Systems and methods for landmine avoidance by using a legged robot platform are disclosed including mine detection equipment, a robotic arm, a legged robot capable of transporting that equipment to a site of interest to identify a potential location of a landmine.
Systems and methods for landmine avoidance by using a legged robot platform are disclosed including mine detection equipment, a robotic arm, a legged robot capable of transporting that equipment to a site of interest to identify a potential location of a landmine.
Once a site of interest is identified, the robot may step over or actively avoid the designated area of interest.
G05D 105/85 - Specific applications of the controlled vehicles for information gathering, e.g. for academic research for patrolling or reconnaissance for police, security or military applications
The present invention pertains to a method for a quadruped robot to navigate through granular media, such as deep sand and for providing improvements in the walking performance over various types of granular media. In particular, the present invention proposes reducing the assumed coefficient of friction about the ground, impacting the ground harder than nominal in the vertical direction at touchdown, and forcing a toe lift off into swing if a knee joint extends beyond a threshold stance to help increase the robustness of a quadruped robot's locomotive abilities on challenging terrains and provide an improvement in the field of biomechanics and robotic navigation.
A legged robot having a frame with a plurality of links in mechanical communication with plurality of brackets, the frame forming a front, back, top, bottom, and sides, legs in mechanical communication with one or more of the plurality of brackets, each leg having a knee motor, an abduction motor, and a hip motor, a computer module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs, and a power module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs and the computer module.
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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 57/02 - 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
The present invention is directed to a system and method for grasp synthesis of non-occluded and occluded objects by a robot manipulator with grippe. A robot manipulator with gripper and gripper camera is in communication with a user interaction device. The user interaction device presents visual and audio feedback to the user and accepts user input and feedback for human-in-the-loop grasp synthesis and execution. The robot manipulator comprises an arm first link, an arm second link connected to the arm first link via an elbow joint, wrist actuators, at least one gripper, gripper jaws, a gripper camera, and arm base actuators.
The present invention is directed to a system and method for grasp synthesis of non-occluded and occluded objects by a robot manipulator with grippe. A robot manipulator with gripper and gripper camera is in communication with a user interaction device. The user interaction device presents visual and audio feedback to the user and accepts user input and feedback for human-in-the-loop grasp synthesis and execution. The robot manipulator comprises an arm first link, an arm second link connected to the arm first link via an elbow joint, wrist actuators, at least one gripper, gripper jaws, a gripper camera, and arm base actuators.
Systems and methods for landmine avoidance by using a legged robot platform are disclosed including mine detection equipment, a robotic arm, a legged robot capable of transporting that equipment to a site of interest to identify a potential location of a landmine. Once a site of interest is identified, the robot may step over or actively avoid the designated area of interest.
F41H 11/18 - Self-propelled mine-clearing vehiclesMine-clearing devices attachable to vehicles with ground-impacting means for activating mines by the use of mechanical impulses, e.g. flails or stamping elements
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
The present invention pertains to a system and method for a robotic arm which may be mounted on a mobile base, wherein the robotic arm may apply a desired force at a point of contact between an arm and a point in the environment. One method disclosed herein involves low-level, automated coordination, wherein the higher-level decision making is made by a human operator, while another method addresses the variability of success in visual identification of door features, by increasing the reliance on proprioceptive cues such as forces from the door and door hinge and reducing reliance on exteroceptive cues.
E05F 15/73 - Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
B62D 57/02 - 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
B25J 11/00 - Manipulators not otherwise provided for
The present invention pertains to a system and method for an algorithm to control a robot limb in space while simultaneously controlling the reaction forces applied by it to the robot base. The algorithm automatically creates desired limits on the forces on the basis of the configuration of the robot legs and feet. The algorithm further uses an optimization method followed by an analytical modification of the normal tracking controller, and so is computationally efficient.
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
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
The present invention pertains to a system and method for a robotic arm which may be mounted on a mobile base, wherein the robotic arm may apply a desired force at a point of contact between an arm and a point in the environment. One method disclosed herein involves low-level, automated coordination, wherein the higher-level decision making is made by a human operator, while another method addresses the variability of success in visual identification of door features, by increasing the reliance on proprioceptive cues such as forces from the door and door hinge and reducing reliance on exteroceptive cues.
The present invention pertains to a system and method for an algorithm to control a robot limb in space while simultaneously controlling the reaction forces applied by it to the robot base. The algorithm automatically creates desired limits on the forces on the basis of the configuration of the robot legs and feet. The algorithm further uses an optimization method followed by an analytical modification of the normal tracking controller, and so is computationally efficient.
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
17.
DECOUPLED WRIST-AGNOSTIC CONTROL FOR MODULAR ROBOTIC ARM
A control mechanism of a robotic arm that is modular and applicable to a mobile robotic base with an arm is disclosed. The control of the tool actuators, the wrist actuators, and the actuators that manage the proximal arm actuators are executed hierarchically and in a manner that is minimally dependent on the end-effector itself. The robotic arm implements the modular mechanical coupling to a wrist module, which may include an active revolute wrist with two or three actuators that enable active control of the orientation of end-effectors such as a gripper designed to grasp objects, a gimbal that maintains level orientation of a camera, a hose, a spraying attachment, a screwdriver attachment, and a hammer attachment.
A control mechanism of a robotic arm that is modular and applicable to a mobile robotic base with an arm is disclosed. The control of the tool actuators, the wrist actuators, and the actuators that manage the proximal arm actuators are executed hierarchically and in a manner that is minimally dependent on the end-effector itself. The robotic arm implements the modular mechanical coupling to a wrist module, which may include an active revolute wrist with two or three actuators that enable active control of the orientation of end-effectors such as a gripper designed to grasp objects, a gimbal that maintains level orientation of a camera, a hose, a spraying attachment, a screwdriver attachment, and a hammer attachment.
B25J 9/08 - Programme-controlled manipulators characterised by modular constructions
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
A gripper designed for grasping objects when mounted on a robotic manipulator is disclosed. The robot gripper may utilize a single actuator to facilitate the grasping of objects of varying shape and size with three degrees of freedom of passive alignment, thus enabling said robot gripper to grasp, push and pull. Passive alignment features assist the robot gripper in executing robust and fast grasping of objects with minimal requirement for active feedback control. The mechanical robot gripper jaw is constructed of a compliant material and a curved rigid member to allow the gripper to cage objects.
A gripper designed for grasping objects when mounted on a robotic manipulator is disclosed. The robot gripper may utilize a single actuator to facilitate the grasping of objects of varying shape and size with three degrees of freedom of passive alignment, thus enabling said robot gripper to grasp, push and pull. Passive alignment features assist the robot gripper in executing robust and fast grasping of objects with minimal requirement for active feedback control. The mechanical robot gripper jaw is constructed of a compliant material and a curved rigid member to allow the gripper to cage objects.
A legged robot having a frame with a plurality of links in mechanical communication with plurality of brackets, the frame forming a front, back, top, bottom, and sides, legs in mechanical communication with one or more of the plurality of brackets, each leg having a knee motor, an abduction motor, and a hip motor, a computer module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs, and a power module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs and the computer module.
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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 57/02 - 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
The present invention discloses a wireless charging system for Q-UGVs, housed in a robust build. The wireless charging system is housed in a weatherproof box and is capable of charging more than one Q-UGV, thus baggage and fatigue of having to maintain multiple charging stations for multiple systems. An improvement in the system is expedited charging for two Q-UGVs, which is ideal environments wherein autonomous and persistent security is necessary and is capable of receiving and transmitting charging commands from the Q-UGV.
B60L 53/126 - Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
B60K 1/04 - Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
B60L 53/38 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
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
23.
Method to Use Depth Sensors on the Bottom of Legged Robot for Stair Climbing
The present invention pertains to a system method for using depth sensors on the fore, aft and bottom sides of a legged robot for stair climbing. The method uses real-time depth information to help with a legged robot's navigation on a variety of leveled terrains. Sensing methods are employed in addition to generating a composite field of view stretching from the front to the back of the legged robot. Downward facing depth cameras positioned at a particular angle enable the system to guide a legged robot over an environment which is being navigated by offering a persistent view of the environment. Other tools such as heightmap filling gradient map calculation, and strategic foothold selection are also implemented.
G05D 1/02 - Control of position or course in two dimensions
B62D 57/024 - 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 specially adapted for moving on inclined or vertical surfaces
The present invention pertains to a system method for using depth sensors on the fore, aft and bottom sides of a legged robot for stair climbing. The method uses real-time depth information to help with a legged robot's navigation on a variety of leveled terrains. Sensing methods are employed in addition to generating a composite field of view stretching from the front to the back of the legged robot. Downward facing depth cameras positioned at a particular angle enable the system to guide a legged robot over an environment which is being navigated by offering a persistent view of the environment. Other tools such as heightmap filling gradient map calculation, and strategic foothold selection are also implemented.
The present invention discloses a wireless charging system for Q-UGVs, housed in a robust build. The wireless charging system is housed in a weatherproof box and is capable of charging more than one Q-UGV, thus baggage and fatigue of having to maintain multiple charging stations for multiple systems. An improvement in the system is expedited charging for two Q-UGVs, which is ideal environments wherein autonomous and persistent security is necessary and is capable of receiving and transmitting charging commands from the Q-UGV.
B60L 53/38 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
B60L 53/36 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
B62D 57/02 - 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
H02J 7/02 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from AC mains by converters
The present invention regards a reflex algorithm for a legged robot upon detecting an unexpected contact in order to reach a desired touchdown location using a leg stub re-swing. The proprioceptive leg-stub re-swing algorithm is a two-phase algorithm that is particularly beneficial in environments with unstructured terrain and wherein vision sensors may be damaged upon contact with protruding obstacles.
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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
The present invention regards a reflex algorithm for a legged robot upon detecting an unexpected contact in order to reach a desired touchdown location using a leg stub re-swing. The proprioceptive leg-stub re-swing algorithm is a two-phase algorithm that is particularly beneficial in environments with unstructured terrain and wherein vision sensors may be damaged upon contact with protruding obstacles. The present invention pertains to a leg stub re-swing reflex algorithm for a robot, such as a biped, quadruped, or other legged robot. A legged robot comprises of a robotic system with one or more appendages used for locomotion. Legged robots locomote through their environments by exerting reaction forces on the environment using forces generated by the leg wherein the leg is somehow in contact with environmental matter.
B62D 57/02 - 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
The present invention pertains to a method for a quadruped robot to navigate through granular media, such as deep sand and for providing improvements in the walking performance over various types of granular media. In particular, the present invention proposes reducing the assumed coefficient of friction about the ground, impacting the ground harder than nominal in the vertical direction at touchdown, and forcing a toe lift off into swing if a knee joint extends beyond a threshold stance to help increase the robustness of a quadruped robot's locomotive abilities on challenging terrains and provide an improvement in the field of biomechanics and robotic navigation.
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
29.
METHOD TO IMPROVE WALKING PERFORMANCE OF QUADRUPEDS OVER SOFT SURFACES
The present invention pertains to a method for a quadruped robot to navigate through granular media, such as deep sand and for providing improvements in the walking performance over various types of granular media. In particular, the present invention proposes reducing the assumed coefficient of friction about the ground, impacting the ground harder than nominal in the vertical direction at touchdown, and forcing a toe lift off into swing if a knee joint extends beyond a threshold stance to help increase the robustness of a quadruped robot's locomotive abilities on challenging terrains and provide an improvement in the field of biomechanics and robotic navigation.
A legged robot having a frame with a plurality of links in mechanical communication with plurality of brackets, the frame forming a front, back, top, bottom, and sides, legs in mechanical communication with one or more of the plurality of brackets, each leg having a knee motor, an abduction motor, and a hip motor, a computer module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs, and a power module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs and the computer module.
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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 57/02 - 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
09 - Scientific and electric apparatus and instruments
Goods & Services
Industrial robots and structural parts therefor; Industrial robots featuring mobile computer and operating platforms consisting of data transceivers, wireless networks and gateways for collection and management of data Tactical robots and security surveillance robots for military use and structural parts therefor; Tactical robots and security surveillance robots featuring mobile computer and operating platforms consisting of data transceivers, wireless networks and gateways for collection and management of data; Tactical robots and security surveillance robots for military use, all with receiver pads for electrical charging; Wireless charging pads for robots; Vehicle charging stations for electric robots
09 - Scientific and electric apparatus and instruments
Goods & Services
Robots for military use, namely, tactical robots; Robots for educational use, namely, teaching robots; Tactical robots with receiver pads for electrical charging; educational robots with receiver pads for electrical charging; Wireless charging pads for robots; Vehicle charging stations for electric robotic transport vehicles
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
Goods & Services
Robots for military use, namely, tactical robots and structural parts therefor; Robots for educational use, namely, teaching robots and structural parts therefor Robotic transport vehicles; Unmanned ground vehicles in the form of a mobile platform for carrying sensors for inspection, non-destructive and destructive sampling, safety, search, rescue and security applications
A legged robot having a frame with a plurality of links in mechanical communication with plurality of brackets, the frame forming a front, back, top, bottom, and sides, legs in mechanical communication with one or more of the plurality of brackets, each leg having a knee motor, an abduction motor, and a hip motor, a computer module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs, and a power module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs and the computer module.
B25J 5/00 - Manipulators mounted on wheels or on carriages
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
B62D 57/02 - 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
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
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
Goods & Services
Robots for military use, namely, tactical robots; robots for educational use, namely, teaching robots Robotic transport vehicles; unmanned ground vehicles in the form of a mobile platform for carrying sensors for inspection, non-destructive and destructive sampling, safety, search, rescue and security applications
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
Goods & Services
Robots for military use, namely, tactical robots; robots for educational use, namely, teaching robots Robotic transport vehicles; Unmanned ground vehicles in the form of a mobile platform for carrying sensors for inspection, non-destructive and destructive sampling, safety, search, rescue and security applications
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
Goods & Services
Robots for military use, namely, tactical robots; robots for educational use, namely, teaching robots Robotic transport vehicles; Unmanned ground vehicles in the form of a mobile platform for carrying sensors for inspection, non-destructive and destructive sampling, safety, search, rescue and security applications
