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1. 发明申请

US20130226350A1 CONTROL OF A GLOVE-BASED GRASP ASSIST DEVICE 有权
标题翻译：基于GLOVE的GRASP辅助设备的控制
公开(公告)号：US20130226350A1
公开(公告)日：2013-08-29
申请号：US13408675
申请日：2012-02-29
申请人： Bryan J. Bergelin , Chris A. Ihrke , Donald R. Davis , Douglas Martin Linn , Adam M. Sanders , R. Scott Askew , Evan Laske , Kody Ensley
发明人： Bryan J. Bergelin , Chris A. Ihrke , Donald R. Davis , Douglas Martin Linn , Adam M. Sanders , R. Scott Askew , Evan Laske , Kody Ensley
IPC分类号： G05B13/00 , A41D19/00
CPC分类号： B25J9/0006 , A41D19/0024 , A61B5/1107 , A61B5/225 , A61B5/6806 , A61H1/0288 , A61H2201/0184 , A61H2201/1246 , A61H2201/1638 , A61H2201/165 , A61H2201/5002 , A61H2201/5061 , A61H2201/5097 , A61H2230/605 , B25J9/104 , B25J13/08
摘要： A grasp assist system includes a glove and sleeve. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. The glove contains a tendon connected at a first end to the digit. The sleeve has an actuator assembly connected to a second end of the tendon and a controller in communication with the sensor. The controller includes a configuration module having selectable operating modes and a processor that calculates a tensile force to apply to the tendon for each of the selectable operating modes to assist the grasping force in a manner that differs for each of the operating modes. A method includes measuring the grasping force, selecting the mode, calculating the tensile force, and applying the tensile force to the tendon using the actuator assembly.
摘要翻译：抓握辅助系统包括手套和套筒。手套包括数字，即手指或拇指，以及力传感器。传感器测量穿戴手套的操作者施加到物体的抓握力。手套包含在第一端连接到数字的腱。套筒具有连接到腱的第二端的致动器组件和与传感器连通的控制器。控制器包括具有可选操作模式的配置模块和处理器，该处理器计算用于每个可选择操作模式的腱施加的拉力，以便以对于每个操作模式不同的方式来帮助抓握力。一种方法包括测量抓取力，选择模式，计算张力，以及使用致动器组件将张力施加到腱上。

2. 发明授权

US09120224B2 Framework and method for controlling a robotic system using a distributed computer network 有权
标题翻译：使用分布式计算机网络控制机器人系统的框架和方法
公开(公告)号：US09120224B2
公开(公告)日：2015-09-01
申请号：US12564094
申请日：2009-09-22
申请人： Adam M. Sanders , Leandro G. Barajas , Frank Noble Permenter , Philip A. Strawser
发明人： Adam M. Sanders , Leandro G. Barajas , Frank Noble Permenter , Philip A. Strawser
IPC分类号： B25J19/00 , B25J13/00 , G05B19/414 , B25J9/16 , G06F19/00
CPC分类号： B25J9/161 , G05B19/4141 , G05B19/4148 , G05B2219/33218
摘要： A robotic system for performing an autonomous task includes a humanoid robot having a plurality of compliant robotic joints, actuators, and other integrated system devices that are controllable in response to control data from various control points, and having sensors for measuring feedback data at the control points. The system includes a multi-level distributed control framework (DCF) for controlling the integrated system components over multiple high-speed communication networks. The DCF has a plurality of first controllers each embedded in a respective one of the integrated system components, e.g., the robotic joints, a second controller coordinating the components via the first controllers, and a third controller for transmitting a signal commanding performance of the autonomous task to the second controller. The DCF virtually centralizes all of the control data and the feedback data in a single location to facilitate control of the robot across the multiple communication networks.
摘要翻译：用于执行自主任务的机器人系统包括类人机器人，其具有响应于来自各种控制点的控制数据可控制的多个兼容机器人接头，致动器和其他集成系统设备，并且具有用于在控制下测量反馈数据的传感器积分该系统包括用于通过多个高速通信网络控制集成系统组件的多级分布式控制框架（DCF）。 DCF具有多个第一控制器，每个第一控制器嵌入在集成系统组件中的相应一个中，例如机器人接头，经由第一控制器协调组件的第二控制器，以及用于发送命令执行自主的信号的信号的第三控制器任务到第二个控制器。 DCF将所有控制数据和反馈数据实际上集中在一个位置，以便于跨越多个通信网络的机器人的控制。

3. 发明申请

US20130096719A1 METHOD FOR DYNAMIC OPTIMIZATION OF A ROBOT CONTROL INTERFACE 审中-公开
标题翻译：机器人控制界面的动态优化方法
公开(公告)号：US20130096719A1
公开(公告)日：2013-04-18
申请号：US13272442
申请日：2011-10-13
申请人： Adam M. Sanders , Matthew J. Reiland , Douglas Martin Linn , Nathaniel Quillin
发明人： Adam M. Sanders , Matthew J. Reiland , Douglas Martin Linn , Nathaniel Quillin
IPC分类号： G05B15/00 , G06F19/00
CPC分类号： G05B19/409 , G05B2219/36133 , G05B2219/36542
摘要： A control interface for inputting data into a controller and/or controlling a robotic system is displayed on a human-to-machine interface device. The specific configuration of the control interface displayed is based upon the task to be performed, the capabilities of the robotic system, the capabilities of the human-to-machine interface device, and the level of expertise of the user. The specific configuration of the control interface is designed to optimize the interaction between the user and the robotic system based upon the above described criteria.
摘要翻译：用于将数据输入到控制器和/或控制机器人系统的控制界面显示在人机接口设备上。所显示的控制界面的具体配置基于要执行的任务，机器人系统的能力，人机界面设备的能力以及用户的专业知识水平。控制接口的具体配置被设计为基于上述标准来优化用户与机器人系统之间的交互。

4. 发明申请

US20130006417A1 COMMUNICATION SYSTEM AND METHOD 有权
标题翻译：通信系统和方法
公开(公告)号：US20130006417A1
公开(公告)日：2013-01-03
申请号：US13459557
申请日：2012-04-30
申请人： Adam M. Sanders , Philip A. Strawser
发明人： Adam M. Sanders , Philip A. Strawser
IPC分类号： H04B1/40 , G06F19/00 , H04B1/04
CPC分类号： H04L47/13 , H04L47/2433 , Y10S901/06 , Y10S901/08
摘要： A communication system for communicating over high-latency, low bandwidth networks includes a communications processor configured to receive a collection of data from a local system, and a transceiver in communication with the communications processor. The transceiver is configured to transmit and receive data over a network according to a plurality of communication parameters. The communications processor is configured to divide the collection of data into a plurality of data streams; assign a priority level to each of the respective data streams, where the priority level reflects the criticality of the respective data stream; and modify a communication parameter of at least one of the plurality of data streams according to the priority of the at least one data stream.
摘要翻译：用于通过高延迟低带宽网络进行通信的通信系统包括被配置为从本地系统接收数据的集合的通信处理器和与通信处理器通信的收发器。收发器被配置为根据多个通信参数通过网络发送和接收数据。通信处理器被配置为将数据集合划分成多个数据流; 为每个相应数据流分配优先级，其中优先级反映相应数据流的关键性; 并且根据所述至少一个数据流的优先级来修改所述多个数据流中的至少一个数据流的通信参数。

5. 发明申请

US20120072019A1 CONCURRENT PATH PLANNING WITH ONE OR MORE HUMANOID ROBOTS 有权
标题翻译：一个或多个人类机器人的同步路线规划
公开(公告)号：US20120072019A1
公开(公告)日：2012-03-22
申请号：US12887972
申请日：2010-09-22
申请人： Adam M. Sanders , Matthew J. Reiland
发明人： Adam M. Sanders , Matthew J. Reiland
IPC分类号： B25J17/00
CPC分类号： B25J9/1682 , B25J9/1661
摘要： A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.
摘要翻译：机器人系统包括控制器和一个或多个机器人，每个机器人具有多个机器人接头。每个机器人关节是独立可控的，从而执行具有至少一个任务执行叉的协作工作任务，导致多个独立子任务。控制器在执行协作工作任务期间协调机器人的运动。控制器将机器人接头组合到任务特定的机器人子系统中，并且在执行协作工作任务的各个子任务期间同步不同子系统的运动。使用机器人系统执行协同工作任务的方法包括：将机器人接头自动分组为任务专用子系统，以及在达到任务执行叉时将协同工作任务的子任务分配给子系统。该方法还包括在到达任务执行叉之后协调子任务的执行。

6. 发明授权

US08868234B2 Communication system and method 有权
标题翻译：通信系统及方法
公开(公告)号：US08868234B2
公开(公告)日：2014-10-21
申请号：US13459557
申请日：2012-04-30
申请人： Adam M. Sanders , Philip A. Strawser
发明人： Adam M. Sanders , Philip A. Strawser
IPC分类号： G06F19/00 , H04L12/801 , H04L12/851
CPC分类号： H04L47/13 , H04L47/2433 , Y10S901/06 , Y10S901/08
摘要： A communication system for communicating over high-latency, low bandwidth networks includes a communications processor configured to receive a collection of data from a local system, and a transceiver in communication with the communications processor. The transceiver is configured to transmit and receive data over a network according to a plurality of communication parameters. The communications processor is configured to divide the collection of data into a plurality of data streams; assign a priority level to each of the respective data streams, where the priority level reflects the criticality of the respective data stream; and modify a communication parameter of at least one of the plurality of data streams according to the priority of the at least one data stream.
摘要翻译：用于通过高延迟低带宽网络进行通信的通信系统包括被配置为从本地系统接收数据的集合的通信处理器和与通信处理器通信的收发器。收发器被配置为根据多个通信参数通过网络发送和接收数据。通信处理器被配置为将数据集合划分成多个数据流; 为每个相应数据流分配优先级，其中优先级反映相应数据流的关键性; 并且根据所述至少一个数据流的优先级来修改所述多个数据流中的至少一个数据流的通信参数。

7. 发明授权

US08805581B2 Procedural memory learning and robot control 有权
标题翻译：程序性记忆学习和机器人控制
公开(公告)号：US08805581B2
公开(公告)日：2014-08-12
申请号：US13400969
申请日：2012-02-21
申请人： Leandro G. Barajas , Adam M Sanders
发明人： Leandro G. Barajas , Adam M Sanders
IPC分类号： G05B19/04
CPC分类号： B25J9/163 , G05B2219/36422 , G05B2219/39296 , G05B2219/39298
摘要： Methods and apparatus for procedural memory learning to control a robot by demonstrating a task action to the robot and having the robot learn the action according to a similarity matrix of correlated values, attributes, and parameters obtained from the robot as the robot performs the demonstrated action. Learning is done by an artificial neural network associated with the robot controller, so that the robot learns to perform the task associated with the similarity matrix. Extended similarity matrices can contain integrated and differentiated values of variables. Procedural memory learning reduces overhead in instructing robots to perform tasks. Continued learning improves performance and provides automatic compensation for changes in robot condition and environmental factors.
摘要翻译：程序记忆学习的方法和装置，通过向机器人展示任务动作并使机器人根据机器人执行所示动作的相关值，属性和参数获得的相似性矩阵来学习动作来控制机器人。学习通过与机器人控制器相关联的人造神经网络完成，使得机器人学习执行与相似性矩阵相关联的任务。扩展相似矩阵可以包含变量的积分和差分值。程序记忆学习减少了指导机器人执行任务的开销。持续学习提高性能，并为机器人状况和环境因素的变化提供自动补偿。

8. 发明授权

US08369992B2 Embedded diagnostic, prognostic, and health management system and method for a humanoid robot 有权
标题翻译：人形机器人的嵌入式诊断，预测和健康管理系统和方法
公开(公告)号：US08369992B2
公开(公告)日：2013-02-05
申请号：US12564083
申请日：2009-09-22
申请人： Leandro G. Barajas , Adam M Sanders , Matthew J Reiland , Philip A Strawser
发明人： Leandro G. Barajas , Adam M Sanders , Matthew J Reiland , Philip A Strawser
IPC分类号： G05B19/00
CPC分类号： B25J9/1674 , G05B2219/39251 , G05B2219/40264
摘要： A robotic system includes a humanoid robot with multiple compliant joints, each moveable using one or more of the actuators, and having sensors for measuring control and feedback data. A distributed controller controls the joints and other integrated system components over multiple high-speed communication networks. Diagnostic, prognostic, and health management (DPHM) modules are embedded within the robot at the various control levels. Each DPHM module measures, controls, and records DPHM data for the respective control level/connected device in a location that is accessible over the networks or via an external device. A method of controlling the robot includes embedding a plurality of the DPHM modules within multiple control levels of the distributed controller, using the DPHM modules to measure DPHM data within each of the control levels, and recording the DPHM data in a location that is accessible over at least one of the high-speed communication networks.
摘要翻译：机器人系统包括具有多个柔性接头的类人形机器人，每个机器人可以使用一个或多个致动器进行移动，并且具有用于测量控制和反馈数据的传感器。分布式控制器通过多个高速通信网络控制关节和其他集成系统组件。诊断，预后和健康管理（DPHM）模块嵌入机器人内的各种控制级别。每个DPHM模块在可通过网络或外部设备访问的位置测量，控制和记录相应控制级/连接设备的DPHM数据。一种控制机器人的方法包括使用DPHM模块在每个控制级别内测量DPHM数据，并将DPHM数据记录在可访问的位置上，将多个DPHM模块嵌入分布式控制器的多个控制级别内至少一个高速通信网络。

9. 发明授权

US08260460B2 Interactive robot control system and method of use 有权
标题翻译：交互式机器人控制系统及其使用方法
公开(公告)号：US08260460B2
公开(公告)日：2012-09-04
申请号：US12564096
申请日：2009-09-22
申请人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
发明人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
IPC分类号： G06F19/00 , G05B19/04
CPC分类号： B25J9/1661 , G05B2219/36056 , G05B2219/36425 , G05B2219/39376 , G05B2219/40099
摘要： A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.
摘要翻译：机器人系统包括具有接头，致动器和传感器的机器人以及分布式控制器。控制器包括命令级控制器，每个控制各自关节的嵌入式联合级控制器，以及联合协调级控制器协调关节的运动。中央数据库（CDL）集中所有控制和反馈数据，用户界面使用CDL显示每个关节，执行器和传感器的状态。参数化动作序列具有链接事件的层次结构，并允许实时修改控制数据。控制机器人的方法包括通过控制器的各个级别发送控制数据，将所有控制和反馈数据路由到CDL，以及使用CDL显示机器人的状态和操作。生成参数化动作序列以供机器人执行，并且在序列内创建链接事件的层次结构。

10. 发明申请

US20110071676A1 INTERACTIVE ROBOT CONTROL SYSTEM AND METHOD OF USE 有权
标题翻译：交互式机器人控制系统及其使用方法
公开(公告)号：US20110071676A1
公开(公告)日：2011-03-24
申请号：US12564096
申请日：2009-09-22
申请人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
发明人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
IPC分类号： G05B19/04
CPC分类号： B25J9/1661 , G05B2219/36056 , G05B2219/36425 , G05B2219/39376 , G05B2219/40099
摘要： A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.
摘要翻译：机器人系统包括具有接头，致动器和传感器的机器人以及分布式控制器。控制器包括命令级控制器，每个控制各自关节的嵌入式联合级控制器，以及联合协调级控制器协调关节的运动。中央数据库（CDL）集中所有控制和反馈数据，用户界面使用CDL显示每个关节，执行器和传感器的状态。参数化动作序列具有链接事件的层次结构，并允许实时修改控制数据。控制机器人的方法包括通过控制器的各个级别发送控制数据，将所有控制和反馈数据路由到CDL，以及使用CDL显示机器人的状态和操作。生成参数化动作序列以供机器人执行，并且在序列内创建链接事件的层次结构。

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