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1. 发明申请

US20130035789A1 ROBOT SIMULATION DEVICE FOR SIMULATING BEHAVIOR OF UMBILICAL MEMBER 有权
标题翻译：用于模拟脐带员行为的机器人模拟装置
公开(公告)号：US20130035789A1
公开(公告)日：2013-02-07
申请号：US13537598
申请日：2012-06-29
申请人： Toshiya TAKEDA
发明人： Toshiya TAKEDA
IPC分类号： G06F19/00
CPC分类号： B25J9/1674 , G05B17/02 , G05B19/4069 , G05B2219/39096
摘要： An umbilical member arrangement unit for an umbilical member, having a function for automatically adjusting each coefficient used in the physical simulation model, corresponding to the actual behavior of the umbilical member. A simulation device has a three-dimensional model generating part configured to generate a three-dimensional model of a umbilical member as a stereo structure constituted by a plurality of mass points and a spring connecting the mass points to each other; a simulating part configured to carry out a physical simulation; a storing part configured to previously store an actual static behavior, an actual dynamic behavior, and an actual dynamic behavior of the umbilical member when colliding with a rigid body; and an automatically adjusting part configured to carry out automatic adjustment so that a result of the physical simulation coincides with the actual behaviors stored in the storing part.
摘要翻译：一种用于脐带构件的脐带构件排列单元，其具有与脐带构件的实际行为相对应的用于自动调整物理模拟模型中使用的各个系数的功能。模拟装置具有三维模型生成部，其被配置为生成作为由多个质点构成的立体结构的脐部构件的三维模型和将质点彼此连接的弹簧; 被配置为执行物理模拟的模拟部分; 存储部件，被配置为预先存储当与刚体碰撞时脐带构件的实际静态特性，实际动态特性和实际动态特性; 以及自动调整部，被配置为进行自动调整，使得物理模拟的结果与存储在存储部中的实际行为一致。

2. 发明授权

US08311731B2 Robots with collision avoidance functionality 有权
标题翻译：具有防冲突功能的机器人
公开(公告)号：US08311731B2
公开(公告)日：2012-11-13
申请号：US12052483
申请日：2008-03-20
申请人： Hisashi Sugiura , Herbert Janssen , Michael Gienger
发明人： Hisashi Sugiura , Herbert Janssen , Michael Gienger
IPC分类号： G06F19/00 , G06T15/00
CPC分类号： B25J9/1666 , G05B2219/39082 , G05B2219/39088 , G05B2219/39096 , G05B2219/40477 , G05B2219/40492
摘要： A robot is provided with a motion control unit that avoids collision between segments of the robot or between segments of the robot and other objects. The motion control unit of the robot comprises a distance computing module, a whole body control module, a collision avoidance module, and a blending control unit. The distance computing module calculates two closest points of different segments of the robot connected to each other via at least one joint or a segment of the robot and another object. The collision avoidance module is provided with the information about the two closest points. The blending control unit combines the weighted output control signals of the whole body control module and the collision avoidance control module. The weight of the whole body control output signal is higher when the risk of collision is lower. The weight of the collision avoidance control output signal is higher when the risk of collision is higher. The collision avoidance module is designed to control a collision avoidance action only in the direction parallel to a line connecting between the two closest points.
摘要翻译：机器人设置有运动控制单元，其避免机器人的段之间或机器人的其他物体的段之间的碰撞。机器人的运动控制单元包括距离计算模块，全身控制模块，防撞模块和混合控制单元。距离计算模块通过机器人和另一物体的至少一个关节或段来计算机器人彼此连接的不同段的两个最近点。防撞模块提供有关两个最近点的信息。混合控制单元组合了全身控制模块和防撞控制模块的加权输出控制信号。当碰撞风险较低时，全身控制输出信号的重量较高。碰撞风险较高时，防撞控制输出信号的重量较大。防撞模块设计成仅在平行于两个最接近的点之间的线路的方向上控制防撞作用。

3. 发明公开

US20230249354A1 SYNTHETIC REPRESENTATION OF A SURGICAL ROBOT 审中-公开
公开(公告)号：US20230249354A1
公开(公告)日：2023-08-10
申请号：US18187612
申请日：2023-03-21
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian D. Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
IPC分类号： B25J9/16 , G05B19/42 , A61B90/00 , A61B34/00 , A61B34/30 , A61B34/37
CPC分类号： B25J9/1697 , B25J9/1671 , B25J9/1692 , G05B19/4202 , A61B90/36 , A61B34/25 , A61B90/361 , A61B34/30 , A61B34/37 , B25J9/1666 , A61B90/37 , B25J9/1689 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , A61B34/20
摘要： A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera configured to capture an image of a camera field of view. The system further comprises an input device, a display, and a processor. The processor is configured to display a first synthetic image including a first synthetic image of the tool. The first synthetic image of the tool includes a portion of the tool outside of the camera field of view. The processor is also configured to receive a user input at the input device and responsive to the user input, change the display of the first synthetic image to a display of a second synthetic image including a second synthetic image of the tool that is different from the first synthetic image of the tool.

4. 发明授权

US09446518B1 Leg collision avoidance in a robotic device 有权
标题翻译：机器人设备中的腿部碰撞避免
公开(公告)号：US09446518B1
公开(公告)日：2016-09-20
申请号：US14538777
申请日：2014-11-11
申请人： Google Inc.
发明人： Kevin Blankespoor
IPC分类号： G05B19/04 , G05B19/18 , B25J9/16
CPC分类号： B25J9/1666 , B25J9/1676 , B62D57/00 , G05B2219/39096 , Y10S901/01 , Y10S901/02 , Y10S901/28
摘要： An example implementation for avoiding leg collisions may involve a biped robot reducing a three-dimensional system to a two-dimensional projection of the biped robot's feet. An example biped robot may determine a touchdown location for a swing foot. The biped robot may determine lateral positions of the touchdown location and the swing foot, each relative to a stance foot. Based on one or more of the determined lateral positions of the touchdown location and the swing foot, each relative to the stance foot, the biped robot may determine an intermediate swing point for the swing foot that is not on a line defined by the swing foot and the touchdown location. The biped robot may further cause the swing foot to move to the intermediate swing point, and then cause the swing foot to move to the touchdown location.
摘要翻译：用于避免腿部碰撞的示例实施方案可以涉及将三维系统减少到两足动物机器人的脚的二维投影的两足动物机器人。示例性双足动物机器人可以确定摇摆脚的触地位置。双足机器人可以确定触地位置和摆脚的横向位置，每个相对于站立脚。基于触地位置和摆脚的确定的横向位置中的一个或多个，每个位置相对于站立脚，两足动物机器人可以确定摆动脚的中间摆动点，其不在由摆动脚限定的线上和达阵地点。双足机器人还可以使摆动脚移动到中间摆动点，然后使摇摆脚移动到触地位置。

5. 发明申请

US20030020424A1 Method for controlling the movement of a robot 有权
标题翻译：控制机器人运动的方法
公开(公告)号：US20030020424A1
公开(公告)日：2003-01-30
申请号：US10154519
申请日：2002-05-23
发明人： Martin Weiss , Thomas Finsterwalder , Gunther Merk
IPC分类号： G05B019/10
CPC分类号： B25J9/1676 , B25J9/1666 , G05B2219/39096 , G05B2219/40215
摘要： Accompanied by the optimization of the possibilities of use of a robot, particularly with regards to low cycle times and high loads, damage to the robot through exceeding the energy absorbable by the structure is still prevented when robot parts strike against the mechanical structure as a result of faults or errors, according to the invention in a method for controlling the movement of a robot, the kinetic energy of moving robot members (Gi ginull1, . . . , gn) about an axis (Ai) is limited to the energy absorbable in damage-free manner by a mechanical buffer associated with the corresponding axis (Ai).
摘要翻译：伴随着机器人的使用可能性的优化，特别是在低周期时间和高负载的情况下，机器人部件通过超过结构可吸收的能量而受到机器人部件撞击机械结构的损害，仍然受到阻碍的故障或错误，根据本发明在用于控制机器人的运动的方法中，移动的机器人构件的动能（G i g i ），我 +1，...，g n ）限于与相应轴相关联的机械缓冲器以无损伤的方式吸收能量（A i ）。

6. 发明授权

US11999423B2 Leg swing trajectories 有权
公开(公告)号：US11999423B2
公开(公告)日：2024-06-04
申请号：US17820063
申请日：2022-08-16
申请人： Boston Dynamics, Inc.
发明人： Eric Whitman
IPC分类号： B62D57/032 , B25J9/16 , B62D57/024 , G05D109/12
CPC分类号： B62D57/032 , B25J9/1666 , B62D57/024 , G05B2219/39096 , G05B2219/45083 , G05D2109/12 , Y10S901/01
摘要： A method of planning a swing trajectory for a leg of a robot includes receiving an initial position of a leg of the robot, an initial velocity of the leg, a touchdown location, and a touchdown target time. The method also includes determining a difference between the initial position and the touchdown location and separating the difference between the initial position and the touchdown location into a horizontal motion component and a vertical motion component. The method also includes selecting a horizontal motion policy and a vertical motion policy to satisfy the motion components. Each policy produces a respective trajectory as a function of the initial position, the initial velocity, the touchdown location, and the touchdown target time. The method also includes executing the selected policies to swing the leg of the robot from the initial position to the touchdown location at the touchdown target time.

7. 发明申请

US20180126559A9 SYNTHETIC REPRESENTATION OF A SURGICAL ROBOT 审中-公开
公开(公告)号：US20180126559A9
公开(公告)日：2018-05-10
申请号：US15629533
申请日：2017-06-21
申请人： Intuitive Surgical Operations, Inc.
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian D. Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
IPC分类号： B25J9/16 , G05B19/42 , A61B34/30 , A61B34/00 , A61B34/37 , A61B90/00
CPC分类号： B25J9/1697 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2034/2059 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1689 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06F19/00
摘要： A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

8. 发明授权

US09895559B2 Robot 有权
公开(公告)号：US09895559B2
公开(公告)日：2018-02-20
申请号：US14541124
申请日：2014-11-13
申请人： Daegu Gyeongbuk Institute of Science and Technology
发明人： Pyung Hun Chang , Gezgin Erkin
IPC分类号： A61N5/10 , A61B6/00 , A61B34/30 , B25J18/00 , B25J9/16 , A61B34/35 , A61B34/00 , B25J9/02
CPC分类号： A61N5/1083 , A61B6/4007 , A61B6/44 , A61B6/4458 , A61B34/30 , A61B34/35 , A61B34/77 , A61B2034/305 , A61N5/1084 , B25J9/02 , B25J9/1666 , B25J18/005 , G05B2219/39096 , Y10S901/23 , Y10T74/20317
摘要： A robot includes a link portion including a plurality of link members and a drive portion to rotate the link members, and axes of rotation of the drive portion extending from end portions of the link members is positioned at an identical point.

9. 发明授权

US08594843B2 Robot simulation device for simulating behavior of umbilical member 有权
标题翻译：用于模拟脐带构件行为的机器人模拟装置
公开(公告)号：US08594843B2
公开(公告)日：2013-11-26
申请号：US13537598
申请日：2012-06-29
申请人： Toshiya Takeda
发明人： Toshiya Takeda
IPC分类号： B25J19/00 , B25J9/22
CPC分类号： B25J9/1674 , G05B17/02 , G05B19/4069 , G05B2219/39096
摘要： An umbilical member arrangement unit for an umbilical member, having a function for automatically adjusting each coefficient used in the physical simulation model, corresponding to the actual behavior of the umbilical member. A simulation device has a three-dimensional model generating part configured to generate a three-dimensional model of a umbilical member as a stereo structure constituted by a plurality of mass points and a spring connecting the mass points to each other; a simulating part configured to carry out a physical simulation; a storing part configured to previously store an actual static behavior, an actual dynamic behavior, and an actual dynamic behavior of the umbilical member when colliding with a rigid body; and an automatically adjusting part configured to carry out automatic adjustment so that a result of the physical simulation coincides with the actual behaviors stored in the storing part.
摘要翻译：一种用于脐带构件的脐带构件排列单元，其具有与脐带构件的实际行为相对应的用于自动调整物理模拟模型中使用的各个系数的功能。模拟装置具有三维模型生成部，其被配置为生成作为由多个质点构成的立体结构的脐部构件的三维模型和将质点彼此连接的弹簧; 被配置为执行物理模拟的模拟部分; 存储部件，被配置为预先存储当与刚体碰撞时脐带构件的实际静态行为，实际动态行为和实际动态行为; 以及自动调整部，被配置为进行自动调整，使得物理模拟的结果与存储在存储部中的实际行为一致。

10. 发明申请

US20080234864A1 Robots with Collision Avoidance Functionality 有权
标题翻译：具有碰撞避免功能的机器人
公开(公告)号：US20080234864A1
公开(公告)日：2008-09-25
申请号：US12052483
申请日：2008-03-20
申请人： Hisashi Sugiura , Herbert Janssen , Michael Gienger
发明人： Hisashi Sugiura , Herbert Janssen , Michael Gienger
IPC分类号： G06F17/00
CPC分类号： B25J9/1666 , G05B2219/39082 , G05B2219/39088 , G05B2219/39096 , G05B2219/40477 , G05B2219/40492
摘要： A robot is provided with a motion control unit that avoids collision between segments of the robot or between segments of the robot and other objects. The motion control unit of the robot comprises a distance computing module, a whole body control module, a collision avoidance module, and a blending control unit. The distance computing module calculates two closest points of different segments of the robot connected to each other via at least one joint or a segment of the robot and another object. The collision avoidance module is provided with the information about the two closest points. The blending control unit combines the weighted output control signals of the whole body control module and the collision avoidance control module. The weight of the whole body control output signal is higher when the risk of collision is lower. The weight of the collision avoidance control output signal is higher when the risk of collision is higher. The collision avoidance module is designed to control a collision avoidance action only in the direction parallel to a line connecting between the two closest points.
摘要翻译：机器人设置有运动控制单元，其避免机器人的段之间或机器人的其他物体的段之间的碰撞。机器人的运动控制单元包括距离计算模块，全身控制模块，防撞模块和混合控制单元。距离计算模块通过机器人和另一物体的至少一个关节或段来计算机器人彼此连接的不同段的两个最近点。防撞模块提供有关两个最近点的信息。混合控制单元组合了全身控制模块和防撞控制模块的加权输出控制信号。当碰撞风险较低时，全身控制输出信号的重量较高。碰撞风险较高时，防撞控制输出信号的重量较大。防撞模块设计成仅在平行于两个最接近的点之间的线路的方向上控制防撞作用。

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