A robotic article management system for acquiring and managing an article, the robotic article management system comprising a platform, a robot positioning member supported by the platform and having a robotic end effector interface, and a robotic end effector supported by the robot positioning member via the robotic end effector interface. The robotic end effector can include an extendable arm comprising a first support member, a capture device, and an article interface system having an actuatable article engagement device operable to interface with the article and to facilitate movement of the article toward the capture device. A computer-implemented method for acquiring and managing an article. A non-transitory machine-readable storage medium including instructions embodied thereon for controlling one or more components of a robotic article management system to acquire and manage an article.
B25J 9/04 - Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian co-ordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
2.
Suction Assist Multi-Functional Robotic End Effector
A multi-functional robotic end-effector, the method comprising a support platform, a gripper assembly supported from the support platform, and a negative pressure system to be supported, at least in part, from the support platform. The gripper assembly can comprise an opposable gripper arrangement having first and second grippers, at least one of the first or second grippers being actuatable in at least one degree of freedom. The negative pressure system can comprise a suction asset having an object interfacing component comprising an interfacing surface that defines a suction plane, the negative pressure system facilitating a negative pressure within the suction asset. The suction asset can be supported by one of the support platform or the gripper assembly, and can be positioned within a gripping region of the gripper assembly, or alternatively, the suction asset can be positioned outside of the gripping region of the gripper assembly.
A multi-functional robotic end-effector, the method comprising a support platform, a gripper assembly supported from the support platform, and a negative pressure system to be supported, at least in part, from the support platform. The gripper assembly can comprise an opposable gripper arrangement having first and second grippers, at least one of the first or second grippers being actuatable in at least one degree of freedom. The negative pressure system can comprise a suction asset having an object interfacing component comprising an interfacing surface that defines a suction plane, the negative pressure system facilitating a negative pressure within the suction asset. The suction asset can be supported by one of the support platform or the gripper assembly, and can be positioned within a gripping region of the gripper assembly, or alternatively, the suction asset can be positioned outside of the gripping region of the gripper assembly.
A solar panel installation system comprising a support clamp installation vehicle capable of being placed on a torque tube of a solar panel support assembly, and operating on the torque tube to install one or more torque tube clamps onto the torque tube from an overhead position. The solar panel installation system comprises a hopper, a drive system operable to engage a torque tube and to facilitate locomotion of the installation vehicle on the torque tube, and a clamp dispensing system comprising a clamp feed system and a clamp placement system. The solar panel installation system further comprises a control system in communication with the support clamp installation vehicle, and operable to control operation of the drive system and the clamp dispensing system. The solar panel installation system further comprises a solar panel installation vehicle that can be operated in a coordinated manner with the support clamp installation vehicle.
A solar panel installation system comprising a solar panel presentation system comprising a solar panel dispensing hopper having a hopper enclosure; and a solar panel installation vehicle operable with the solar panel presentation system, and operable to support the solar panel dispensing hopper, and to maneuver about a solar panel support assembly comprising one or more solar panel retention systems which can be oriented transverse to a torque tube of the solar panel support assembly, wherein the installation vehicle is operable to position the solar panel dispensing hopper in an overhead position relative to the one or more solar panel retention systems, and to facilitate installation of a lead solar panel in an installed position in one of the one or more panel retention systems from the overhead position.
B65G 61/00 - Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
B25J 5/00 - Manipulators mounted on wheels or on carriages
B60P 3/00 - Vehicles adapted to transport, to carry or to comprise special loads or objects
B65G 59/02 - De-stacking from the top of the stack
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
A solar panel installation system comprising a solar panel presentation system comprising a solar panel dispensing hopper having a hopper enclosure; and a solar panel installation vehicle operable with the solar panel presentation system, and operable to support the solar panel dispensing hopper, and to maneuver about a solar panel support assembly comprising one or more solar panel retention systems which can be oriented transverse to a torque tube of the solar panel support assembly, wherein the installation vehicle is operable to position the solar panel dispensing hopper in an overhead position relative to the one or more solar panel retention systems, and to facilitate installation of a lead solar panel in an installed position in one of the one or more panel retention systems from the overhead position.
B65G 61/00 - Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
B25J 5/00 - Manipulators mounted on wheels or on carriages
B60P 3/00 - Vehicles adapted to transport, to carry or to comprise special loads or objects
B65G 59/02 - De-stacking from the top of the stack
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
A robot or robotic system comprising a plurality of support structures, and a plurality of joint mechanisms each joint mechanism rotatably coupling at least two of the plurality of support structures. A sensor discrepancy detection system can be operable to interrogate a suite of sensors within the robotic system, and can comprise a plurality of sensor groups, each associated with a respective joint mechanism, and each comprising a plurality of sensors from the suite of sensors. A controller can execute a remedial measure associated with a safety/remedial mode of the robotic system based on an identified discrepancy between the sensor output data of the load cell compared to transformed sensor output data from the joint position sensor and the actuator position sensor, accounting for the transmission ratio, related to a difference in position and representing a transmission deflection, and correlated to a corresponding force associated with the difference in position.
Technology is described for a controller or control service that facilitates the use of robots as hybrid machines. More specifically, a task space controller can be provided for an robot with hybrid input from either a human or programmed tasks.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
9.
Walk-About Human Augmentation System Having Sloped Vertical Degree of Freedom
A walk-about human augmentation system, comprising an upper-body robotic human augmentation system having a first robotic arm, a walk-about platform in support of the upper-body robotic human augmentation system, the walk-about platform comprising a walk-about base, and a mast in the form of a carrier support assembly supported by the walk-about base, the carrier support assembly comprising a framework and an actuator assembly having an actuator and a guide member, the first robotic arm being moveably supported by the carrier support assembly, and the first robotic arm undergoing inclined displacement in a sloped vertical degree of freedom within a given range of motion along the guide member, and relative to the ground surface.
Technology is described for a method for recognition of a target type using primitive patterns. The method can include detecting an activity signature of a target that is moving, using a sensor node. Another operation may be sampling the activity signature of the target to provide sub-samples. The sub-samples may be compared to primitives from a data store of primitives, using machine learning. In addition, the primitives are selected that are similar to the sub-samples and are joinable together to form an activity signature model. The activity signature model can be compared with activity signature templates for targets to determine the target type being captured by the sensor node.
G05D 1/644 - Optimisation of travel parameters, e.g. of energy consumption, journey time or distance
G05D 1/246 - Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
G05D 101/15 - Details of software or hardware architectures used for the control of position using artificial intelligence [AI] techniques using machine learning, e.g. neural networks
G05D 101/20 - Details of software or hardware architectures used for the control of position using external object recognition
G06F 40/40 - Processing or translation of natural language
Technology is described for determining a task plan that is usable by a robotic device in a workspace. The method can include converting instructions received for the robotic device into temporal logic (TL) statements and to a non-deterministic Buchi Automaton. A task probabilistic machine learning model can be generated with feasible task plans using the non-deterministic Buchi Automaton. A plurality of task plans can also be created or generated using the task probabilistic machine learning model. A sensor probabilistic machine learning model of the workspace can be constructed using information from sensors of the robotic device. The task plans from the task probabilistic machine learning model can be compared with the sensor probabilistic machine learning model to select the task plan with a high probability of correlation to the workspace.
Technology is described for determining a task plan that is usable by a robotic device in a workspace. The method can include converting instructions received for the robotic device into temporal logic (TL) statements and to a non-deterministic Buchi Automaton. A task probabilistic machine learning model can be generated with feasible task plans using the non-deterministic Buchi Automaton. A plurality of task plans can also be created or generated using the task probabilistic machine learning model. A sensor probabilistic machine learning model of the workspace can be constructed using information from sensors of the robotic device. The task plans from the task probabilistic machine learning model can be compared with the sensor probabilistic machine learning model to select the task plan with a high probability of correlation to the workspace.
A compact displacement sensor comprises a light intensity pattern object, a micro-lens array and an imaging device including a light-intensity measuring surface. The micro-lens array is disposed between the light intensity pattern object and the imaging device such that each micro-lens focuses a corresponding sub-image making up a portion of the light-intensity pattern on the light-intensity measuring surface to create thereupon an image of the object comprising an array of focused sub-images. The displacement sensor can provide high resolution measurements of displacement of the light intensity pattern object from a reference position by registering subsequent images captured after a change in relative position between light intensity pattern object and the imaging device to a reference image based on pattern portions in the focused sub-images.
G01B 11/27 - Measuring arrangements characterised by the use of optical techniques for measuring angles or tapersMeasuring arrangements characterised by the use of optical techniques for testing the alignment of axes for testing the alignment of axes
G01B 11/00 - Measuring arrangements characterised by the use of optical techniques
G01B 11/16 - Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
G01D 5/26 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using optical means, i.e. using infrared, visible or ultraviolet light
G01L 1/24 - Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis
G01P 3/36 - Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
G01P 15/093 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration by making use of inertia forces with conversion into electric or magnetic values by photoelectric pick-up
G01P 15/18 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration in two or more dimensions
G01P 21/00 - Testing or calibrating of apparatus or devices covered by the other groups of this subclass
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
A compact displacement sensor comprises a light intensity pattern object, a micro-lens array and an imaging device including a light-intensity measuring surface. The micro-lens array is disposed between the light intensity pattern object and the imaging device such that each micro-lens focuses a corresponding sub-image making up a portion of the light-intensity pattern on the light-intensity measuring surface to create thereupon an image of the object comprising an array of focused sub-images. The displacement sensor can provide high resolution measurements of displacement of the light intensity pattern object from a reference position by registering subsequent images captured after a change in relative position between light intensity pattern object and the imaging device to a reference image based on pattern portions in the focused sub-images.
G01B 11/27 - Measuring arrangements characterised by the use of optical techniques for measuring angles or tapersMeasuring arrangements characterised by the use of optical techniques for testing the alignment of axes for testing the alignment of axes
G01B 11/00 - Measuring arrangements characterised by the use of optical techniques
G01B 11/16 - Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
G01D 5/26 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using optical means, i.e. using infrared, visible or ultraviolet light
G01L 1/24 - Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis
G01P 3/36 - Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
G01P 15/093 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration by making use of inertia forces with conversion into electric or magnetic values by photoelectric pick-up
G01P 15/18 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration in two or more dimensions
G01P 21/00 - Testing or calibrating of apparatus or devices covered by the other groups of this subclass
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
A compact displacement sensor comprises a light intensity pattern object, a micro-lens array and an imaging device including a light-intensity measuring surface. The micro-lens array is disposed between the light intensity pattern object and the imaging device such that each micro-lens focuses a corresponding sub-image making up a portion of the light-intensity pattern on the light-intensity measuring surface to create thereupon an image of the object comprising an array of focused sub-images. The displacement sensor can provide high resolution measurements of displacement of the light intensity pattern object from a reference position by registering subsequent images captured after a change in relative position between light intensity pattern object and the imaging device to a reference image based on pattern portions in the focused sub-images.
G01B 11/27 - Measuring arrangements characterised by the use of optical techniques for measuring angles or tapersMeasuring arrangements characterised by the use of optical techniques for testing the alignment of axes for testing the alignment of axes
G01B 11/00 - Measuring arrangements characterised by the use of optical techniques
G01B 11/16 - Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
G01D 5/26 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using optical means, i.e. using infrared, visible or ultraviolet light
G01L 1/24 - Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis
G01P 3/36 - Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
G01P 15/093 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration by making use of inertia forces with conversion into electric or magnetic values by photoelectric pick-up
G01P 15/18 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration in two or more dimensions
G01P 21/00 - Testing or calibrating of apparatus or devices covered by the other groups of this subclass
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
A robotic article management system for acquiring and managing an article, the robotic article management system comprising a platform, a robot positioning member supported by the platform and having a robotic end effector interface, and a robotic end effector supported by the robot positioning member via the robotic end effector interface. The robotic end effector can include an extendable arm comprising a first support member, a capture device, and an article interface system having an actuatable article engagement device operable to interface with the article and to facilitate movement of the article toward the capture device. A computer-implemented method for acquiring and managing an article. A non-transitory machine-readable storage medium including instructions embodied thereon for controlling one or more components of a robotic article management system to acquire and manage an article.
B25J 9/04 - Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian co-ordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
A solar panel mounting system can include a first panel mount including a first retaining feature attached to or attachable to a first torque tube clamp, and a second panel mount including a second retaining feature attached to or attachable to a second torque tube clamp. When the first and second panel mounts are mounted on a torque tube via the first and second torque tube clamps, respectively, the first retaining channel faces the second retaining channel, and the first and second retaining channels are oriented transversely relative to the torque tube. Furthermore, in this example, at least one of the first panel mount or the second panel mount is configured for overhead or lateral insertion of a solar panel while the torque tube clamps are installed on the torque tube.
In accordance with the present disclosure, a torque tube clamp can include a clamp support, a torque tube collar having an open torque tube-receiving position and a closed torque tube-locking position, and a pivotable locking assembly. The pivotable locking assembly may include a ground link with a ground bar coupled to the clamp support by a ground pivot, and an engagement link including an engagement bar directly or indirectly coupled to the ground bar by an engagement pivot. The engagement bar can be part of the torque tube collar and can be movable from the open torque tube-receiving position to the closed torque tube-locking position.
A solar panel alignment system can include a plurality of bi-directional panel mounts connected to or connectable to a torque tube. The bi-directional panel mounts may each include a first retaining feature assembly to receive a first side of a first support frame or a first support rail of a first solar panel, and a second retaining feature assembly configured to receive a second side of a second support frame or second support rail of a second solar panel. In this example, one or both of the first retaining feature assembly or the second retaining feature assembly includes an alignment structure to ensure lateral edges of the first solar panel are aligned with lateral edges of the second solar panel when the first solar panel and the second solar panel are fully engaged with the first retaining feature and the second retaining feature, respectively.
A solar panel installation system comprising a solar panel presentation system comprising a solar panel dispensing hopper having a hopper enclosure; and a solar panel installation vehicle operable with the solar panel presentation system, and operable to support the solar panel dispensing hopper, and to maneuver about a solar panel support assembly comprising one or more solar panel retention systems which can be oriented transverse to a torque tube of the solar panel support assembly, wherein the installation vehicle is operable to position the solar panel dispensing hopper in an overhead position relative to the one or more solar panel retention systems, and to facilitate installation of a lead solar panel in an installed position in one of the one or more panel retention systems from the overhead position.
B65G 61/00 - Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
B25J 5/00 - Manipulators mounted on wheels or on carriages
B60P 3/00 - Vehicles adapted to transport, to carry or to comprise special loads or objects
B65G 59/02 - De-stacking from the top of the stack
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
A solar panel installation system comprising a support clamp installation vehicle capable of being placed on a torque tube of a solar panel support assembly, and operating on the torque tube to install one or more torque tube clamps onto the torque tube from an overhead position. The solar panel installation system comprises a hopper, a drive system operable to engage a torque tube and to facilitate locomotion of the installation vehicle on the torque tube, and a clamp dispensing system comprising a clamp feed system and a clamp placement system. The solar panel installation system further comprises a control system in communication with the support clamp installation vehicle, and operable to control operation of the drive system and the clamp dispensing system. The solar panel installation system further comprises a solar panel installation vehicle that can be operated in a coordinated manner with the support clamp installation vehicle.
A robotic solar panel presentation system, as part of a solar panel installation system, for facilitating installation of solar panels into a panel retention system of a panel support assembly, the solar panel presentation system comprising a solar panel dispensing hopper comprising a hopper enclosure operable to receive and support one or more solar panels, and a panel acquisition and placement system comprising at least one moveable installation arm, wherein the panel acquisition and placement system is operable to acquire and manipulate a lead solar panel into an overhead installation position relative to the panel retention system, and to facilitate placement of the lead solar panel into an installed position within the panel retention system. The presentation system can further comprise a control system associated with the solar panel dispensing hopper, and comprising one or more processors and memory operable to control and operate the panel acquisition and placement system.
B65H 1/14 - Supports or magazines for piles from which articles are to be separated with means for advancing the pile to present the articles to a separating device comprising positively-acting mechanical devices
B65H 1/06 - Supports or magazines for piles from which articles are to be separated adapted to support articles substantially horizontally, e.g. for separation from top of pile for separation from bottom of pile
B65H 3/32 - Separating articles from piles by elements, e.g. fingers, plates, rollers, inserted or traversed between articles to be separated and remainder of the pile
H02S 20/32 - Supporting structures being movable or adjustable, e.g. for angle adjustment specially adapted for solar tracking
23.
Robotic article managing end effector with capture device having discrete compliant rods
This disclosure sets forth a robotic end effector for acquiring and managing an article, such as an item of luggage. The robotic end effector can include an extendable arm comprising a first support member, a capture device comprising a guide member having a plurality of apertures formed therein with a rod slideably supported in each aperture of the guide member. The capture device can further include a biasing member associated with one or more rods and being configured to bias the one or more rods in a first direction relative to the guide member. The article interface system can include an actuatable article engagement device. The actuatable article engagement device can itself include an article interface surface. The actuatable article engagement device can be operated to interface with an article to facilitate movement of the article toward the capture device.
Technology is described for controlling a heterogeneous sensor node network. The method can include obtaining sensor data from a plurality of sensors which include a plurality of sensor modalities in sensor nodes. The sensor data may be combined in a joint feature space that represents multimodal input. Another operation may be detecting features from the sensor data using the joint feature space. Neighboring sensor nodes may be identified to receive the features. A further operation may be sending the features to other sensor nodes in a sensor node network.
G06N 3/006 - Artificial life, i.e. computing arrangements simulating life based on simulated virtual individual or collective life forms, e.g. social simulations or particle swarm optimisation [PSO]
Technology is described for controlling a heterogeneous sensor node network. The method can include obtaining sensor data from a plurality of sensors which include a plurality of sensor modalities in sensor nodes. The sensor data may be combined in a joint feature space that represents multimodal input. Another operation may be detecting features from the sensor data using the joint feature space. Neighboring sensor nodes may be identified to receive the features. A further operation may be sending the features to other sensor nodes in a sensor node network.
A method for controlling a robot with hybrid control, comprising: 1. receiving 1610 a plurality of robot states and environmental states from sensors of the robot; 2. receiving 1620 a plurality of user inputs from sensors associated with the robot; 3. modelling 1630 the plurality of robot states, environmental states and the plurality of user inputs in programming models; 4. solving 1640 the programming models using a solver; and 5. sending 1650 output instructions to the robot in order to enable the robot to transition toward a desired state.
This disclosure sets forth a robotic end effector for acquiring and managing an article, such as an item of luggage. The robotic end effector can include a support bridge and an arm extending away from the support bridge in a first direction, the arm comprising a first support member. The robotic end effector can further include a support platform extending away from the support bridge in the first direction at a position offset from the arm to define a capture volume configured to receive the article between the arm and the support platform. The robotic end effector can further include an article interface system supported by the arm, and comprising an actuatable article engagement device operable to interface with a target article to facilitate movement of the target article in a direction toward the support bridge.
A sensor, method and integrated circuit for optically sensing the relative displacement of an object. The sensor may generate optical patterns of light and employ a multielement photodetector to detect the light and output corresponding analog signals proportional to the light detected. The sensor may achieve a sample rate that is orders of magnitude greater than conventional systems. The sensor may also achieve image resolution that is orders of magnitude greater than conventional systems. The sensor is useful for applications including the measurement of linear displacement and rotation, force, torque, or strain with respect to multiple degrees of freedom.
G01D 5/34 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using optical means, i.e. using infrared, visible or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
G01B 11/26 - Measuring arrangements characterised by the use of optical techniques for measuring angles or tapersMeasuring arrangements characterised by the use of optical techniques for testing the alignment of axes
G01B 11/02 - Measuring arrangements characterised by the use of optical techniques for measuring length, width, or thickness
G01B 11/14 - Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
29.
ANALOG OPTICAL POSITIONING SENSOR, METHOD, AND CIRCUIT
A sensor, method and integrated circuit for optically sensing the relative displacement of an object. The sensor may generate optical patterns of light and employ a multielement photodetector to detect the light and output corresponding analog signals proportional to the light detected. The sensor may achieve a sample rate that is orders of magnitude greater than conventional systems. The sensor may also achieve image resolution that is orders of magnitude greater than conventional systems. The sensor is useful for applications including the measurement of linear displacement and rotation, force, torque, or strain with respect to multiple degrees of freedom.
G01B 11/02 - Measuring arrangements characterised by the use of optical techniques for measuring length, width, or thickness
G01B 11/14 - Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
G01D 5/34 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using optical means, i.e. using infrared, visible or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
30.
Auto-Engaging Electrical Connections for Solar Panels
A solar panel mount system for electrically connecting an installed solar panel including a solar panel, a solar panel mount, and an auto-connecting electrical contact system operable to electrically connect the solar panel with the solar panel mount. The auto-connecting electrical contact system can include a panel electrical contact coupled to the solar panel and a mount electrical contact coupled to the solar panel mount. The panel electrical contact can be operable to electrically connect with the mount electrical contact upon installing the solar panel within the solar panel mount.
H02S 40/36 - Electrical components characterised by special electrical interconnection means between two or more PV modules, e.g. electrical module-to-module connection
A solar panel dispensing device comprising a hopper and a robotic arm. The hopper includes a base and a frame defining an interior volume and being configured to contain solar panels therein supported in an upright position. The robotic arm is moveable about the hopper in one or more degrees of freedom. The robotic arm includes a solar panel end effector operable to acquire a lead solar panel oriented in the upright orientation. The solar panel end effector includes an interfacing orientation and a release orientation; The robotic arm further includes an arm actuator operable to move the robotic arm and the solar panel end effector between the interfacing orientation and the release orientation. The interfacing orientation and the release orientation of the solar panel end effector correspond respectively to the solar panel being in the upright orientation, and the solar panel being in a presentation orientation.
B25J 5/00 - Manipulators mounted on wheels or on carriages
B60P 1/48 - Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using pivoted arms raisable above the load supporting or containing element
B66F 9/00 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
This disclosure sets forth a robotic end effector for acquiring and managing an article, such as an item of luggage. The robotic end effector can include an extendable arm comprising a first support member, a capture device comprising a guide member having a plurality of apertures formed therein with a rod slideably supported in each aperture of the guide member. The capture device can further include a biasing member associated with one or more rods and being configured to bias the one or more rods in a first direction relative to the guide member. The article interface system can include an actuatable article engagement device. The actuatable article engagement device can itself include an article interface surface. The actuatable article engagement device can be operated to interface with an article to facilitate movement of the article toward the capture device.
This disclosure sets forth a robotic end effector for acquiring and managing an article, such as an item of luggage. The robotic end effector can include an extendable arm comprising a first support member, a capture device comprising a guide member having a plurality of apertures formed therein with a rod slideably supported in each aperture of the guide member. The capture device can further include a biasing member associated with one or more rods and being configured to bias the one or more rods in a first direction relative to the guide member. The article interface system can include an actuatable article engagement device. The actuatable article engagement device can itself include an article interface surface. The actuatable article engagement device can be operated to interface with an article to facilitate movement of the article toward the capture device.
This disclosure sets forth a robotic end effector for acquiring and managing an article, such as an item of luggage. The robotic end effector can include an extendable arm comprising a first support member, a capture device comprising a guide member having a plurality of apertures formed therein with a rod slideably supported in each aperture of the guide member. The capture device can further include a biasing member associated with one or more rods and being configured to bias the one or more rods in a first direction relative to the guide member. The article interface system can include an actuatable article engagement device. The actuatable article engagement device can itself include an article interface surface. The actuatable article engagement device can be operated to interface with an article to facilitate movement of the article toward the capture device.
A solar panel dispensing device comprising a hopper, a guide arm, and an actuator. The hopper includes a frame defining an interior volume and an exit and is configured to contain a plurality of solar panels therein. The guide arm includes a support surface coupled to the hopper at a position adjacent to the exit of the hopper. The guide arm can extend away from the exit at a position to guide the plurality of solar panels from the hopper to an installation position. The actuator can include a contact interface operable to interface with and displace a lead solar panel of the plurality of contained solar panels through the exit, and to present the lead solar panel to the guide arm.
A walk-about exoskeleton system can comprise an exoskeleton and a walk-about platform in support of the exoskeleton. The walk-about platform can be maneuverable about a ground surface. The walk-about platform can comprise a conveyance system operable with the walk-about platform. The conveyance system can be operable to facilitate movement of the walk-about platform about the ground surface. The walk-about platform can also comprise a bi-pedal locomotion zone defined, at least in part, by the walk-about platform. The bi-pedal locomotion zone can provide clearance for bi-pedal locomotion of an operator donning the exoskeleton.
A walk-about platform in support of an exoskeleton is provided. The walk-about platform can include a conveyance system operable to facilitate movement of the walk-about platform about a ground surface. The conveyance system can comprise a plurality of rollers, and at least one actuator operable to actuate one or more of the plurality of rollers to facilitate the movement of the walk-about platform about the ground surface. A bi-pedal locomotion zone can be defined, at least in part, by the plurality of rollers. The bi-pedal locomotion zone can provide clearance for bi-pedal locomotion of an operator donning the exoskeleton. The at least one actuator actuates the one or more of the plurality of rollers based on the bi-pedal locomotion of the operator donning the exoskeleton.
This disclosure sets forth a robotic end effector for acquiring and managing an article, such as an item of luggage. The robotic end effector can include an extendable arm comprising a first support member, a capture device comprising a guide member having a plurality of apertures formed therein with a rod slideably supported in each aperture of the guide member. The capture device can further include a biasing member associated with one or more rods and being configured to bias the one or more rods in a first direction relative to the guide member. The article interface system can include an actuatable article engagement device. The actuatable article engagement device can itself include an article interface surface. The actuatable article engagement device can be operated to interface with an article to facilitate movement of the article toward the capture device.
This disclosure sets forth a robotic end effector for acquiring and managing an article, such as an item of luggage. The robotic end effector can include an extendable arm comprising a first support member, a capture device comprising a guide member having a plurality of apertures formed therein with a rod slideably supported in each aperture of the guide member. The capture device can further include a biasing member associated with one or more rods and being configured to bias the one or more rods in a first direction relative to the guide member. The article interface system can include an actuatable article engagement device. The actuatable article engagement device can itself include an article interface surface. The actuatable article engagement device can be operated to interface with an article to facilitate movement of the article toward the capture device.
A solar panel mount system for electrically connecting an installed solar panel including a solar panel, a solar panel mount, and an auto-connecting electrical contact system operable to electrically connect the solar panel with the solar panel mount. The auto-connecting electrical contact system can include a panel electrical contact coupled to the solar panel and a mount electrical contact coupled to the solar panel mount. The panel electrical contact can be operable to electrically connect with the mount electrical contact upon installing the solar panel within the solar panel mount.
H02S 40/36 - Electrical components characterised by special electrical interconnection means between two or more PV modules, e.g. electrical module-to-module connection
41.
CAPTURE AND SUPPORT MOUNT FOR RETAINING INSTALLED SOLAR PANELS
A solar panel mount that retains a solar panel in an installed position. The solar panel mount can include a panel rest having a seating surface for the solar panel. The solar panel mount can further have a first support structure defining a first retaining channel positioned to receive a first edge of the solar panel in an installed position. The solar panel mount can further include second support structure defining a second retaining channel. The first and second retaining channels can be spatially positioned apart from each other at a distance greater than a length of the solar panel such that the first and second retaining channels are positioned to receive respective first and second edges of the solar panel to secure the solar panel in the installed position.
A convertible ride-on and walk-about platform for a robotic upper exoskeleton is provided. The convertible ride-on and walk-about platform can be maneuverable about a ground surface and can include rollers operable to facilitate movement about the ground surface. The rollers can define at least in part a bi-pedal locomotion zone that provides clearance for bi-pedal locomotion of an operator donning the exoskeleton. The convertible ride-on and walk-about platform can also comprise a riding platform operable to be selectively moveable into the bi-pedal locomotion zone to allow the operator to ride thereon.
A walk-about exoskeleton system can comprise an exoskeleton and a walk-about platform in support of the exoskeleton. The walk-about platform can be maneuverable about a ground surface. The walk-about platform can comprise a conveyance system operable with the walk-about platform. The conveyance system can be operable to facilitate movement of the walk-about platform about the ground surface. The walk-about platform can also comprise a bi-pedal locomotion zone defined, at least in part, by the walk-about platform. The bi-pedal locomotion zone can provide clearance for bi-pedal locomotion of an operator donning the exoskeleton.
A stance adjustment system operable to adjust a stance of a robotic system. The stance adjustment system includes a guide member, an adjustable appendage support member, and an adjustment mechanism being operable to facilitate adjustment of the first adjustable appendage support member and the first ground contacting appendage between a first position and a second position relative to a sagittal plane of the robotic system. The first position of the adjustable appendage support member is associated with the first stance, and the second position of the adjustable appendage support member is associated with the second stance. The first and second stances comprise different distances of the ground contacting appendage relative to the sagittal plane of the robotic system.
A stance adjustment system operable to adjust a stance of a robotic system. The stance adjustment system includes a guide member, an adjustable appendage support member, and an adjustment mechanism being operable to facilitate adjustment of the first adjustable appendage support member and the first ground contacting appendage between a first position and a second position relative to a sagittal plane of the robotic system. The first position of the adjustable appendage support member is associated with the first stance, and the second position of the adjustable appendage support member is associated with the second stance. The first and second stances comprise different distances of the ground contacting appendage relative to the sagittal plane of the robotic system.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
46.
Conveyance Systems for A Maneuverable Walk-About Platform for A Robotic Upper Exoskeleton
A walk-about platform in support of an exoskeleton is provided. The walk-about platform can include a conveyance system operable to facilitate movement of the walk-about platform about a ground surface. The conveyance system can comprise a plurality of rollers, and at least one actuator operable to actuate one or more of the plurality of rollers to facilitate the movement of the walk-about platform about the ground surface. A bi-pedal locomotion zone can be defined, at least in part, by the plurality of rollers. The bi-pedal locomotion zone can provide clearance for bi-pedal locomotion of an operator donning the exoskeleton. The at least one actuator actuates the one or more of the plurality of rollers based on the bi-pedal locomotion of the operator donning the exoskeleton.
A convertible ride-on and walk-about platform for a robotic upper exoskeleton is provided. The convertible ride-on and walk-about platform can be maneuverable about a ground surface and can include rollers operable to facilitate movement about the ground surface. The rollers can define at least in part a bi-pedal locomotion zone that provides clearance for bi-pedal locomotion of an operator donning the exoskeleton. The convertible ride-on and walk-about platform can also comprise a riding platform operable to be selectively moveable into the bi-pedal locomotion zone to allow the operator to ride thereon.
A solar panel mount that retains a solar panel in an installed position. The solar panel mount can include a panel rest having a seating surface for the solar panel. The solar panel mount can further have a first support structure defining a first retaining channel positioned to receive a first edge of the solar panel in an installed position. The solar panel mount can further include second support structure defining a second retaining channel. The first and second retaining channels can be spatially positioned apart from each other at a distance greater than a length of the solar panel such that the first and second retaining channels are positioned to receive respective first and second edges of the solar panel to secure the solar panel in the installed position.
A solar panel mount system for electrically connecting an installed solar panel including a solar panel, a solar panel mount, and an auto-connecting electrical contact system operable to electrically connect the solar panel with the solar panel mount. The auto-connecting electrical contact system can include a panel electrical contact coupled to the solar panel and a mount electrical contact coupled to the solar panel mount. The panel electrical contact can be operable to electrically connect with the mount electrical contact upon installing the solar panel within the solar panel mount.
H02S 40/36 - Electrical components characterised by special electrical interconnection means between two or more PV modules, e.g. electrical module-to-module connection
A technology is described for redundant network communication in a robot. An example of the technology can include a main robotic controller, a local controller in network communication with the main robotic controller, and instructions that, when executed by the processor, transfer first and second data signals between the main robotic controller and the local controller via first and second network channels. The first data signal is sent over the first network channel, and the second data signal is sent over the second network channel. The instructions compare the first data signal with the second data signal to determine signal integrity of the data signals; determine degradation of the first data signal if the signal integrity is less than the signal integrity of the second data signal; and select the second data signal for processing if degradation of the first data signal is determined.
A technology is described for redundant network communication in a robot. An example of the technology can include a main robotic controller and a robotic component including a local controller and a controlled component that is operable based on a data signal comprising control instructions executed by the local controller. A command can be sent between the main robotic controller and the local controller. The command can be encoded in a first data signal and a second data signal. The first data signal can be sent over a first network channel, and the second data signal can be sent over a second network channel. The first data signal and the second data signal can be configured to be redundant data signals for the local controller sent respectively over the first network channel and the second network channel.
A robotic end-effector comprises a pair of members being movable with respect to one another and a bladder on at least one of the members. The bladder can comprise a filler within the bladder. The filler can comprise a plurality of jamming particles and a plurality of elongate resilient spacers. The jamming particles are operable to flow within the bladder and to contact and engage with the elongate resilient spacers where flow characteristics vary within the bladder. The bladder with the filler can comprise at least two configurations: a compliant configuration in which a shape of the bladder and filler are changeable, and a stiff configuration in which change in shape of the bladder and filler are resisted.
A robotic end-effector comprises a pair of members being movable with respect to one another and a bladder on at least one of the members. The bladder can comprise a filler within the bladder. The filler can comprise a plurality of jamming particles and a plurality of elongate resilient spacers. The jamming particles are operable to flow within the bladder and to contact and engage with the elongate resilient spacers where flow characteristics vary within the bladder. The bladder with the filler can comprise at least two configurations: a compliant configuration in which a shape of the bladder and filler are changeable, and a stiff configuration in which change in shape of the bladder and filler are resisted.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
54.
ADJUSTABLE EXOSKELETON FOOT-SUPPORTING APPENDAGE FOR VARIABLE HUMAN KINEMATIC COMPATIBILITY
A foot-supporting appendage of a wearable robotic exoskeleton configured to support a foot of a user wearing the robotic exoskeleton. The foot-supporting appendage can include a rearward support configured to support a hind foot portion of a foot of the user. The foot-supporting appendage can further include a frontward support configured to connect to the rearward support and configured to support a forefoot portion of the foot of the user. A size of the foot-supporting appendage is adjustable to accommodate a respective foot of a user of a plurality of users having different sizes of feet.
A61F 5/01 - Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
55.
Adjustable Exoskeleton Foot-Supporting Appendage for Variable Human Kinematic Compatibility
A foot-supporting appendage of a wearable robotic exoskeleton configured to support a foot of a user wearing the robotic exoskeleton. The foot-supporting appendage can include a rearward support configured to support a hind foot portion of a foot of the user. The foot-supporting appendage can further include a frontward support configured to connect to the rearward support and configured to support a forefoot portion of the foot of the user. A size of the foot-supporting appendage is adjustable to accommodate a respective foot of a user of a plurality of users having different sizes of feet.
Disclosed herein is a robot sensing array for multidirectional sensing by a robot. The robot can include one or more robot body members. The sensing array can include a plurality of sensors radially supported on at least one of the one or more robot body members of the robot. The plurality of sensors can include a first sensor, a second sensor located on the at least one of the one or more robot body members at a first position adjacent to the first sensor, and a third sensor located on the at least one of the one or more robot body members at a second position adjacent to the first sensor. The first sensor of the plurality of sensors is disposed to have an overlapping field of view with the second sensor and the third sensor.
Disclosed herein is a robot sensing array for multidirectional sensing by a robot. The robot can include one or more robot body members. The sensing array can include a plurality of sensors radially supported on at least one of the one or more robot body members of the robot. The plurality of sensors can include a first sensor, a second sensor located on the at least one of the one or more robot body members at a first position adjacent to the first sensor, and a third sensor located on the at least one of the one or more robot body members at a second position adjacent to the first sensor. The first sensor of the plurality of sensors is disposed to have an overlapping field of view with the second sensor and the third sensor.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
58.
LENGTH ADJUSTABLE ROBOTIC LIMB WITH MULTIPLE DEGREES OF FREEDOM
A length adjustable robotic limb comprises a first joint assembly, a second joint assembly, and a structural member extending between the first joint assembly and the second joint assembly, the structural member defining a longitudinal axis. An adjustable interface can be provided between the structural member and one of the first and second joint assemblies. The adjustable interface can facilitate adjustment of a length between the first and second joint assemblies. A rotational interface between the structural member and one of the first and second joint assemblies can facilitate relative rotation between the first joint assembly and the second joint assembly about the longitudinal axis in a degree of freedom corresponding to medial/lateral rotation of a portion of a human limb.
A robotic joint system with integrated safety can include a first support member, a second support member, and a tunable actuator joint assembly including a joint having an axis of rotation about which the first support member and the second support member rotate. The tunable actuator joint assembly can include a primary actuator and a quasi-passive linear pneumatic actuator coupled between the first and second support members. The quasi-passive linear pneumatic actuator can comprise an active state in which the quasi-passive linear pneumatic actuator stores energy upon a first rotation of the first and second support members and releases energy upon a second rotation of the first and second support members opposite the first rotation, and an inactive state that facilitates return of the first and second support members to a default position.
CHANGI AIRPORT GROUP (SINGAPORE) PTE LTD. (Singapore)
Inventor
Bancroft, Allen, J.
Bandi, Alan, J.
Gardner, Christopher, M.
Paris, Nicolas
Abstract
An end of arm tool (EOAT) assembly (270) can include a tool base subassembly (272) having a tool base attachment surface as well as a first and second mechanized tool subassembly (280, 290), each being movably attached to the tool base subassembly along the tool base attachment surface. The mechanized tool subassemblies include an elongated body (281, 291) oriented orthogonally relative to the tool base attachment surface, and a holding member (282, 292) attached to its respective elongated body. The holding members can have an engaged position to pass beneath an object (50) to assist with lifting of the object and a disengaged position that does not contribute to lifting of the object. Movement of the first and second mechanized tool assemblies along the tool base attachment surface can provide for opening and partially closing of a gap there between to laterally provide space for engaging with the object followed by squeezing the object for lifting.
A technology is described for redundant network communication in a robot. An example of the technology can include a main robotic controller and a robotic component including a local controller and a controlled component that is operable based on a data signal comprising control instructions executed by the local controller. A command can be sent between the main robotic controller and the local controller. The command can be encoded in a first data signal and a second data signal. The first data signal can be sent over a first network channel, and the second data signal can be sent over a second network channel. The first data signal and the second data signal can be configured to be redundant data signals for the local controller sent respectively over the first network channel and the second network channel.
G06F 15/16 - Combinations of two or more digital computers each having at least an arithmetic unit, a program unit and a register, e.g. for a simultaneous processing of several programs
H04L 41/0654 - Management of faults, events, alarms or notifications using network fault recovery
H04L 45/00 - Routing or path finding of packets in data switching networks
H04L 67/12 - Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
A robotic joint system is provided that facilitates efficient movement of a ground-contacting robotic system, such as during a gait cycle. The robotic joint system can comprise a first support member, a second support member, and a joint assembly rotatably coupling the first support member to the second support member about an axis of rotation. The joint assembly can comprise a passive actuation system coupled between the first and second support members. The passive actuation system can comprise a passive actuator operable to store energy and to release energy to apply a torque to the joint assembly and the first and second support members, and a length adapter coupled to the passive actuator operable to selectively direct the output of the stored energy of the passive actuator.
A technology is described for redundant network communication in a robot. An example of the technology can include a main robotic controller, a local controller in network communication with the main robotic controller, and instructions that, when executed by the processor, transfer first and second data signals between the main robotic controller and the local controller via first and second network channels. The first data signal is sent over the first network channel, and the second data signal is sent over the second network channel. The instructions compare the first data signal with the second data signal to determine signal integrity of the data signals; determine degradation of the first data signal if the signal integrity is less than the signal integrity of the second data signal; and select the second data signal for processing if degradation of the first data signal is determined.
A robot system, comprising a robot capable of gait or gait-like operations, stance or stance-like operations, or a combination of these. The robot can comprise at least one ground-contacting appendage configured to facilitate locomotion of the robot. The system can further comprise a sole supported on the ground-contacting appendage that is operable to interface with a ground surface. The sole can comprise a robot interface facilitating attachment of the sole to the robot, a first sole component having a ground-contacting surface, the first sole component defining a first compliant zone, and a second sole component having a ground-contacting surface, the second sole component defining a second compliant zone. The first sole component can comprise a compliance the same or different than the second sole component.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
A robotic joint system is provided that facilitates efficient movement of a ground-contacting robotic system, such as during a gait cycle. The robotic joint system can comprise a first support member, a second support member, and a joint assembly rotatably coupling the first support member to the second support member about an axis of rotation. The joint assembly can comprise a passive actuation system coupled between the first and second support members. The passive actuation system can comprise a passive actuator operable to store energy and to release energy to apply a torque to the joint assembly and the first and second support members, and a length adapter coupled to the passive actuator operable to selectively direct the output of the stored energy of the passive actuator.
A method for operating a robotic joint of a robotic system comprising selectively operating a clutch mechanism of a clutched joint module in an engaged state to cause a quasi-passive elastic actuator to enter an elastic state, the clutched joint module operating about and defining a joint of the robotic system. The method comprising effecting a first rotation of the joint to cause the quasi-passive elastic actuator to store energy during at least a portion of the rotation of the joint. The method comprising effecting a second rotation of the joint and causing the stored energy from the quasi-passive elastic actuator to be released in the form of an augmented torque applied to an output member of the clutched joint module. The method comprising selectively operating the clutch mechanism in a disengaged state to cause the quasi-passive elastic actuator to enter an inelastic state. The method comprising effecting a third rotation of the joint, wherein the quasi-passive elastic actuator facilitates a free swing mode of the clutched joint module and the joint.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
F16D 23/12 - Mechanical clutch-actuating mechanisms arranged outside the clutch as such
F16D 27/14 - Magnetically-actuated clutchesControl or electric circuits therefor Details
F16H 1/28 - Toothed gearings for conveying rotary motion with gears having orbital motion
67.
Sensor Suite Discrepancy Detection System for Safe Operation of an Exoskeleton
An exoskeleton comprising a plurality of support structures, and a plurality of joint mechanisms each joint mechanism rotatably coupling at least two of the plurality of support structures. A sensor discrepancy detection system can be operable to compare sensor output data from a user operated force moment sensor and at least one torque sensor of a joint mechanism. A controller can be configured to recruit at least one substitute sensor from a first sensor group of based on an identified discrepancy between the sensor output data and to execute a remedial measure associated with a safety mode of the exoskeleton for safe operation of the exoskeleton.
A robot system, comprising a robot capable of gait or gait-like operations, stance or stance-like operations, or a combination of these. The robot can comprise at least one ground-contacting appendage configured to facilitate locomotion of the robot. The system can further comprise a sole supported on the ground-contacting appendage that is operable to interface with a ground surface. The sole can comprise a robot interface facilitating attachment of the sole to the robot, a first sole component having a ground-contacting surface, the first sole component defining a first compliant zone, and a second sole component having a ground-contacting surface, the second sole component defining a second compliant zone. The first sole component can comprise a compliance the same or different than the second sole component.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
A compact displacement sensor comprises a light intensity pattern object, a micro-lens array and an imaging device including a light-intensity measuring surface. The micro-lens array is disposed between the light intensity pattern object and the imaging device such that each micro-lens focuses a corresponding sub-image making up a portion of the light-intensity pattern on the light- intensity measuring surface to create thereupon an image of the object comprising an array of focused sub-images. The displacement sensor can provide high resolution measurements of displacement of the light intensity pattern object from a reference position by registering subsequent images captured after a change in relative position between light intensity pattern object and the imaging device to a reference image based on pattern portions in the focused sub-images.
G01L 5/166 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using photoelectric means
G01P 15/093 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration by making use of inertia forces with conversion into electric or magnetic values by photoelectric pick-up
G01C 19/00 - GyroscopesTurn-sensitive devices using vibrating massesTurn-sensitive devices without moving massesMeasuring angular rate using gyroscopic effects
G01D 5/26 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using optical means, i.e. using infrared, visible or ultraviolet light
A compact displacement sensor comprises a light intensity pattern object, a micro-lens array and an imaging device including a light-intensity measuring surface. The micro-lens array is disposed between the light intensity pattern object and the imaging device such that each micro-lens focuses a corresponding sub-image making up a portion of the light-intensity pattern on the light-intensity measuring surface to create thereupon an image of the object comprising an array of focused sub-images. The displacement sensor can provide high resolution measurements of displacement of the light intensity pattern object from a reference position by registering subsequent images captured after a change in relative position between light intensity pattern object and the imaging device to a reference image based on pattern portions in the focused sub-images.
G01B 11/27 - Measuring arrangements characterised by the use of optical techniques for measuring angles or tapersMeasuring arrangements characterised by the use of optical techniques for testing the alignment of axes for testing the alignment of axes
G01B 11/00 - Measuring arrangements characterised by the use of optical techniques
G01B 11/16 - Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
G01D 5/26 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using optical means, i.e. using infrared, visible or ultraviolet light
G01L 1/24 - Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis
G01P 3/36 - Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
G01P 15/093 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration by making use of inertia forces with conversion into electric or magnetic values by photoelectric pick-up
G01P 15/18 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration in two or more dimensions
G01P 21/00 - Testing or calibrating of apparatus or devices covered by the other groups of this subclass
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
A robotic joint system with integrated safety can include a first support member, a second support member, and a tunable actuator joint assembly including a joint having an axis of rotation about which the first support member and the second support member rotate. The tunable actuator joint assembly can include a primary actuator and a quasi-passive linear pneumatic actuator coupled between the first and second support members. The quasi-passive linear pneumatic actuator can comprise an active state in which the quasi-passive linear pneumatic actuator stores energy upon a first rotation of the first and second support members and releases energy upon a second rotation of the first and second support members opposite the first rotation, and an inactive state that facilitates return of the first and second support members to a default position.
A system for neutralization of a target aerial vehicle comprises a plurality of counter-attack unmanned aerial vehicles (UAVs) and an aerial vehicle detection system comprising at least one detection sensor operable to detect the target aerial vehicle in flight. The system also comprises an aerial vehicle capture countermeasure in the form of a net tethering the plurality of counter-attack UAVs to one another. The counter-attack UAV(s) are operable to capture and neutralize the target aerial vehicle with the net. The system can comprise at least one net storage device associated with a structure and configured to store at least a portion of the net when in a stowed position, and to facilitate deployment of the net when moved to a deployed position via coordinated flight of the plurality of counter-attack UAVs based on the detected target aerial vehicle.
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Industrial robots; robotic exoskeleton suits being machines, other than for medical purposes; industrial robots or robotic devices; robotic exoskeleton suits being machines worn by humans for the purpose of enhancing the strength and endurance, other than for medical purposes; wearable robotic suits being machines, other than for medical purposes; robotic exoskeleton, namely, wearable robotic device in the nature of a suit being a machine that works in tandem with a user, autonomously, or semi-autonomously, other than for medical purposes; robotic amplifier systems, namely, robotic exoskeleton suits being machines worn by humans for the purpose of enhancing the strength and endurance of the user, other than for medical purposes; personnel amplification systems, namely, robotic exoskeleton suits being machines worn by users in combat and dangerous environments for enhancing the endurance and strength of the user, not for medical purposes. Tactical robots; laboratory and tactical robots and robotic devices with artificial intelligence; laboratory and tactical robots and robotic devices with downloadable software and firmware for data analysis, pattern recognition and identification, and automated decision making; downloadable software and firmware for data analysis, pattern recognition and identification, and automated decision making; laboratory and tactical robots and robotic devices with downloadable software and firmware for machine learning; downloadable software and firmware for machine learning; laboratory and tactical robots and robotic devices, with downloadable software and firmware for using artificial intelligence for automating movements; downloadable software and firmware for using artificial intelligence for automating movements of robotic exoskeleton suits and robots; downloadable software and firmware for programming, operating and interfacing with robots and robotic devices; downloadable software and firmware for programming, operating and interfacing with robots and robotic devices, in the nature of wearable robotic suits; downloadable software and firmware for programming, operating and interfacing with robots and robotic devices, namely, wearable robotic devices that work in tandem with a user, autonomously, or semi-autonomously; downloadable software and firmware for collecting and analyzing data received from robots and robotic devices; downloadable software and firmware for collecting and analyzing data received from robots and robotic devices in the nature of wearable robotic suits; downloadable software and firmware for collecting and analyzing data received from robots and robotic devices, namely, wearable robotic devices that work in tandem with a user, autonomously, or semi-autonomously. Software as a Services (SaaS) services featuring software for programming, operating and interfacing with robots and robotic devices; software as a Services (SaaS) services featuring software for collecting and analyzing data received from the robots or robotic devices; providing virtual computer environments through cloud computing for the programing, operating, and interfacing with robots or robotic devices.
74.
SYSTEM AND METHOD FOR RESTORING UPPER ROBOTIC ASSEMBLIES SUPPORTED ABOUT A BASE PLATFORM TO ONE OR MORE SELF-SUPPORTING STABLE SUPPORT POSITIONS
A robotic system comprising an upper robotic assembly and a base platform rotatable relative to one another in at least one degree of freedom via one or more joints. The robotic system further comprises a joint position restoration assembly coupled to at least one of the upper robotic assembly or the base platform, and having a first spring coupled between the upper robotic assembly and the base platform, the joint position restoration assembly being operable to apply a restoring torque to the first joint, wherein the joint position restoration assembly is configured to provide a restoring torque versus joint position profile relative to the first joint that corresponds to mass properties of at least a portion of the robotic assembly associated with the first joint, such that the joint position restoration assembly operates to apply the restoring torque to position and support the first joint in a stable support position.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
A61F 2/50 - Prostheses not implantable in the body
A61H 1/02 - Stretching or bending apparatus for exercising
75.
System and Method for Restoring Robotic Assemblies to One Or More Self-Supporting Stable Support Positions
A robotic assembly comprises a first joint comprising first and second support members rotatably coupled together, and a joint position restoration assembly coupled to at least one of the first or second support members. The joint position restoration assembly can comprise a first spring and a mechanical linkage, wherein the joint position restoration assembly is operable to apply a restoring torque to the first joint. The joint position restoration assembly can be configured to provide a restoring torque versus joint position profile relative to the first joint that corresponds to known mass properties of at least a portion of the robotic assembly acting on or otherwise associated with the first joint, such that, when the first joint is not undergoing powered actuation, the joint position restoration assembly operates to apply, based on the profile, the restoring torque to position and to support the first joint in a stable support position.
A robotic system comprising an upper robotic assembly and a base platform rotatable relative to one another in at least one degree of freedom via one or more joints. The robotic system further comprises a joint position restoration assembly coupled to at least one of the upper robotic assembly or the base platform, and having a first spring coupled between the upper robotic assembly and the base platform, the joint position restoration assembly being operable to apply a restoring torque to the first joint, wherein the joint position restoration assembly is configured to provide a restoring torque versus joint position profile relative to the first joint that corresponds to mass properties of at least a portion of the robotic assembly associated with the first joint, such that the joint position restoration assembly operates to apply the restoring torque to position and to support the first joint in a stable support position.
A robotic assembly comprises a first joint comprising first and second support members rotatably coupled together, and a joint position restoration assembly coupled to at least one of the first or second support members. The joint position restoration assembly can comprise a first spring and a mechanical linkage, wherein the joint position restoration assembly is operable to apply a restoring torque to the first joint. The joint position restoration assembly can be configured to provide a restoring torque versus joint position profile relative to the first joint that corresponds to known mass properties of at least a portion of the robotic assembly acting on or otherwise associated with the first joint, such that, when the first joint is not undergoing powered actuation, the joint position restoration assembly operates to apply, based on the profile, the restoring torque to position and to support the first joint in a stable support position.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
A61F 2/50 - Prostheses not implantable in the body
A61H 1/02 - Stretching or bending apparatus for exercising
78.
Unified robotic vehicle systems and methods of control
A robotic system comprising a master robotic system, and a first robotic system comprising a first mobile platform operable to move about a surface, and comprising a first manipulator. The robotic system can comprise a second robotic system comprising a second mobile platform operable to move about the surface, and comprising a second manipulator. A control module can be associated with the master robotic system and the first and second robotic systems, and can be operable in a paired control mode to facilitate paired control of the first and second robotic systems to move about the ground surface, and operable in an unpaired control mode to facilitate non-paired control of a selected one of the first or second robotic systems.
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
B25J 3/04 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
79.
UNIFIED ROBOTIC VEHICLE SYSTEMS AND METHODS OF CONTROL
A robotic system comprising a master robotic system, and a first robotic system comprising a first mobile platform operable to move about a surface, and comprising a first manipulator. The robotic system can comprise a second robotic system comprising a second mobile platform operable to move about the surface, and comprising a second manipulator. A control module can be associated with the master robotic system and the first and second robotic systems, and can be operable in a paired control mode to facilitate paired control of the first and second robotic systems to move about the ground surface, and operable in an unpaired control mode to facilitate non-paired control of a selected one of the first or second robotic systems.
B25J 3/04 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
A robotic system comprises a first robotic crawler having a mobility mechanism for locomotion, a second robotic crawler having a mobility mechanism for locomotion, and at least one coupling mechanism supported by at least one of the first or second robotic crawlers to couple and uncouple the first and second robotic crawlers to and from each other. When coupled together, the first and second robotic crawlers are operable as a unified robotic crawler system in a coordinated drive mode for operational control of respective mobility mechanisms in a coordinated manner. Various operating modes provide for selective control of various aspects of the first and second robotic crawlers, whether coordinated or independent control. The unified robotic crawler system provides greater or enhanced stability of the first and second robotic crawlers. Associated methods are provided herein.
A robotic device is disclosed that can have a plurality of non-dedicated, smart control devices. Each smart control device can provide smart functionality to control an operational function of the robotic device. In addition, a robotic system is disclosed that can include a robotic device having a local non-dedicated, smart control device providing smart functionality to control an operational function of the robotic device. The robotic device can also include a remote control device to communicate operational information with the local smart control device to facilitate user control of the robotic device.
A robotic device is disclosed that can have a plurality of non-dedicated, smart control devices. Each smart control device can provide smart functionality to control an operational function of the robotic device. In addition, a robotic system is disclosed that can include a robotic device having a local non-dedicated, smart control device providing smart functionality to control an operational function of the robotic device. The robotic device can also include a remote control device to communicate operational information with the local smart control device to facilitate user control of the robotic device.
A robotic system comprises a first robotic crawler having a mobility mechanism for locomotion, a second robotic crawler having a mobility mechanism for locomotion, and at least one coupling mechanism supported by at least one of the first or second robotic crawlers to couple and uncouple the first and second robotic crawlers to and from each other. When coupled together, the first and second robotic crawlers are operable as a unified robotic crawler system in a coordinated drive mode for operational control of respective mobility mechanisms in a coordinated manner. Various operating modes provide for selective control of various aspects of the first and second robotic crawlers, whether coordinated or independent control. The unified robotic crawler system provides greater or enhanced stability of the first and second robotic crawlers. Associated methods are provided herein.
An exoskeleton operable to prevent unsafe operation can comprise a plurality of joint mechanisms and a plurality of sensors comprising configured to generate sensor output data associated with at least two joint mechanisms. The exoskeleton can comprise a controller configured to receive the sensor output data; combine the sensor output data; and determine whether the combination of the sensor output data from the first and second sensors satisfies an error condition in relation to at least one defined criterion. The existence of an error condition can be indicative of an anomalous operating state of the exoskeleton, such as a malfunction or an (impending) anomalous kinematic movement. The controller can also combine command signals to be transmitted to two or more joint mechanisms to determine another anomalous operating state to prevent unsafe operation. Associated software and methods are provided.
An exoskeleton operable in a safety mode at least one joint mechanism rotatably coupling two of the plurality of support structures and a plurality of sensors associated with the at least one joint mechanism. The exoskeleton comprises a controller configured to generate a plurality of command signals according to a plurality of respective control policies, to generate each command signal based on sensor output data from at least one sensor of the plurality of sensors, and to control operation of the at least one joint mechanism according to a selected control policy, based on at least one of an identified discrepancy between at least some of the plurality of command signals or a determination whether each of the plurality of sensors satisfies at least one self-test defined criterion or a comparison criterion between the output signal of two or more sensors, or both of these.
An exoskeleton comprising a plurality of support structures, and a plurality of joint mechanisms each joint mechanism rotatably coupling at least two of the plurality of support structures. A sensor suite discrepancy detection system can be operable to interrogate the suite of sensors within the exoskeleton, and can comprise a plurality of sensor groups, each associated with a respective joint mechanism, and each comprising a plurality of sensors from a suite of sensors. A controller can be configured to recruit at least one substitute sensor from a first sensor group of based on an identified discrepancy between the sensor output data of at least two sensors within the first sensor group and a target sensor within the first sensor group, and to execute a remedial measure associated with a safety mode of the exoskeleton for safe operation of the exoskeleton.
An exoskeleton comprising a plurality of support structures, and a plurality of joint mechanisms each joint mechanism rotatably coupling at least two of the plurality of support structures. A sensor suite discrepancy detection system can be operable to interrogate the suite of sensors within the exoskeleton, and can comprise a plurality of sensor groups, each associated with a respective joint mechanism, and each comprising a plurality of sensors from a suite of sensors. A controller can be configured to recruit at least one substitute sensor from a first sensor group of based on an identified discrepancy between the sensor output data of at least two sensors within the first sensor group and a target sensor within the first sensor group, and to execute a remedial measure associated with a safety mode of the exoskeleton for safe operation of the exoskeleton.
An exoskeleton operable in a safety mode comprises at least one joint mechanism rotatably coupling two of a plurality of support structures, and a plurality of sensors associated with the at least one joint mechanism. The exoskeleton comprises a controller configured to generate a plurality of command signals according to a plurality of respective control policies, to generate each command signal based on sensor output data from at least one sensor, and to control operation of the at least one joint mechanism according to a selected control policy, based on at least one of an identified discrepancy between at least some of the plurality of command signals or a determination whether each of the plurality of sensors satisfies at least one self-test defined criterion or a comparison criterion between the output signal of two or more sensors, or both of these.
An exoskeleton operable to prevent unsafe operation can comprise a plurality of joint mechanisms and a plurality of sensors comprising configured to generate sensor output data associated with at least two joint mechanisms. The exoskeleton can comprise a controller configured to receive the sensor output data; combine the sensor output data; and determine whether the combination of the sensor output data from the first and second sensors satisfies an error condition in relation to at least one defined criterion. The existence of an error condition can be indicative of an anomalous operating state of the exoskeleton, such as a malfunction or an (impending) anomalous kinematic movement. The controller can also combine command signals to be transmitted to two or more joint mechanisms to determine another anomalous operating state to prevent unsafe operation. Associated software and methods are provided.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
An exoskeleton operable in a safety mode comprises a plurality of support structures, and at least one joint mechanism rotatably coupling two of the plurality of support structures, and a plurality of sensors associated with the at least one joint mechanism. The exoskeleton comprises a controller configured to generate a plurality of command signals according to a plurality of respective control policies, and configured to generate each command signal based on sensor output data from at least one sensor of the plurality of sensors, and configured to control operation of the at least one joint mechanism according to a selected control policy, of the plurality of control policies, based on at least one of an identified discrepancy between at least some of the plurality of command signals or a determination whether each of the plurality of sensors satisfies at least one self-test defined criterion defined criterion or a comparison criterion between the output signal of two or more sensors of the plurality of sensors, or both of these.
A robotic end-effector to provide an anthropomorphic hand with a dorsal actuation system. The hand has a substantially planar palm and fingers extending from the palm and capable of flexion and extension relative to the palm. The dorsal actuation system is supported on the palm and fingers, with actuators positioned at a dorsal side of the palm and links positioned at a dorsal side of the fingers.
B25J 15/10 - Gripping heads having finger members with three or more finger members
B25J 9/14 - Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
92.
AUGMENTED REALITY SYSTEM AND METHOD FOR CONVEYING TO A HUMAN OPERATOR INFORMATION ASSOCIATED WITH HUMAN-IMPERCEPTIBLE INDICIA WITHIN AN OPERATING ENVIRONMENT OF A ROBOT
A robotic system comprising a robot, and human-imperceptible indicia associated with an object within an environment in which the robot operates, the human-imperceptible indicia comprising or linking to interaction information pertaining to a predetermined intended interaction of the robot with the object, the interaction information being operable to facilitate interaction with the object by the robot in accordance with the predetermined intended interaction. The system can further comprise at least one sensor operable to sense the human-imperceptible indicia and the interaction information, and an augmented reality system comprising a computer for conveying human-understandable information to a human operator, which is associated with at least one of the interaction or linking information. The machine readable indicia can comprise symbols that can be sensed by a sensor of the robot or the augmented reality system and interpreted by the robot or the augmented reality system.
Augmented reality system and method for conveying to a human operator information associated with human-imperceptible indicia within an operating environment of a robot
A robotic system comprising a robot, and human-imperceptible indicia associated with an object within an environment, the human-imperceptible indicia comprising or linking to interaction information pertaining to a predetermined intended interaction of the robot with the object, the interaction information facilitating interaction with the object by the robot in accordance with the predetermined intended interaction. The system can comprise a sensor that senses the human-imperceptible indicia and the interaction information, and an augmented reality system for conveying human-understandable information to a human operator, which is associated with the interaction or linking information. The machine readable indicia can comprise symbols that can be sensed and interpreted by the robot or the augmented reality system. The robot can utilize a camera to transmit a real-world view of the operating environment to the augmented reality system that can be combined with the human-understandable information to provide augmented reality operation of the robot.
G05B 19/18 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
G06K 19/06 - Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
G06T 19/00 - Manipulating 3D models or images for computer graphics
G06V 20/20 - ScenesScene-specific elements in augmented reality scenes
94.
SYSTEM AND METHODS FOR EARLY DETECTION OF NON-BIOLOGICAL MOBILE AERIAL TARGET
Systems and methods are disclosed for scanning a predetermined area of an aerial landscape with one or more cameras for an airborne target and capturing a plurality of images of the airborne target with the one or more cameras, the one or more cameras in communication with a processor. Microscopic temporal variations between the plurality of images of the airborne target are amplified including a change in the geometry of a two-dimensional image of the airborne target.
Systems and methods are disclosed for scanning a predetermined area of an aerial landscape with one or more cameras for an airborne target and capturing a plurality of images of the airborne target with the one or more cameras, the one or more cameras in communication with a processor. Microscopic temporal variations between the plurality of images of the airborne target are amplified including a change in the geometry of a two-dimensional image of the airborne target.
A system for neutralization of a target aerial vehicle comprises a plurality of counter-attack unmanned aerial vehicles (UAVs) and an aerial vehicle detection system comprising at least one detection sensor operable to detect the target aerial vehicle in flight. The system also comprises an aerial vehicle capture countermeasure in the form of a net tethering the plurality of counter-attack UAVs to one another. The counter-attack UAV(s) are operable to capture and neutralize the target aerial vehicle with the net. The system can comprise at least one net storage device associated with a structure and configured to store at least a portion of the net when in a stowed position, and to facilitate deployment of the net when moved to a deployed position via coordinated flight of the plurality of counter-attack UAVs based on the detected target aerial vehicle.
A clutched joint module comprising an output member and an input member rotatable relative to each other about an axis of rotation; a primary actuator operable to apply a primary torque to rotate the output member about the axis of rotation; and a clutch mechanism operable between an engaged state and a disengaged state to facilitate application of the primary torque. The clutch mechanism can comprise a plurality of plates and an actuator operable to compress the plurality of plates to cause the clutch mechanism to function in the engaged state. The actuator can be a ball-ramp clutch device. A quasi-passive elastic actuator can be coupled to the input member and can be operable, via the clutch mechanism, to release stored energy to apply an augmented torque to assist rotation of the output member. Associated methods and systems are disclosed.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
F16D 23/12 - Mechanical clutch-actuating mechanisms arranged outside the clutch as such
F16D 25/0638 - Fluid-actuated clutches in which the fluid actuates a piston incorporated in the clutch the clutch having friction surfaces with clutch members exclusively moving axially with flat friction surfaces, e.g. discs with more than two discs, e.g. multiple lamellae
A method of facilitating switching of a quasi-passive elastic actuator of a tunable actuator joint module of a robotic system between an inelastic state and an elastic state comprising configuring a quasi-passive elastic actuator to be operable with a primary actuator of the tunable actuator joint module to selectively apply an augmented torque to assist the primary actuator in rotation of a joint of the tunable actuator joint module. The method further comprises configuring an elastic component of the quasi-passive actuator to comprise a first vane device and second vane device rotatable relative to each other within a housing, supporting a valve assembly about the axis of rotation of the joint through the first vane device, and configuring a shunt circuit to facilitate fluid flow between compression and expansion chambers through the valve assembly. The method can further comprise configuring the valve assembly with a valve device disposed in an opening of a shaft of the first vane device, the valve device being actuatable between an open position to open the shunt circuit and a closed position to close the shunt circuit.
F15B 15/12 - Fluid-actuated devices for displacing a member from one position to anotherGearing associated therewith characterised by the construction of the motor unit of the oscillating-vane or curved-cylinder type
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
B25J 9/14 - Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
A61F 2/50 - Prostheses not implantable in the body
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
A robotic system for a robotic limb configured to recover energy for minimizing power consumption of the robotic system, comprising a first support member, a second support member, and a quasi-passive elastic actuator rotatably coupling the first and second support members to define a joint of the robotic system rotatable about an axis of rotation defining a degree of freedom. The quasi-passive elastic actuator can comprise a first vane device and a second vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber. The system can further comprise a valve assembly, the valve assembly comprising a valve device disposed through an opening of the first vane device along the axis of rotation, and a shunt circuit facilitating fluid flow between the compression and expansion chambers through the valve assembly. The valve assembly is operable to position the valve device in an open position to open the shunt circuit to place the quasi-passive elastic actuator in an inelastic state, and to position the valve device in a closed position to close the shunt circuit to place the quasi-passive elastic actuator in an elastic state.
B25J 9/14 - Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
F15B 15/12 - Fluid-actuated devices for displacing a member from one position to anotherGearing associated therewith characterised by the construction of the motor unit of the oscillating-vane or curved-cylinder type
A61F 2/50 - Prostheses not implantable in the body
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
F15B 11/072 - Combined pneumatic-hydraulic systems
A method for operating a robotic joint of a robotic system comprising selectively operating a clutch mechanism of a clutched joint module in an engaged state to cause a quasi-passive elastic actuator to enter an elastic state, the clutched joint module operating about and defining a joint of the robotic system. The method comprising effecting a first rotation of the joint to cause the quasi-passive elastic actuator to store energy during at least a portion of the rotation of the joint. The method comprising effecting a second rotation of the joint and causing the stored energy from the quasi-passive elastic actuator to be released in the form of an augmented torque applied to an output member of the clutched joint module. The method comprising selectively operating the clutch mechanism in a disengaged state to cause the quasi-passive elastic actuator to enter an inelastic state. The method comprising effecting a third rotation of the joint, wherein the quasi-passive elastic actuator facilitates a free swing mode of the clutched joint module and the joint.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
