Patent application number | Description | Published |
20100161127 | MULTIPLE PRIORITY OPERATIONAL SPACE IMPEDANCE CONTROL - A system and method for providing multiple priority impedance control for a robot manipulator where impedance laws are realized simultaneously and with a given order of priority. The method includes a control scheme for realizing a Cartesian space impedance objective as a first priority while also realizing a joint space impedance objective as a second priority. The method also includes a control scheme for realizing two Cartesian space impedance objectives with different levels of priority. The method includes instances of the control schemes that use feedback from force sensors mounted at an end-effector and other instances of the control schemes that do not use this feedback. | 06-24-2010 |
20110067521 | HUMANOID ROBOT - A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders. | 03-24-2011 |
20110068595 | ROBOTIC FINGER ASSEMBLY - A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange. | 03-24-2011 |
20110071678 | TENDON DRIVEN FINGER ACTUATION SYSTEM - A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger. | 03-24-2011 |
20110190934 | ARCHITECTURE FOR ROBUST FORCE AND IMPEDANCE CONTROL OF SERIES ELASTIC ACTUATORS - An SEA architecture for controlling the torque applied by an SEA that has particular application for controlling the position of a robot link. The SEA architecture includes a motor coupled to one end of an elastic spring and a load coupled to an opposite end of the elastic spring, where the motor drives the load through the spring. The orientation of the shaft of the motor and the load are measured by position sensors. Position signals from the position sensors are sent to an embedded processor that determines the orientation of the load relative to the motor shaft to determine the torque on the spring. The embedded processor receives reference torque signals from a remote controller, and the embedded processor operates a high-speed servo loop about the desired joint torque. The remote controller determines the desired joint torque based on higher order objectives by their impedance or positioning objectives. | 08-04-2011 |
20120059515 | WORKSPACE SAFE OPERATION OF A FORCE- OR IMPEDANCE-CONTROLLED ROBOT - A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above. | 03-08-2012 |
20130041502 | FAST GRASP CONTACT COMPUTATION FOR A SERIAL ROBOT - A system includes a controller and a serial robot having links that are interconnected by a joint, wherein the robot can grasp a three-dimensional (3D) object in response to a commanded grasp pose. The controller receives input information, including the commanded grasp pose, a first set of information describing the kinematics of the robot, and a second set of information describing the position of the object to be grasped. The controller also calculates, in a two-dimensional (2D) plane, a set of contact points between the serial robot and a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose. A required joint angle is then calculated in the 2D plane between the pair of links using the set of contact points. A control action is then executed with respect to the motion of the serial robot using the required joint angle. | 02-14-2013 |
20130193704 | ROBOTIC FINGER ASSEMBLY - A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange. | 08-01-2013 |
Patent application number | Description | Published |
20090092049 | System, method and computer readable medium for communicating with a zigbee device from a peripheral network - In order to minimize traffic on a Zigbee network, a gateway of the Zigbee network represents end devices in communications with peripheral networks. The gateway receives messages, such as status request messages, from the peripheral network intended for an end device on the Zigbee network. The Zigbee network generates a response message by retrieving stored data for the end device instead of communicating the received message to the end device. | 04-09-2009 |
20090092108 | System, method and computer readable medium for re-connecting to a Zigbee network - An end device on a Zigbee network exits a power saving mode and transmits a wake notification message to the network. The network retrieves a cached status flag indicating whether the end device is defined on the Zigbee network and transmits the status flag to the end device. If the end device is undefined on the Zigbee network, the end device attempts to re-join the network. During the power saving mode, the network can cache messages intended for the end device and transmit the messages to the end device when the device exits the power saving mode. | 04-09-2009 |
20090092146 | System, method and computer readable medium for communication on a Zigbee network - In a Zigbee network, reliable communications are provided by maintaining messages transmitted from a device in a message queue in the device. If no successful acknowledgement is received for a transmitted message, the message is re-transmitted when the message queue executes. Messages are deleted from the queue when the message is successfully transmitted or when a maximum number of re-tries has been exhausted. | 04-09-2009 |
20110211532 | SYSTEM, METHOD AND COMPUTER READABLE MEDIUM FOR RE-CONNECTING TO A ZIGBEE NETWORK - An end device on a Zigbee network exits a power saving mode and transmits a wake notification message to the network. The network retrieves a cached status flag indicating whether the end device is defined on the Zigbee network and transmits the status flag to the end device. If the end device is undefined on the Zigbee network, the end device attempts to re-join the network. During the power saving mode, the network can cache messages intended for the end device and transmit the messages to the end device when the device exits the power saving mode. | 09-01-2011 |
20120069736 | SYSTEM, METHOD AND COMPUTER READABLE MEDIUM FOR COMMUNICATING WITH A ZIGBEE DEVICE FROM A PERIPHERAL NETWORK - In order to minimize traffic on a Zigbee network, a gateway of the Zigbee network represents end devices in communications with peripheral networks. The gateway receives messages, such as status request messages, from the peripheral network intended for an end device on the Zigbee network. The Zigbee network generates a response message by retrieving stored data for the end device instead of communicating the received message to the end device. | 03-22-2012 |
20140010137 | SYSTEM, METHOD AND COMPUTER READABLE MEDIUM FOR RE-CONNECTING TO A ZIGBEE NETWORK - An end device on a Zigbee network exits a power saving mode and transmits a wake notification message to the network. The network retrieves a cached status flag indicating whether the end device is defined on the Zigbee network and transmits the status flag to the end device. If the end device is undefined on the Zigbee network, the end device attempts to re-join the network. During the power saving mode, the network can cache messages intended for the end device and transmit the messages to the end device when the device exits the power saving mode. | 01-09-2014 |
20140133301 | SYSTEM, METHOD AND COMPUTER READABLE MEDIUM FOR COMMUNICATING WITH A ZIGBEE DEVICE FROM A PERIPHERAL NETWORK - In order to minimize traffic on a Zigbee network, a gateway of the Zigbee network represents end devices in communications with peripheral networks. The gateway receives messages, such as status request messages, from the peripheral network intended for an end device on the Zigbee network. The Zigbee network generates a response message by retrieving stored data for the end device instead of communicating the received message to the end device. | 05-15-2014 |
20140328336 | DEVICE, METHOD AND COMPUTER READABLE MEDIUM FOR COMMUNICATION ON A ZIGBEE NETWORK - In a zigbee network, reliable communications are provided by maintaining messages transmitted from a device in a message queue in the device. If no successful acknowledgement is received for a transmitted message, the message is re-transmitted when the message queue executes. Messages are deleted from the queue when the message is successfully transmitted or when a maximum number of re-tries has been exhausted. | 11-06-2014 |
20140340043 | BATTERY CHARGE MANAGEMENT AND CONTROL - Disclosed are an apparatus and method of monitoring and charging a battery based on predefined criteria. One example method may include identifying an electronic device use event comprising at least one of an amount of time and an amount of battery charge used to perform the use event, and storing the electronic device use event in memory. The method may also include retrieving the electronic device use event from memory responsive to a battery charge management operation, and applying the electronic device use event to the battery charge management operation. | 11-20-2014 |
20140340051 | BATTERY CHARGE MANAGEMENT AND CONTROL - Disclosed are an apparatus and method of monitoring and charging a battery based on predefined criteria. One example method may include identifying an event entry stored in an event application, estimating a time duration associated with the event, calculating an amount of battery charge required to satisfy the event being conducted on an electronic device, and charging a battery of the electronic device to a charge level corresponding to the calculated amount of battery charge. | 11-20-2014 |