLE DEVICES

An apparatus for use in actuating a wearable terminal device includes a housing coupled to a harness system, a control unit, a movable actuating element having its one end in the housing and the other end connected through coupling means to the terminal device, and a conduit which contains the actuating element. The actuating element is a body-powered cable, an artificial tendon coupled to an actuator device installed in the housing, or an actuator wire made of smart material. 2. The actuation apparatus of claim 1 , wherein the coupling means comprise a first connector assembly and a second connector assembly interlocked to the first connector assembly.3. The actuation apparatus of claim 1 , wherein the housing comprises a length-adjusting mechanism for altering the setup position of the actuating element and the conduit.4. The actuation apparatus of claim 1 , further comprising at least one feedback sensor for the actuating element claim 1 , selected from the group consisting of position and tension sensors.5. The actuation apparatus of claim 1 , further comprising a user interface claim 1 , including at least one item selected from the group consisting of user input and feedback devices.6. The actuation apparatus of claim 1 , wherein the movable actuating element is enclosed by a low-friction flexible tube claim 1 , and wherein the tube is enclosed by the conduit.7. The actuation apparatus of claim 1 , wherein the actuator wire is made of a shape-memory material. The present application claims the benefit of U.S. Provisional Patent Application No. 62/279,733, filed on Jan. 16, 2016, which is incorporated herein by reference in its entirety.Not ApplicableNot ApplicableThe present invention is in the technical field of wearable assistive devices.Wearable assistive devices such as prosthetic, orthotic, and empowering devices are commonly used to increase, maintain, or improve functional capabilities of individuals with upper-limb disabilities. Many sophisticated ...

FORCE DETECTOR

A force detector includes a support, fluid bags, a contact portion, a detector, and a computer. The contact portion is opposite to a side on which the fluid bags are in contact with the support and is adjacent to the fluid bags. The computer obtains information regarding the internal pressures of the fluid bags from the detector. Upon application of an external force to the contact portion from an object, the computer calculates a force acting in a tangential direction on a contact surface between the object and the contact portion based on a difference between the internal pressures of the fluid bags. 1. A force detector comprising:a support;a first fluid container and a second fluid container supported by the support, including a bag shape defined by a sheet-shaped member, and disposed adjacent to each other;a contact portion disposed opposite to a side on which the first fluid container and the second fluid container are in contact with the support, the contact portion being adjacent to both the first fluid container and the second fluid container;a detector configured to detect an internal pressure of the first fluid container and an internal pressure of the second fluid container; anda computer configured or programmed to obtain information regarding the internal pressure of the first fluid container and the internal pressure of the second fluid container from the detector and, upon application of an external force to the contact portion from an object, calculate a force acting in a tangential direction on a contact surface between the object and the contact portion; whereinupon application of the external force to the contact portion from the object, the external force applied to the contact portion from the object is imparted to both the first fluid container and the second fluid container through the contact portion; andupon application of the external force to the contact portion from the object, the computer calculates the force acting on the contact ...

AUTONOMOUSLY ACTING ROBOT THAT ACCEPTS A GUEST

A guest robot acquires a right of access to a resource a host robot can access after accreditation by the host robot. The host robot accredits the guest robot on condition that the guest robot is positioned within a predetermined distance. The guest robot receives behavioral characteristic information from a server that determines behavioral characteristics of the host robot, and selects a motion in accordance with the behavioral characteristic information. A behavioral restriction that is not imposed on the host robot may be imposed on the guest robot. 1. A robot , comprising:a non-transitory computer readable medium configured to store instructions thereon;a first transceiver for receiving information from a resource a host robot different from the robot has access to; determining whether a positional relation of a predetermined portion of the robot with a predetermined port ion of the host robot satisfies a predetermined condition;', 'obtaining an authorization from the host robot and a right to access to the resource through the first transceiver when the positional relation is determined to satisfy the predetermined condition; and', 'instructing the first transceiver to request the information from the resource in response to a determination that the robot has access to the resource., 'a processor connected to the non-transitory computer readable medium and the first transceiver, wherein the processor is configured to execute the instructions for2. The robot according to claim 1 , wherein the processor is configured to execute the instructions for determining whether the robot has access to the resource in response to detecting contact with a user while the positional relation satisfies the predetermined condition.3. The robot according to claim 1 , wherein the first transceiver is configured to use near-field type wireless communication for detecting the predetermined portion of the host robot.4. The robot according to claim 1 , further comprising:a second ...

CONTROL DEVICE FOR ROBOT SYSTEM

A control device of a robot system including a plurality of robots having servo motors of a plurality of axes. The control device includes a plurality of controllers each having a plurality of servo amplifiers that drives the servo motors of the plurality of axes of the robots, and a control unit that controls the plurality of servo amplifiers. The control unit determines a driving number of the servo motors of the plurality of axes in accordance with the robots connected to the controllers, and sets a parameter for the servo amplifiers that drive the axes of the servo motors of a number corresponding to the determined driving number. 1. A control device for a robot system including a plurality of robots having servo motors of a plurality of axes ,the control device comprising a plurality of controllers each having a plurality of servo amplifiers that drives the servo motors of the plurality of axes of the robots, and a control unit that controls the plurality of servo amplifiers,wherein the control unit is configured to determine a driving number of the servo motors of the plurality of axes in accordance with the robots connected to the plurality of controllers, and to set a parameter for the servo amplifiers that drive the axes of the servo motors of a number corresponding to the determined driving number.2. The control device for the robot system according to claim 1 ,wherein each of the plurality of controllers has a first connector connected to output terminals of the plurality of servo amplifiers, andthe first connector is configured to be adaptable to a connector of the servo motors included in any one of the plurality of robots.3. The control device for the robot system according to claim 2 , further comprising:a coil;a connection part connected to a first end of the coil and configured to be connectable to the first connector; anda second connector connected to a second end of the coil,wherein the second connector is configured to be adaptable to the ...

Spatial Acoustic Filtering by a Mobile Robot

This specification relates to robots and audio processing in robots. In general, one innovative aspect of the subject matter described in this specification can be embodied in a robot that includes: a body and one or more physically moveable components; a plurality of microphones and one or more other sensor subsystems; one or more processors; and one or more storage devices storing instructions that are operable, when executed by the one or more processors, to cause the robot to perform operations. The operations can include: receiving one or more sensor inputs from the one or more other sensor subsystems; determining a predicted direction of a detected sound emitter based on the one or more sensor inputs of the one or more other sensor subsystems; calculating a spatial filter based on the predicted direction; obtaining, by the plurality of microphones, respective audio inputs; and processing the respective audio inputs according to the calculated spatial filter. 1. A robot comprising:a body and one or more physically moveable components;a plurality of microphones and one or more other sensor subsystems;one or more processors; and receiving one or more sensor inputs from the one or more other sensor subsystems;', 'determining a predicted direction of a detected sound emitter based on the one or more sensor inputs of the one or more other sensor subsystems;', 'calculating a spatial filter based on the predicted direction;', 'obtaining, by the plurality of microphones, respective audio inputs; and', 'processing the respective audio inputs according to the calculated spatial filter., 'one or more storage devices storing instructions that are operable, when executed by the one or more processors, to cause the robot to perform operations comprising2. The robot of claim 1 , wherein the operations further comprise:computing a location of a sound source based on the processed audio inputs;determining a first orientation of the robot relative to the location of the sound ...

METHOD FOR VIRTUAL INTERACTION, PHYSICAL ROBOT, DISPLAY TERMINAL AND SYSTEM

The present disclosure provides a method for virtual interaction, a physical robot, a display terminal, and a system to enhance man-machine interaction experience. The method for virtual interaction includes: acquiring data measured by at least one sensor of a first physical robot from performing measurement at a real scene within a current measurement range, where the current measurement range changes with a movement of the first physical robot in the real scene; and drawing, according to the data measured by the at least one sensor, a virtual scene corresponding to the real scene within the current measurement range, and displaying the virtual scene on a display terminal. 1. A method for virtual interaction , comprising:acquiring data measured by at least one sensor of a first physical robot from performing measurement at a real scene within a current measurement range, wherein the current measurement range changes with a movement of the first physical robot in the real scene; anddrawing, according to the data measured by the at least one sensor, a virtual scene corresponding to the real scene within the current measurement range, and displaying the virtual scene on a display terminal.2. The method according to claim 1 , wherein the at least one sensor includes a position sensor claim 1 , and the method further includes:drawing, according to position data measured by the position sensor, a first virtual robot corresponding to the first physical robot in the virtual scene; and 'synchronously displaying a movement of the first virtual robot in the virtual scene according to the movement of the first physical robot in the real scene.', 'displaying the virtual scene containing the first virtual robot on the display terminal, comprising3. The method according to claim 2 , further comprising:drawing, according to the data measured by the at least one sensor, a virtual component in the virtual scene;displaying the virtual scene containing the virtual component on the ...

Map Related Acoustic Filtering by a Mobile Robot

This specification relates to robots and audio processing in robots. One aspect of the subject matter includes: a body and one or more physically moveable components; a plurality of microphones; one or more processors; and one or more storage devices storing instructions that are operable, when executed by the one or more processors, to cause the robot to perform operations. The operations can include: obtaining map data of an environment of the robot; selecting a test location from the map data; navigating to the selected test location; receiving a sound wave propagating through the environment of the robot; computing one or more acoustic transfer functions for the test signal, wherein each acoustic transfer function represents how the test signal was transformed by the environment of the robot during its propogation through the environment of the robot; and storing each of the transfer functions in association with the test location.

EXTERNAL INPUT DEVICE, ROBOT SYSTEM, CONTROL METHOD OF ROBOT SYSTEM, CONTROL PROGRAM, AND RECORDING MEDIUM

An external input device is employed, the external input device being configured to operate a robot system including an imaging apparatus capable of changing an imaging point of view and a robot apparatus, the external input device includes a display area, a robot apparatus operation unit configured to operate the robot apparatus, an imaging operation unit configured to operate the imaging apparatus, and an image display unit configured to display an image captured by the imaging apparatus, wherein the robot apparatus operation unit, the imaging operation unit, and the image display unit are displayed on the display area, and wherein the image display unit is disposed between the robot apparatus operation unit and the imaging operation unit. 1. An external input device configured to operate a robot system including an imaging apparatus capable of changing an imaging point of view and a robot apparatus , the external input device comprising:a display area;a robot apparatus operation unit configured to operate the robot apparatus;an imaging operation unit configured to operate the imaging apparatus; andan image display unit configured to display an image captured by the imaging apparatus,wherein the robot apparatus operation unit, the imaging operation unit, and the image display unit are displayed on the display area, andwherein the image display unit is disposed between the robot apparatus operation unit and the imaging operation unit.2. The external input device according to claim 1 , wherein display positions of the robot apparatus operation unit claim 1 , the imaging operation unit claim 1 , and the image display unit are changeable.3. The external input device according to claim 1 ,wherein the external input device can operate the robot apparatus as the robot apparatus operation unit by a touch on the robot apparatus displayed on the image display unit, andwherein the external input device can operate the imaging apparatus as the imaging operation unit by a ...

EXOSUIT SYSTEMS AND METHODS WITH ACCESSORY DEVICE SUPPORT

Exosuit systems can operate in conjunction with an accessory device or other remote device that is designed to control and provide information related to the exosuit system. The accessory device can be used by a user to engage in manual control or symbiosis control of the exosuit system. The accessory device can display graphical elements such as buttons that succinctly convey operational status of various exosuit components and assistance operations. 1. A device for use with an exosuit comprising:a housing;communications circuitry operative to communicate with the exosuit;an interactive display exposed through an opening of the housing; and display, on the interactive display, a plurality of exosuit control buttons, wherein each exosuit control button corresponds to at least one power layer of the exosuit responsible for implementing exosuit assistance associated with that particular exosuit control button;', 'receive data from the exosuit via the communications circuitry, the data comprising data corresponding to the at least one power layer associated with each of the exosuit control buttons; and', 'change a visual element of at least one of the exosuit control buttons based on the received data., 'a processor positioned within the housing and is configured to2. The device of claim 1 , wherein the visual element comprises a countdown timer that graphically illustrates when the at least one power layer associated with one of exosuit control buttons is going to activate.3. The device of claim 2 , wherein when the countdown timer expires claim 2 , the at least one power layer associated with one of the exosuit control buttons is activated.4. The device of claim 1 , wherein the visual element changes from an inactive state to an active state claim 1 , wherein in the inactive state claim 1 , the at least one power layer associated with one of the exosuit control buttons is not activated claim 1 , and wherein in the active state claim 1 , the at least one power layer ...

ABNORMAL CONTACT DETECTING METHOD AND CONTACT SITE IDENTIFYING METHOD FOR MOBILE ROBOT

During an operation of a mobile robot observed values of a plurality of reference parameters including at least one of contact reaction forces) of one or more movable links and a contact reaction force function value expressed as a function value of contact reaction force(s) of one or more movable links are acquired based on outputs from force detectors mounted on the respective movable links of the mobile robot and the observed values of the reference parameters are used to detect presence or absence of occurrence of abnormal contact of the mobile robot by a contact detecting model Ai. 1. An abnormal contact detecting method of detecting presence or absence of occurrence of abnormal contact in a mobile robot , the mobile robot including a body , a plurality of movable links each extended from the body so as to be movable with respect to the body , and a force detector disposed on each movable link so as to be able to detect a contact reaction force acting on the movable link in accordance with contact of a distal portion of the movable link with an external object , the mobile robot being movable with a motion including an operation in which at least one of the movable links is moved in the air and a succeeding operation in which the distal portion of the movable link is brought into contact with an external object , the method comprising:a first step of, during an operation of the mobile robot, acquiring, based on outputs from the force detectors, an observed value of respective ones of a plurality of contact detecting reference parameters, the contact detecting reference parameters including at least one of a contact reaction force of a respective one of one or more of the movable links and a contact reaction force function value expressed as a function value of a contact reaction force of a respective one of one or more of the movable links; anda second step of using the observed value of the respective ones of the contact detecting reference parameters to ...

METHODS AND SYSTEMS FOR CALIBRATING DEFORMABLE SENSORS USING CAMERA

A system for calibrating a deformable sensor is provided. The system includes a deformable sensor including a housing, a deformable membrane coupled to an upper portion of the housing, and an enclosure defined by the housing and the deformable member; an imaging sensor configured to capture an image of the deformable membrane of the deformable sensor; and a controller. The enclosure is configured to be filled with a medium. The controller is configured to: receive the image of the deformable membrane of the deformable sensor; determine whether a contour of the deformable membrane in the image of the deformable membrane of the deformable sensor corresponds to a predetermined contour; and adjust a volume of the medium in the enclosure of the deformable sensor in response to the determination that the contour of the deformable membrane is different from the predetermined contour. 1. A system for calibrating a deformable sensor , the system comprising: a housing;', 'a deformable membrane coupled to an upper portion of the housing; and', 'an enclosure defined by the housing and the deformable membrane, the enclosure configured to be filled with a medium;, 'a deformable sensor comprisingan imaging sensor configured to capture an image of the deformable membrane of the deformable sensor; and receive the image of the deformable membrane of the deformable sensor;', 'determine whether a contour of the deformable membrane in the image of the deformable membrane of the deformable sensor corresponds to a predetermined contour; and', 'adjust a volume of the medium in the enclosure of the deformable sensor in response to the determination that the contour of the deformable membrane is different from the predetermined contour., 'a controller configured to2. The system of claim 1 , wherein the controller is configured to increase the volume of the medium in the enclosure of the deformable sensor in response to the determination that the contour of the deformable membrane is smaller ...

SYSTEM AND METHOD FOR ESTIMATING CENTER OF GRAVITY OF WALKING REHABILITATION ROBOT

Provided are a system and method for estimating the center of gravity of a walking rehabilitation robot, the system being provided with: a sensor module for estimating the point of the center of gravity, and provided with: a sensor unit mounted on a footplate to sense the pressure when a person walks; output means for outputting a voltage value corresponding to preset conditions according to a pressure signal sensed by the sensor module; and estimating means for calculating an angle value corresponding to the voltage value outputted by the output means, and estimating the center of gravity, wherein a body center can be estimated by obtaining an accurate detection using a small-sized system that has a relatively low-cost sensor module installed therein.

Robotic Touch Perception

An apparatus such as a robot capable of performing goal oriented tasks may include one or more touch sensors to receive touch perception feedback on the location of objects and structures within an environment. A fusion engine may be configured to combine touch perception data with other types of sensor data such as data received from an image or distance sensor. The apparatus may combine distance sensor data with touch sensor data using inference models such as Bayesian inference. The touch sensor may be mounted onto an adjustable arm of a robot. The apparatus may use the data it has received from both a touch sensor and distance sensor to build a map of its environment and perform goal oriented tasks such as cleaning or moving objects. 1. A method for operating a robot using robotic touch perception , the method comprising:receiving, at a processor from a touch sensor, touch data associated with an object, the touch data including measurements of force feedbacks received by the touch sensor when forces are applied by the robot to the object;creating, by the processor, a three-dimensional map of touch data characteristics of the object;determining a position of the robot in relation with a surface of the object using the three-dimensional map; andcontrolling the robot to perform a set of motions in a goal directed action relative to the object according to the touch data characteristics of the object.2. The method of claim 1 , wherein the three-dimensional map comprises three-dimensional array of numbers that indicate likelihood that the surface of the object is a particular position that is represented by an index of the array.3. The method of claim 1 , wherein the three-dimensional map is fused from at least two maps claim 1 , each map associated with a different pose of the robot.4. The method of claim 1 , wherein the three-dimensional map is built using a combination of the touch sensor and another sensor.5. The method of claim 1 , wherein the touch data ...

TOUCH INPUT PROCESSING METHOD AND ELECTRONIC DEVICE SUPPORTING THE SAME

An electronic device including: a housing; a sensor module disposed on an inner face of the housing and including a plurality of sensing units; and a processor positioned within the housing and electrically connected to the sensor module. Each of the plurality of sensing units is electrically connected to another sensing unit adjacent thereto among the plurality of sensing units, and includes a central portion and a plurality of peripheral portions connected to a partial area of the central portion and arranged around the central portion, and each of the central portion and the plurality of peripheral portions includes a touch sensor. In addition to this, various embodiments understood through this document are possible. 1. An electronic device comprising:a housing;a sensor module disposed on an inner face of the housing, the sensor module including a plurality of sensing units; anda processor positioned within the housing, the processor electrically connected to the sensor module,wherein each of the plurality of sensing units is electrically connected to another sensing unit adjacent thereto among the plurality of sensing units,wherein each of the plurality of sensing units includes a central portion and a plurality of peripheral portions, the plurality of peripheral portions connected to a partial area of the central portion and arranged around the central portion,wherein each of the central portion and the plurality of peripheral portions includes a touch sensor.2. The electronic device of claim 1 , wherein:the housing includes a first face and a second face, the second face surrounding a periphery of the first face and extending from the periphery of the first face to a point spaced apart from the first face by a predetermined distance;a partial area of the second face includes a curved face; andat least one of the central portion or the plurality of peripheral portions includes a flexible printed circuit board, the flexible printed circuit board forming a ...

ROBOT TEMPLATES IN A SIMULATION ENVIRONMENT

A virtualization system implemented within a cloud server enables the simulation of robot structure and behavior in a virtual environment. The simulated robots are controlled by clients remote from the cloud server, enabling human operators or autonomous robot control programs running on the clients to control the movement and behavior of the simulated robots within the virtual environment. Data describing interactions between robots, the virtual environment, and objects can be recorded for use in future robot design. The virtualization system can include robot templates, enabling users to quickly select and customize a robot to be simulated, and further enabling users to update and re-customize the robot in real-time during the simulation. The virtualization system can re-simulate a portion of the robot simulation when an intervention by a human operator is detected, positioning robots, people, and objects within the virtual environment based on the detected intervention. 1. A method for modeling robot structure and behavior , comprising:generating, by a virtualization system, a plurality of robot templates, each robot template comprising a robot base type, a set of robot attachments, and a set of robot sensors;receiving, by the virtualization system, a selection of a robot template from a user of the virtualization system;receiving, by the virtualization system, a set of customization parameters from the user;simulating, by the virtualization system, a robot within a virtual environment based on the selected robot template, the robot customized based on the set of customization parameters;receiving, by the virtualization system, a set of updated customization parameters from the user during the robot simulation; andmodifying, by the virtualization system, the simulated robot in real-time during the robot simulation based on the set of updated customization parameters.2. The method of claim 1 , wherein the robot base type comprises one of: a 2-wheel base claim 1 , ...

Molding system

A molding system for assembling a part by moving a workpiece griped by a hand of a robot toward a mold of an injection molding machine, while rotating a molded article supported on the mold and the workpiece relative to each other, whereby the molded article and the workpiece are screw-engaged. The molding system includes a rotation detector for detecting a rotational amount between the molded article and the workpiece, an assembled state judging unit for judging if the assembled part is in a predetermined state, and a control unit for relatively rotating and displacing the molded article and the workpiece until the rotational amount exceeds a predetermined rotational amount and the assembled state becomes the predetermined state.

CONTROLLER AND CONTROL METHOD FOR COLLABORATIVE ROBOT

A robot controller and a robot control method, capable of preventing an operator from being sandwiched between a robot and a workpiece, when a conveyor for conveying the workpiece is stopped. The robot controller is configured to output a robot stop command when a conveyor starts the stop operation thereof. The robot stop command includes at least one of: a first stop command by which, when a movable section of the robot is positioned anterior to the workpiece, the movable section is moved at a higher velocity than the conveyor, and then is stopped after traveling a distance longer than a coasting distance of the conveyor; and a second stop command by which, when the movable section is positioned posterior to the workpiece, the movable section is moved at a lower velocity than the conveyor, and then is stopped after traveling a distance shorter than the coasting distance. 1. A robot controller configured to control a robot , the robot being configured to perform an operation for a workpiece conveyed by a convey section configured to move in a predetermined convey direction , and being located at a position different from the convey section , the robot controller comprising:a robot stop command section configured to output a robot stop command for stopping a motion of the robot when the convey section starts a stop motion, a first stop command by which, when a movable section of the robot is positioned anterior to the workpiece with respect to the convey direction, the movable section is moved at a higher velocity than the convey section with respect to the convey direction, and the movable section is stopped after the movable section travels a second coasting distance which is longer than a first coasting distance of the convey section with respect to the convey direction; and', 'a second stop command by which, when the movable section of the robot is positioned posterior to the workpiece with respect to the convey direction, the movable section is moved at a lower ...

Sensors for Soft Robots and Soft Actuators

A soft robotic device with a variety of sensors and/or imaging areas is described. The sensor and/or imaging area may be embedded in the soft body or the strain limiting layer of the soft robotic device, attached to the soft body or the strain limiting layer of the soft robotic device, or other-wise linked to the soft body or the strain limiting layer of the soft robotic device.

INTERACTION APPARATUS, INTERACTION METHOD, NON-TRANSITORY RECORDING MEDIUM, AND ROBOT

If an interaction target includes a child and an adult, if a remaining power amount is less than or equal to a first threshold, and if an interaction amount is greater than or equal to a second threshold, a robot requests the adult to move the robot to a charger. If the target includes the child and the adult, if the remaining power amount is less than or equal to the first threshold, and if the interaction amount is less than the second threshold, the robot requests the child to move the robot to the charger. If the target includes only the child, if the remaining power amount is greater than the first threshold, and if the interaction amount is greater than or equal to the second threshold, the robot stops interacting with the child.

IMPACT DETECTION SYSTEM FOR ROBOTIC DEVICE

An impact detection system for a robotic device. The system includes a flexible covering element for enveloping part of the robotic device, the covering element defining an inner air volume, at least one sensor for measuring the differential pressure between the pressure in the inner air volume and the pressure outside the covering element, and a detection unit designed to receive the measuring signal of the at least one sensor, to carry out an analysis, on the basis of the measuring signal, in order to detect a sudden variation in the pressure, and to emit a stop signal to the robotic device when such a variation is detected. 1. An impact detection system for a robotic device , comprising:a flexible covering element far enveloping a portion of said robotic device, said covering element delimiting an inner volume of air;at least one sensor for measuring the differential pressure between the pressure in said inner volume of air and the pressure outside said covering element;a detection unit configured to receive the measurement signal from said at least one sensor, to carry out, on the basis of said measurement signal, an analysis in order to detect an abrupt variation in said pressure and to transmit a stop signal to said robotic device when such a variation is detected; andsaid covering element comprises an air-permeable flexible material, said material being covered by an impermeable wall on at least one of its sides, said covering element forming a self-inflating mattress.2. The detection system as claimed in claim 1 , further comprises at least two sensors for measuring the differential pressure.3. The detection system as claimed in claim 1 , wherein said air-permeable flexible material is chosen from among the group comprising a foam claim 1 , an open-cell foam claim 1 , a fibrous wadding claim 1 , at least one elastic component and combinations of these elements.4. The detection system as claimed in claim 1 , wherein said detection unit comprises claim 1 , for ...

METHODS AND APPARATUS TO CALIBRATE A POSITIONAL ORIENTATION BETWEEN A ROBOT GRIPPER AND A COMPONENT

Methods of calibrating a position of a component using onboard crush and crash sensors. The method includes providing the robot with gripper and crush and crash sensors, providing a calibration tool coupled to the gripper, and providing a component including a recess and crush zone. The method includes moving the gripper in a first Controller direction to sense contact between the calibration tool and crush zone, and recording the contact position. Likewise, the gripper is moved to insert the tool into the recess, followed by moving the gripper in second directions and sensing contact between the tool and recess, and moving the gripper in third directions and sensing contact between the tool and recess. Contact positions are recorded and processed to determine a surface location in the first direction and physical center of the recess. Robot calibration apparatus for carrying out the method are disclosed, as are other aspects. 1. A method of calibrating a position of a gripper to a sample rack , comprising:providing a robot including the gripper, the gripper moveable in a coordinate system and including a crush sensor and a crash sensor, the crush sensor configured to sense a vertical crush event and the crash sensor configured to sense a horizontal crash event;providing a calibration tool coupled to the gripper;providing a sample rack including a recess and a crush zone;lowering the gripper in the coordinate system and sensing vertical contact between the calibration tool and the crush zone of the sample rack, as sensed by the crush sensor;recording the vertical position in the coordinate system of the vertical contact, as sensed by the crush sensor;moving the gripper in the coordinate system to position the calibration tool within the recess;moving the gripper in first horizontal directions in the coordinate system and sensing contact between the calibration tool and two first horizontal positions of the recess, as sensed by the crash sensor;moving the gripper in ...

INDUSTRIAL ROBOT, CONTROLLER, AND METHOD THEREOF

An industrial robot having high operability for a user is provided. An industrial robot includes a manipulator, a controller which controls an operation of the manipulator, and a detection device attached to the manipulator and detecting a gesture input. The controller executes a process corresponding to the detected gesture input. 1. An industrial robot comprising:a manipulator;a controller which controls an operation of the manipulator; anda detection device attached to the manipulator and configured to detect a gesture input, whereinthe controller executes a process corresponding to the detected gesture input.2. The industrial robot according to claim 1 , wherein:the detection device is further used for measuring a distance between the manipulator and an object; andthe controller decreases an operation speed of the manipulator compared with a case of the distance being a first distance when the measured distance is a second distance which is shorter than the first distance.3. The industrial robot according to claim 2 , wherein claim 2 , when the distance is shorter than a predetermined threshold value claim 2 , the controller lowers a sensor sensitivity of the detection device compared with that when the distance is longer than the threshold value.4. The industrial robot according to claim 1 , wherein the controller receives a direct teaching operation with respect to the industrial robot as a process corresponding to the gesture input on condition that the gesture input is an input of a predetermined pattern.5. The industrial robot according to claim 1 , wherein the controller changes an auxiliary torque at the time of a direct teaching operation with respect to the industrial robot as a process corresponding to the gesture input on condition that the gesture input is an input of a predetermined pattern.6. The industrial robot according to claim 1 , wherein the controller restarts the industrial robot as a process corresponding to the gesture input on condition ...

PERSONAL ROBOT

A personal robot including a first smart device, a robot main body, and a second smart device is implemented as a first type where the first smart device is wirelessly connected to the robot main body, as a second type where the first smart device is mounted on and connected to the robot main body in a wired manner, or as a third type where the second smart device is wirelessly connected to the robot main body where the first smart device is mounted on and connected to the robot main body in a wired manner. In the third type, the robot main body is connected to the first smart device in a wired manner and wirelessly connected to the second smart device, and a robot main body control unit controls the robot main body according to simultaneously processed data from the first and second smart devices. 1. A personal robot comprising:{'b': 110', '310, 'first and second smart devices ( and ) respectively including{'b': 111', '311, 'a display unit ( or ) for displaying information,'}{'b': 117', '317, 'a near field wireless communication unit ( or ) for performing near field wireless communication,'}{'b': 113', '313, 'a touch screen ( or ) for inputting information,'}{'b': 119', '319, 'a connection unit ( or ) for electrically connecting to and exchanging signals with other devices, and'}{'b': 118', '318, 'a control unit ( or ) for controlling operation; and'}{'b': '200', 'a robot main body () including{'b': 221', '110, 'a smart device mounting unit () placed on a front surface to mount the first smart device (),'}{'b': 210', '110', '310, 'a wired and wireless communication unit () for performing wired and wireless communication with the first and second smart devices ( and ),'}{'b': '227', 'an emotion expression unit () for generating an output signal of a form which can be recognized by a user,'}{'b': '222', 'a sensor unit () for sensing movement of an external object or the user,'}{'b': '232', 'a driving unit () for running the robot main body, and'}{'b': '235', 'a robot ...

ROBOT AND CONTROL METHOD FOR ROBOT

Provided is a robot which allows a user to set a parameter, instead of separately providing any specific input section via which the parameter is set. A robot () includes (i) a right arm part, (ii) a servomotor, that is a right shoulder pitch, which is configured to drive the right arm part, (iii) an obtaining section () which is configured to obtain positional information on a position. of the right arm part which has been operated and (iv) a setting section () which is configured to set a value of a predetermined parameter to a value corresponding to the positional information that is obtained by the obtaining section (). 1. A robot , comprising:a first movable part;a first driving section configured to drive the first movable part;a positional information obtaining section configured to obtain positional information on a position of the first movable part; anda setting section configured to set a value of a predetermined parameter to a value corresponding to the positional information that is obtained by the positional information obtaining section.2. A robot as set forth in claim 1 , further comprising a stop section configured to stop transmitting a force from the first driving section to the first movable part claim 1 , andthe positional information obtaining section being configured to obtain the positional information, in a case where the first movable part is operated in a state where transmitting of the force from the first driving section to the first movable part is being stopped by the stop section.3. The robot as set forth in claim 1 , wherein the positional information obtaining section obtains claim 1 , as the positional information claim 1 , angular information on an angle of the first movable part.4. The robot as set forth in claim 1 , further comprising:a plurality of movable parts including the first movable part which are different from each other;a plurality of driving sections including the first driving section which individually drive the ...

Conveying apparatus

According to one embodiment, a conveying apparatus includes a finger unit, a drive belt, a first belt and a transfer belt. The finger unit includes first and second rotation units, and a projecting tip. The drive belt includes one end fixed to the finger unit and moves the finger unit in a movement direction. The first belt is provided on a first surface of the drive belt and includes one end folded at the first rotation unit to be away from the first surface and fixed to a first support unit. The second belt is provided on a second surface of the drive belt opposed to the first surface and includes one end folded at the second rotation unit to be away from the second first surface and fixed to the first support unit.

Gripping apparatus including protective member for protecting object and robot apparatus including the gripping apparatus

A gripping apparatus is configured to grip an object by a claw. The gripping apparatus includes an electric circuit passing through a first claw body, the object, and a second claw body, and a conduction judgment part for judging as to whether or not the electric circuit is electrically conductive. The electric circuit is shut off by a protective member, which protects the object, but becomes electrically conductive when the claw bodies and the object are in direct contact with each other.

Selection of a device or object using a camera

A method for actuating a manipulator system by means of a portable end device, a corresponding portable end device, and a robot system. The portable end device includes a 3-D camera that is a plenoptic camera. A three-dimensional image is acquired by means of the 3-D camera of the portable end device of at least part the manipulator system to be actuated. The image identifies at least one actuatable object in the manipulator system. A task is selected for the identified object to actuate. By selecting the identified actuatable object, the object is actuated to perform the task.

Spatial Acoustic Filtering by a Mobile Robot

This specification relates to robots and audio processing in robots. In general, one innovative aspect of the subject matter described in this specification can be embodied in a robot that includes: a body and one or more physically moveable components; a plurality of accessory input subsystems and one or more other sensor subsystems; one or more processors; and one or more storage devices storing instructions that are operable, when executed by the one or more processors, to cause the robot to perform operations. The operations can include: receiving one or more sensor inputs from the one or more other sensor subsystems; determining a predicted direction of a detected sound emitter based on the one or more sensor inputs of the one or more other sensor subsystems; calculating a spatial filter based on the predicted direction; obtaining, by the plurality of accessory input subsystems, respective audio inputs; and processing the respective audio inputs according to the calculated spatial filter. 1. A robot comprising:a body and one or more physically moveable components;a plurality of accessory input subsystems and one or more other sensor subsystems;one or more processors; and receiving one or more sensor inputs from the one or more other sensor subsystems;', 'determining a predicted direction of a detected sound emitter based on the one or more sensor inputs of the one or more other sensor subsystems;', 'calculating a spatial filter based on the predicted direction;', 'obtaining, by the plurality of accessory input subsystems, respective audio inputs; and', 'processing the respective audio inputs according to the calculated spatial filter., 'one or more storage devices storing instructions that are operable, when executed by the one or more processors, to cause the robot to perform operations comprising2. The robot of claim 1 , wherein the operations further comprise:computing a location of a sound source based on the processed audio inputs;determining a first ...

Teaching Device And Robot System

According to an aspect, there is provided a teaching device on which portable terminal equipment is mounted, the teaching device being used to teach operation to a robot. The teaching device includes a case section including a mounting surface on which the portable terminal equipment is mounted. The case section includes a first member including a stop switch for stopping the operation of the robot and configured to restrict the portable terminal equipment's moving in a first direction extending along the mounting surface and a second member provided to be capable of moving in the first direction relatively to the first member and configured to restrict the portable terminal equipment's moving in an opposite direction of the first direction. 1. A teaching device on which portable terminal equipment is mounted , the teaching device being used to teach operation to a robot ,the teaching device comprising a case section including a mounting surface on which the portable terminal equipment is mounted, wherein ["a first member including a stop switch for stopping the operation of the robot and configured to restrict the portable terminal equipment's moving in a first direction extending along the mounting surface; and", 'a second member configured to move in the first direction with respect to the first member, and, 'the case section includesthe second member restricts the portable terminal equipment's moving in an opposite direction of the first direction.2. The teaching device according to claim 1 , further comprising a fixing section configured to fix a position of the second member with respect to the first member.3. The teaching device according to claim 1 , further comprising an elastic member for applying claim 1 , to the second member claim 1 , an urging force applied in a direction from the second member toward the first member.4. The teaching device according to claim 1 , further comprising:a first wire for transmitting, to the robot, a stop signal output by ...

INFORMATION PROCESSING DEVICE FOR EDITING ELECTRONIC DATA BY TOUCH OPERATIONS

An information processing device comprises a storage unit for storing electronic data in ASCII format containing a plurality of line data, a display control unit for displaying electronic data stored in the storage unit on a touch screen, and an editing unit for editing electronic data stored in the storage unit so that, in response to a first touch operation performed in an area containing a boundary between two adjacent line data displayed on the touch screen, a new line datum is added between the two adjacent line data. 1. An information processing device comprising:a storage unit for storing electronic data in ASCII format containing a plurality of line data;a display control unit for displaying electronic data stored in the storage unit on a touch screen; andan editing unit for editing electronic data stored in the storage unit so that, in response to a first touch operation performed in an area containing a boundary between two adjacent line data displayed on the touch screen, a new line datum is added between the two adjacent line data.2. The information processing device according to claim 1 , wherein the editing unit is configured to change the number of new line data to be added claim 1 , in response to the quantity of the first touch operation.3. The information processing device according to claim 1 , wherein the information processing device further has a highlight display unit for highlighting the new line datum; andthe editing unit is configured to edit electronic data stored in the storage unit so that the highlighted new line datum is deleted in response to a second touch operation performed on the touch screen.4. The information processing device according to claim 3 , wherein the editing unit is configured to change the number of new line data to be deleted claim 3 , in response to the quantity of the second touch operation.5. The information processing device according to claim 3 , wherein the touch screen is a multi-touch screen which can detect ...

Apparatus and method for operating robots

A pendant is provided as a robot operating apparatus. The pendant includes an operation-input mode detecting unit that detects an operation-input mode of a touch operation inputted to a touch panel. In addition, in the pendant, an action setting unit sets an action direction and a number of actions of an inching action by a robot, based on an action mode associated with the operation-input mode with a predetermined amount of margin. Furthermore, an action command generating unit generates an action command to operate the robot such that the inching operation is performed in the action direction and by the number of actions set by the action setting unit.

Sorting apparatus and sorting system

According to one embodiment, a sorting apparatus includes a controller, a holding device, and a driver. The controller acquires holding position information corresponding to identification information of an article to be processed, and sets a holding position based on the holding position information. The holding device holds the article. The drive unit causes the holding device to hold the article in the holding position set by the controller, and moves the article held by the holding device.

ROBOT SYSTEM AND METHOD FOR CONTROLLING A ROBOT SYSTEM

The present invention relates to a robotic system having at least one robotic arm, a control unit for controlling the robotic arm and a robotic arm sensor system, wherein the controller and robotic arm sensor system are designed to respond to predetermined haptic gestures of the user acting on the robotic arm in such a way that the robotic system performs at least one predetermined operation associated with the haptic gesture. 1. Robotic system having at least one robotic arm , a control unit for controlling the robotic arm and a robotic arm sensor system , characterized in that the control unit and robotic arm sensor system are designed to respond to predetermined haptic gestures of the user acting on the robotic arm so that the robotic system performs at least one predetermined operation associated with the haptic gesture.2. Robotic system according to claim 1 , comprising a graphical user interface claim 1 , wherein the haptic gesture is associated with a control on the graphical user interface.3. Robotic system according to claim 1 , in which the forces and/or moments generated by the haptic gesture are assigned to different operations depending on their respective directions.4. Robotic system according to claim 1 , in which the forces and/or moments generated by the haptic gesture are assigned to different operations depending on their respective variables.5. Robotic system according to claim 1 , in which a different chronological sequence of haptic gestures is assigned to different operations.6. Robotic system according to claim 1 , in which the control unit is adapted to generate a feedback in response to the haptic gesture.7. Robotic system according to claim 6 , in which the feedback is auditory and/or visual.8. Robotic system according to claim 6 , in which the feedback is formed to be haptically detectable.9. Robotic system according to claim 8 , in which the compliance of the robotic arm is variable.10. Method for controlling a robotic system comprising ...

Robotic cleaning apparatus and related methods

A robotic cleaning apparatus for cleaning a dirty object includes a cleaning head and an articulated body. The articulated body is coupled to the cleaning head and mountable to the dirty object. The body has one or more actuators that collectively move the cleaning head into contact with surfaces of the dirty object. The one or more actuators, when activated, collectively rotate the cleaning head relative to the dirty object about first and second axes, and translate the cleaning head relative to the dirty object along an extension axis. A method of robotically cleaning is also disclosed.

ROBOT AND ROBOT SYSTEM COMPRISING SAME

A robot according to an embodiment of the present invention provides a road guidance service and includes a driving driver configured to move the robot, a receiver configured to receive a road guidance request from a user, and a controller configured to set a path to a destination on basis of destination information included in the received road guidance request, generate guidance information including the set path, transmit the generated guidance information to each of other robots to communicate with the robot, and perform a road guidance operation corresponding to at least one path of the set path, and the at least one path is a path provided in the certain region where the robot is disposed. 1. A robot to provide a path guidance service , the robot comprising:a motor configured to generate a force to move the robot;a user interface configured to receive a path guidance request from a user; and set paths to a destination based on destination information included in the received path guidance request,', 'generate guidance information based on the set path,', 'transmit data associated with the generated guidance information to one or more other robots, and', 'perform a path guidance operation corresponding to at least one path of the set paths,, 'a controller configured towherein the at least one path is provided in a region where the robot is positioned.2. The robot of claim 1 , wherein:the controller receives, from at least one of the one or more other robots, state information indicating whether a path guidance service corresponding to the path guidance request can be provided, and sets the paths based on the received state information, andthe set paths pass through at least one region, of a plurality of regions, where at least one of the other robots capable of providing the path guidance service is positioned.3. The robot of claim 1 , wherein the controller is further configured to:receive, while performing the path guidance operation on the at least one path ...

WALKING TRAINING ROBOT

A walking training robot according to the present disclosure includes: a main body part; a handle part disposed on the main body part for being griped by the user; a detecting part detecting a handle load applied to the handle part; a walking supporting part determining a load applied by the walking training robot to a walking exercise of the user based on the detected handle load; a moving device including a rotating body and controlling the rotating body to move the walking training robot based on the determined load of the walking training robot; a posture estimating part estimating a foot-lifting posture of the user based on the detected handle load; a training scenario generating part correcting a training scenario causing the user to perform a foot-lifting exercise, based on the foot-lifting posture; and a presenting part presenting an instruction to the user based on the training scenario. 1. A walking training robot improving a physical ability of a user , comprising:a main body part;a handle part disposed on the main body part for being griped by the user;a detecting part detecting a handle load applied to the handle part;a walking supporting part determining a load applied by the walking training robot to a walking exercise of the user based on the handle load detected by the detecting part;a moving device including a rotating body and controlling the rotating body to move the walking training robot based on the load of the walking training robot determined by the walking supporting part;a posture estimating part estimating a foot-lifting posture of the user based on the handle load detected by the detecting part;a training scenario generating part correcting a training scenario causing the user to perform a foot-lifting exercise, based on the foot-lifting posture; anda presenting part presenting an instruction to the user based on the training scenario.2. The walking training robot according to claim 1 , wherein the load is a movement speed and a movement ...

ROBOT OPERATING DEVICE, ROBOT, AND ROBOT OPERATING METHOD

A robot operating device includes a camera that is attached to a distal end of a robot arm or a position adjacent to the distal end and that acquires an image; a display which displays the image acquired by the camera; an operation-accepting unit which accepts an operation that is performed by an operator on the image displayed on the display unit; and a controller which moves the robot arm based on the operation accepted by the operation-accepting unit. 1. A robot operating device , comprising:a camera that is attached to a distal end of a robot arm or a position adjacent to the distal end and that acquires an image;a display that displays the image acquired by the camera;an operation-accepting unit which accepts an operation that is performed by an operator on the image displayed on the display; anda controller which moves the robot arm based on the operation accepted by the operation-accepting unit.2. The robot operating device according to claim 1 ,wherein the operation-accepting unit accepts an operation for specifying an arbitrary position in the image displayed on the display, andthe controller moves the robot arm so as to move the specified position towards a predetermined position in the image based on the operation for specifying the position, said operation being accepted by the operation-accepting unit.3. The robot operating device according to claim 2 ,wherein the controller calculates a relationship between a stroke of the robot arm and a movement amount of an object in the image and, based on the calculated relationship, and the controller also calculates the stroke of the robot arm necessary for moving the specified position to the predetermined position.4. The robot operating device according to claim 1 ,wherein the operation-accepting unit accepts an operation of a zoom command for the image displayed on the display, andthe controller moves the robot arm so as to move the camera in an optical axis direction of the camera based on the operation of ...

Gripping device with monitoring of the operating state thereof

A vacuum gripper device including at least one suction cup including a fastener body from which there extends an elastically deformable skirt having a free annular edge for coming into contact with an object to be grasped. The suction cup includes at least one electrically conductive track secured at least to the skirt. The conductive track is made of a material that is electrically conductive and elastically deformable so as to deform together with the skirt. The device includes an electronic processor circuit that is connected electrically to two connection pads belonging to the conductive track and that is arranged to monitor an electrical property of the conductive track, which electrical property varies with the deformation of the conductive track, and to compare that property with reference data so as to anticipate a failure of the suction cup.

ROBOTIC DEVICE AND GRIPPING METHOD

A robotic device includes an end effector device, a first sensor, and a controller. The end effector device includes two fingers for gripping a workpiece. The first sensor detects a pressure distribution on a gripping position on the workpiece by the two fingers. The controller performs, based on a temporal variation in the pressure distribution when the workpiece is lifted, posture control including rotation of the end effector device. 1. A robotic device comprising:an end effector device including two fingers for gripping a workpiece;a first sensor configured to detect a pressure distribution on a gripping position on the workpiece by the two fingers; anda controller configured to perform, based on a temporal variation in the pressure distribution when the workpiece is lifted, posture control including rotation of the end effector device.2. The robotic device according to claim I , whereinthe controller includes a learning section which, based on a plurality of trials including the gripping of the workpiece using the two fingers and movement and rotation of a tool center point of the end effector device, performs supervised learning having been provided as learning data the temporal variation in the pressure distribution and a movement amount and a rotation amount of the tool center point and having been provided as a label a movement amount of the pressure distribution after the rotation, andthe learning section determines, based on a result of the supervised learning, the movement amount and the rotation amount of the tool center point such that the movement amount of the pressure distribution after the posture control is small.3. The robotic device according to claim 2 , further comprisinga second sensor configured to detect gripping torque on the workpiece, whereinbased on a result of the supervised learning having been further provided as learning data the gripping torque prior to the rotation, under a condition Where the movement amount of the pressure ...

CAPACITIVE CASING ELEMENT FOR ROBOT, ROBOT PROVIDED WITH SUCH A CASING ELEMENT

A casing element for a robot, the casing element including: 1. A trim element for a robot , in particular provided to be positioned on a segment or an articulation of a robot in place of or in addition to a trim element of said robot said trim element comprising:at least one capacitive electrode, called measurement electrode, provided to be polarized at a first alternating electrical potential different from a ground potential at a working frequency;{'sub': 'G', 'at least one electrode, called guard electrode, arranged beneath said at least one measurement electrode and provided to be polarized at an alternating electrical potential (V), called guard potential, identical or substantially identical to said first potential at said working frequency; and'}at least one dielectric layer, called central layer, arranged between said at least one measurement electrode and said at least one guard electrode.2. The trim element according to claim 1 , characterized in that it comprises at least one dielectric layer claim 1 , called external layer claim 1 , arranged over the measurement electrode(s).3. The trim element according to claim 2 , characterized in that it comprises a rigid claim 2 , semi-rigid or resilient external layer claim 2 , and a central layer in the form of a separate element modelled to be inserted into the external layer claim 2 , and comprising on its faces claim 2 , respectively claim 2 , said at least one measurement electrode and said at least one guard electrode.4. The trim element according to any claim 1 , characterized in that it comprises a layer claim 1 , called bearing layer claim 1 , arranged beneath the guard electrode(s) and provided to come into contact with a surface of the robot.5. The trim element according to claim 1 , characterized in that it comprises a positioning means claim 1 , or an index mark claim 1 , making it possible to mount said trim element on a part of the robot claim 1 , in a position and orientation that are claim 1 , or ...

TOUCH SENSITIVITY FOR ROBOTICALLY OPERATED DISPLAYS

A touch detection system is provided. The touch detection system includes a hardware processor. The touch detection system further includes a touch input surface mounted using a set of torque sensors, where a location of a touch on the touch input surface is calculated by the hardware processor based on collective results from the set of torque sensors, the touch comprising a user input. 1. A touch detection system , comprising:a hardware processor; anda touch input surface mounted to a moveable assembly having multiple joints using a set of torque sensors, each of the multiple joints having a torque sensor from the set, where a location of a touch on the touch input surface is calculated by the hardware processor based on collective results from the torque sensor at each of the multiple joints, the touch comprising a user input.2. The system of claim 1 , wherein the set of sensors produces a stream of force and torque sensor data.3. The system of claim 2 , further comprising a message broker for providing a streaming subscription service for the stream of force and torque sensor data claim 2 , and wherein the touch detection system is subscribed to the streaming subscription service.4. The system of claim 2 , wherein the at least one hardware processor smooths the stream of force and torque sensor data using a data smoothing method.5. (canceled)6. The system of claim 1 , wherein the moveable assembly is a robotic arm.7. The system of claim 1 , wherein the touch input surface is comprised in a display claim 1 , and the system further comprises at least one additional moveable assembly claim 1 , each having an attached display and multiple joints claim 1 , each of the multiple joints of the at least one additional moveable assembly having a torque sensor claim 1 , wherein the display attached to the moveable assembly and the display attached to the at least one additional moveable assembly are arranged to functionally provide a single integrated display surface.8. ...

Robotic Tool Holder with Passive Compliance

A compliance mechanism for holding a robotic finishing tool implements passive force control and compliance using one or more double-acting pneumatic pistons. A desired application force is set and maintained by controlling pneumatic pressure in chambers both fore and aft of the one or more double-acting pneumatic pistons. The pressures in the fore and aft chambers are dynamically controlled, e.g., in response to changes in spatial orientation of the robot arm and tool, to maintain a desired compliance force applied by the robotic finishing tool to a workpiece. An external regulator maintains the fore and aft chamber pressures, for a given spatial orientation, throughout the holder's range of compliance motion. The compliance mechanism includes a plurality of piston bores; the number of active pistons may be adjusted for a given operation, e.g., in response to the finishing tool weight. 1. A compliant robotic finishing tool holding mechanism , comprising:a main housing;an inner housing moveable in an axial direction within the main housing between retracted and extended positions;one or more axially aligned piston bores formed in the main housing;an extend air supply port in pneumatic fluid flow relationship with an aft end of all piston bores;a retract air supply port in pneumatic fluid flow relationship with a fore end of all piston bores; andat least one double-acting pneumatic piston, each piston being disposed in a piston bore and affixed to the inner housing2. The mechanism of comprising fewer pistons than piston bores claim 1 , and further comprising:a bore plug disposed in each unused piston bore, without a piston disposed therein, the bore plugs configured to seal the unused bore from the respective retract and extend air supply ports.3. The mechanism of further comprising:an aft air manifold in pneumatic fluid flow relationship with the extend air supply port and the aft ends of all piston bores; anda fore air manifold in pneumatic fluid flow relationship ...