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1. 发明授权

US08706299B2 Method and system for controlling a dexterous robot execution sequence using state classification 有权
标题翻译：使用状态分类控制灵巧机器人执行顺序的方法和系统
公开(公告)号：US08706299B2
公开(公告)日：2014-04-22
申请号：US13196252
申请日：2011-08-02
申请人： Adam M. Sanders , Robert J. Platt, Jr. , Nathaniel Quillin , Frank Noble Permenter , Joseph Pfeiffer
发明人： Adam M. Sanders , Robert J. Platt, Jr. , Nathaniel Quillin , Frank Noble Permenter , Joseph Pfeiffer
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： B25J9/1656 , G05B2219/40387
摘要： A robotic system includes a dexterous robot and a controller. The robot includes a plurality of robotic joints, actuators for moving the joints, and sensors for measuring a characteristic of the joints, and for transmitting the characteristics as sensor signals. The controller receives the sensor signals, and is configured for executing instructions from memory, classifying the sensor signals into distinct classes via the state classification module, monitoring a system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the system state. A method for controlling the robot in the above system includes receiving the signals via the controller, classifying the signals using the state classification module, monitoring the present system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the present system state.
摘要翻译：机器人系统包括灵巧机器人和控制器。机器人包括多个机器人接头，用于移动接头的致动器，以及用于测量接头的特性的传感器，以及用于传送特性作为传感器信号。控制器接收传感器信号，并且被配置为执行来自存储器的指令，经由状态分类模块将传感器信号分类为不同的等级，使用该类监视机器人的系统状态，以及控制机器人执行替代工作基于系统状态的任务。一种用于在上述系统中控制机器人的方法包括经由控制器接收信号，使用状态分类模块对信号进行分类，使用该类监视机器人的当前系统状态，以及在执行替代工作任务时控制机器人基于当前的系统状态。

2. 发明申请

US20130035792A1 METHOD AND SYSTEM FOR CONTROLLING A DEXTEROUS ROBOT EXECUTION SEQUENCE USING STATE CLASSIFICATION 有权
标题翻译：使用状态分类控制异常机器人执行序列的方法和系统
公开(公告)号：US20130035792A1
公开(公告)日：2013-02-07
申请号：US13196252
申请日：2011-08-02
申请人： Adam M. Sanders , Robert J. Platt, JR. , Nathaniel Quillin , Frank Noble Permenter , Joseph Pfeiffer
发明人： Adam M. Sanders , Robert J. Platt, JR. , Nathaniel Quillin , Frank Noble Permenter , Joseph Pfeiffer
IPC分类号： B25J19/02
CPC分类号： B25J9/1656 , G05B2219/40387
摘要： A robotic system includes a dexterous robot and a controller. The robot includes a plurality of robotic joints, actuators for moving the joints, and sensors for measuring a characteristic of the joints, and for transmitting the characteristics as sensor signals. The controller receives the sensor signals, and is configured for executing instructions from memory, classifying the sensor signals into distinct classes via the state classification module, monitoring a system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the system state. A method for controlling the robot in the above system includes receiving the signals via the controller, classifying the signals using the state classification module, monitoring the present system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the present system state.
摘要翻译：机器人系统包括灵巧机器人和控制器。机器人包括多个机器人接头，用于移动接头的致动器，以及用于测量接头特性的传感器，以及用于传送特性作为传感器信号。控制器接收传感器信号，并且被配置为执行来自存储器的指令，经由状态分类模块将传感器信号分类为不同的等级，使用该类监视机器人的系统状态，以及控制机器人执行替代工作基于系统状态的任务。一种用于在上述系统中控制机器人的方法包括经由控制器接收信号，使用状态分类模块对信号进行分类，使用该类监视机器人的当前系统状态，以及在执行替代工作任务时控制机器人基于当前的系统状态。

3. 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。

4. 发明申请

US20110067521A1 HUMANOID ROBOT 有权
标题翻译：人类机器人
公开(公告)号：US20110067521A1
公开(公告)日：2011-03-24
申请号：US12564084
申请日：2009-09-22
申请人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Philip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
发明人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Philip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
IPC分类号： B25J17/02 , B25J18/00 , B25J17/00
CPC分类号： B25J18/00 , B25J15/0009 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： 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.
摘要翻译：人形机器人包括一个躯干，一双手臂，两只手，一个脖子和一个头。躯干沿主轴延伸并呈现一对肩。所述一对臂从所述一对肩部中的相应一个可移动地延伸。每个臂具有多个臂关节。颈部沿着主轴从躯干运动地延伸。颈部至少有一个颈关节。头部从颈部沿着主轴线可移动地延伸。头部至少有一个头关节。肩膀彼此倾斜，以每个肩膀之间所定义的耸肩角度相互倾斜，从而在肩膀之间定义工作空间。

5. 发明授权

US08511964B2 Humanoid robot 有权
标题翻译：人型机器人
公开(公告)号：US08511964B2
公开(公告)日：2013-08-20
申请号：US12564084
申请日：2009-09-22
申请人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Phillip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
发明人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Phillip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
IPC分类号： B25J11/00
CPC分类号： B25J18/00 , B25J15/0009 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： 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.
摘要翻译：人形机器人包括一个躯干，一双手臂，两只手，一个脖子和一个头。躯干沿主轴延伸并呈现一对肩。所述一对臂从所述一对肩部中的相应一个可移动地延伸。每个臂具有多个臂关节。颈部沿着主轴从躯干运动地延伸。颈部至少有一个颈关节。头部从颈部沿着主轴线可移动地延伸。头部至少有一个头关节。肩膀彼此倾斜，以每个肩膀之间所定义的耸肩角度相互倾斜，从而在肩膀之间定义工作空间。

6. 发明申请

US20110071672A1 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：US20110071672A1
公开(公告)日：2011-03-24
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： 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。

7. 发明申请

US20100306159A1 CONTACT STATE ESTIMATION FOR MULTI-FINGER ROBOT HANDS USING PARTICLE FILTERS 有权
标题翻译：使用颗粒过滤器的多指针机器人接触状态估计
公开(公告)号：US20100306159A1
公开(公告)日：2010-12-02
申请号：US12474068
申请日：2009-05-28
申请人： Robert Platt , Frank Noble Permenter , Craig M. Corcoran , Charles W. Wampler, II
发明人： Robert Platt , Frank Noble Permenter , Craig M. Corcoran , Charles W. Wampler, II
IPC分类号： G06N7/02 , G06F15/00
CPC分类号： B25J9/1612 , B25J9/1694 , G05B2219/33028 , G05B2219/39531 , G05B2219/40541 , G05B2219/40553 , G05B2219/40564 , G05B2219/40606
摘要： A method for identifying the location, orientation and shape of an object that a robot hand touches that includes using a particle filter. The method includes defining an appropriate motion model and a measurement model. The motion model characterizes the motion of the robot hand as it moves relative to the object. The measurement model estimates the likelihood of an observation of contact position, velocity and tactile sensor information given hand-object states. The measurement model is approximated analytically based on a geometric model or based on a corpus of training data. In either case, the measurement model distribution is encoded as a Gaussian or using radial basis functions.
摘要翻译：用于识别机器人手接触的对象的位置，方向和形状的方法包括使用粒子滤波器。该方法包括定义适当的运动模型和测量模型。运动模型表征机器人手相对于物体移动时的运动。测量模型估计给定手对象状态的接触位置，速度和触觉传感器信息的观察的可能性。测量模型基于几何模型或基于训练数据语料库进行分析近似。在任一情况下，测量模型分布被编码为高斯或使用径向基函数。

8. 发明授权

US08443694B2 Rotary series elastic actuator 有权
公开(公告)号：US08443694B2
公开(公告)日：2013-05-21
申请号：US13552965
申请日：2012-07-19
申请人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
发明人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00
CPC分类号： B25J9/126 , B25J17/025 , Y10T74/19637 , Y10T74/19642 , Y10T74/20317 , Y10T74/20329
摘要： A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.

9. 发明授权

US08067909B2 Method and apparatus for electromagnetically braking a motor 有权
标题翻译：用于电磁制动电机的方法和装置
公开(公告)号：US08067909B2
公开(公告)日：2011-11-29
申请号：US12474430
申请日：2009-05-29
申请人： Donald R. Davis , Nicolaus A Radford , Frank Noble Permenter , Adam H Parsons , Joshua S Mehling
发明人： Donald R. Davis , Nicolaus A Radford , Frank Noble Permenter , Adam H Parsons , Joshua S Mehling
IPC分类号： H02P7/00
CPC分类号： B60T13/04 , B60T13/741 , B60T13/743 , B60T13/748 , F16D2121/22 , F16D2129/065
摘要： An electromagnetic braking system and method is provided for selectively braking a motor using an electromagnetic brake having an electromagnet, a permanent magnet, a rotor assembly, and a brake pad. The brake assembly applies when the electromagnet is de-energized and releases when the electromagnet is energized. When applied the permanent magnet moves the brake pad into frictional engagement with a housing, and when released the electromagnet cancels the flux of the permanent magnet to allow a leaf spring to move the brake pad away from the housing. A controller has a DC/DC converter for converting a main bus voltage to a lower braking voltage based on certain parameters. The converter utilizes pulse-width modulation (PWM) to regulate the braking voltage. A calibrated gap is defined between the brake pad and permanent magnet when the brake assembly is released, and may be dynamically modified via the controller.
摘要翻译：提供一种电磁制动系统和方法，用于使用具有电磁体，永磁体，转子组件和制动衬块的电磁制动器选择性地制动电动机。当电磁铁断电时，制动组件适用，当电磁铁通电时，制动器组件释放。当施加永久磁铁时，制动片与壳体摩擦接合，当释放时，电磁铁抵消永久磁铁的磁通，使得片簧将制动片从壳体上移开。控制器具有用于基于某些参数将主母线电压转换为较低制动电压的DC / DC转换器。该转换器利用脉宽调制（PWM）来调节制动电压。当制动组件被释放时，在制动衬块和永磁体之间限定校准的间隙，并且可以通过控制器动态地修改。

10. 发明申请

US20110067517A1 ROTARY SERIES ELASTIC ACTUATOR 有权
标题翻译：旋转系列弹性致动器
公开(公告)号：US20110067517A1
公开(公告)日：2011-03-24
申请号：US12564090
申请日：2009-09-22
申请人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
发明人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
IPC分类号： B25J18/00 , B25J17/00
CPC分类号： B25J9/126 , B25J17/025 , Y10T74/19637 , Y10T74/19642 , Y10T74/20317 , Y10T74/20329
摘要： A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.
摘要翻译：提供旋转致动器组件用于致动用于灵巧的人形机器人的上臂组件。用于人形机器人的上臂组件包括多个臂支撑框架，每个臂支撑框架限定轴线。多个旋转致动器组件分别围绕相应的轴安装到多个臂支撑框架中的一个。每个旋转致动器组件包括围绕相应轴安装的马达，可旋转地连接到马达的齿轮传动装置和扭转弹簧。扭力弹簧具有可旋转地连接到齿轮传动装置的输出端的弹簧输入端和连接到接头的输出端的弹簧输出端。

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