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1. 发明授权

US08489239B2 Robust operation of tendon-driven robot fingers using force and position-based control laws 有权
标题翻译：使用强力和基于位置的控制规律对肌腱驱动的机器人手指进行稳健的操作
公开(公告)号：US08489239B2
公开(公告)日：2013-07-16
申请号：US12916803
申请日：2010-11-01
申请人： Muhammad E Abdallah , Robert J. Platt, Jr. , Matthew J Reiland , Brian Hargrave , Myron A Diftler , Philip A Strawser , Chris A. Ihrke
发明人： Muhammad E Abdallah , Robert J. Platt, Jr. , Matthew J Reiland , Brian Hargrave , Myron A Diftler , Philip A Strawser , Chris A. Ihrke
IPC分类号： G06F19/00 , G05B15/00 , G05B19/00
CPC分类号： B25J15/0009 , B25J9/1045
摘要： A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.
摘要翻译：机器人系统包括腱驱动的手指和控制系统。当张力传感器可用时，系统通过基于力的控制律控制手指，并且当传感器不可用时，通过基于位置的控制规律来控制手指。多个腱可以各自具有相应的传感器。当只有一些传感器可用时，系统选择性地将符合值注入基于位置的控制律。控制系统包括主机和具有控制过程的非暂时计算机可读介质，该控制过程由主机通过基于力或基于位置的控制定律来执行以控制手指。用于控制手指的方法包括确定张力传感器的可用性，以及使用控制系统通过力或基于位置的控制律选择性地控制手指。位置控制法允许控制系统抵抗干扰，同时名义上保持内部肌腱张力的初始状态。

2. 发明授权

US08364314B2 Method and apparatus for automatic control of a humanoid robot 有权
标题翻译：人形机器人的自动控制方法和装置
公开(公告)号：US08364314B2
公开(公告)日：2013-01-29
申请号：US12624445
申请日：2009-11-24
申请人： Muhammad E Abdallah , Robert Platt , Charles W. Wampler, II , Matthew J Reiland , Adam M Sanders
发明人： Muhammad E Abdallah , Robert Platt , Charles W. Wampler, II , Matthew J Reiland , Adam M Sanders
IPC分类号： G06F19/00
CPC分类号： H01R13/17 , H01R13/052
摘要： A robotic system includes a humanoid robot having a plurality of joints adapted for force control with respect to an object acted upon by the robot, a graphical user interface (GUI) for receiving an input signal from a user, and a controller. The GUI provides the user with intuitive programming access to the controller. The controller controls the joints using an impedance-based control framework, which provides object level, end-effector level, and/or joint space-level control of the robot in response to the input signal. A method for controlling the robotic system includes receiving the input signal via the GUI, e.g., a desired force, and then processing the input signal using a host machine to control the joints via an impedance-based control framework. The framework provides object level, end-effector level, and/or joint space-level control of the robot, and allows for functional-based GUI to simplify implementation of a myriad of operating modes.
摘要翻译：机器人系统包括具有适于对由机器人作用的物体进行力控制的多个关节的人形机器人，用于从用户接收输入信号的图形用户界面（GUI）和控制器。 GUI为用户提供对控制器的直观编程访问。控制器使用基于阻抗的控制框架控制关节，该框架响应于输入信号提供机器人的物体水平，末端执行器水平和/或联合空间级控制。用于控制机器人系统的方法包括经由GUI接收输入信号，例如期望的力，然后使用主机处理输入信号，以经由基于阻抗的控制框架来控制关节。该框架提供了机器人的对象级别，末端执行器级别和/或联合空间级别控制，并允许基于功能的GUI来简化无数操作模式的实现。

3. 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。

4. 发明授权

US09266440B2 Robotically operated vehicle charging station 有权
标题翻译：机器人操作车辆充电站
公开(公告)号：US09266440B2
公开(公告)日：2016-02-23
申请号：US13484345
申请日：2012-05-31
申请人： Dalong Gao , Neil David McKay , Matthew J Reiland , Simon Foucault , Marc-Antoine LaCasse , Thierry Laliberte , Boris Mayer-St-Onge , Alexandre Lecours , Clement Gosselin , David E. Milburn , Linda Y. Harkenrider
发明人： Dalong Gao , Neil David McKay , Matthew J Reiland , Simon Foucault , Marc-Antoine LaCasse , Thierry Laliberte , Boris Mayer-St-Onge , Alexandre Lecours , Clement Gosselin , David E. Milburn , Linda Y. Harkenrider
IPC分类号： H02J7/00 , B65B3/04 , B25J5/00 , B25J15/08 , G05B19/19 , B60L11/18 , B25J9/04 , B25J13/08 , H01R13/66 , H01R43/26 , H01R13/631 , H01R13/635
CPC分类号： B60L11/1818 , B25J9/042 , B25J13/085 , B60L11/1825 , B60L11/1827 , B60L2230/22 , H01R13/6315 , H01R13/635 , H01R13/6683 , H01R43/26 , H02J7/0027 , Y02T10/7005 , Y02T10/7055 , Y02T10/7088 , Y02T90/121 , Y02T90/125 , Y02T90/128 , Y02T90/14
摘要： A robotic charging station for charging a battery of an electric vehicle includes a base plate, a riser coupled with the base plate and extending substantially transverse to the base plate, and a robotic arm. The robotic arm extends from the riser and supports an end effector. The end effector includes a plurality of electrical contacts configured to couple with a receptacle disposed on the electric vehicle. The robotic arm is configured to move the end effector in three degrees of motion.
摘要翻译：用于对电动车辆的电池充电的机器人充电站包括基板，与基板耦合并且基本上横向于基板延伸的提升器和机器人臂。机器臂从提升管延伸并支撑末端执行器。末端执行器包括多个电触点，其被配置为与设置在电动车辆上的插座相连。机器人臂被配置成以三个运动方式移动末端执行器。

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