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1. 发明授权

US10952876B2 Prosthesis 有权
公开(公告)号：US10952876B2
公开(公告)日：2021-03-23
申请号：US16095115
申请日：2017-04-25
申请人： Cavos Bagatelle Verwaltungs GmbH & Co. KG
发明人： Sami Haddadin
IPC分类号： A61F2/72 , A61F2/54 , A61F2/60 , A61F2/50 , A61F2/70 , A61F2/76 , A61F2/68
摘要： Prosthesis including prosthetic links driven by actuators, first sensors that sense current state ZUS(t); second sensors that sense biosignals SIGBIO(t); third sensors that sense data DUMG(t); processing device; and memory storing instructions that, when executed by the processing device, perform operations including: determining based on SIGBIO(t), ZUS(t), and DUMG(t), model MA(t) of an action A, and predicting motions Beweg(MA(t)), dependent on MA(t) for a time period; determining a decision E to replace A with an action A′(E) based on SIGBIO(t), ZUS(t), DUMG(t), and Beweg(MA(t)) according to an evaluation scheme, wherein A′(E) can define a reflexive and/or protective motion, and if A′(E) does not define the reflexive and/or protective motion, then determining model MA′(t) of A′(E) and predicting motions Beweg(MA′(t)), dependent on MA′(t), for the time period; deriving control signals Sig(t) based on Beweg(MA(t)) or Beweg(MA′(t)), or based on the reflexive and/or protective motion, and controlling/regulating the actuators based on Sig(t).

2. 发明申请

US20190241076A1 WIND MEASUREMENT BY MEANS OF A MULTICOPTER 审中-公开
公开(公告)号：US20190241076A1
公开(公告)日：2019-08-08
申请号：US16340018
申请日：2017-10-09
申请人： CAVOS BAGATELLE VERWALTUNGS GMBH & CO. KG
发明人： Teodor Tomic , Philipp Lutz , Sami Haddadin
IPC分类号： B60L15/20 , G01P5/00 , B64C39/02
CPC分类号： B60L15/20 , B60L2200/10 , B64C39/024 , B64C2201/027 , B64C2201/042 , B64C2201/108 , B64C2201/141 , G01P5/00
摘要： The invention relates to a multicopter, using which wind measurements can be carried out, and a method for wind measurement by means of a multicopter. The multicopter includes a number N of electric motors MOTn for driving N propellers PROPn, a first interface for providing first parameters P1 including: a 3D position rB of the center of gravity B of the multicopter, the time derivatives {dot over (r)}B and {umlaut over (r)}B, a 3D orientation oM of the multicopter and its time derivative {dot over (o)}M; a second interface for providing an aerodynamic power Pa,n presently generated by the respective propellers PROPn; a first unit which, on the basis of the first parameters P1, on the basis of a provided model M1 that describes dynamics of the multicopter, and an estimation determined on the basis of the model M1 of a force screw τe acting externally on the multicopter, determines horizontal components (vr,x, vr,y) of a relative speed of the multicopter in relation to air; a second unit, which, on the basis of the determined horizontal components (vr,x, vr,y) and on the basis of the aerodynamic power Pa,n, determines the vertical component (vr,z) of the relative speed vr; a third unit, which, on the basis of the determined horizontal components (vr,x, vr,y), the vertical component (vr,z), and on the basis of the parameters P1, determines the wind speed vw in an inertial system; and a storage unit to store wind speeds vw(rB) and/or a transmission unit to wirelessly transmit the wind speeds vw(rB) to a receiver.

3. 发明申请

US20180161981A1 CONTROL AND REGULATION OF ACTUATORS OF A ROBOT BY TAKING INTO CONSIDERATION AMBIENT CONTACTS 审中-公开
公开(公告)号：US20180161981A1
公开(公告)日：2018-06-14
申请号：US15575490
申请日：2016-05-10
申请人： Cavos Bagatelle Verwaltungs GmbH & Co. KG
发明人： Sami HADDADIN
IPC分类号： B25J9/16
CPC分类号： B25J9/1676 , B25J9/1628 , G05B2219/40201 , G05B2219/40202 , Y10S901/09 , Y10S901/15 , Y10S901/46
摘要： A method and device for the control and regulation of actuators of a robot, taking environmental contacts into consideration, wherein the robot comprises at least two parts, which are connected by an articulated joint drivable by an actuator. The method comprises: by way of a sensor system, ascertaining and storing a time-dependent variable, as a function of the time, of one or more external contact forces and/or of one or more external moments on the parts, providing a condition for the variable, classifying the feature vector based on predefined categories, which each indicate a contact type between one of the parts or the articulated joint and an object in a surrounding environment, which are each imparted by corresponding external contact forces and/or external contact moments, to generate a classification result, and open-loop and/or closed-loop control of the actuator as a function of the classification result.

4. 发明申请

US20190117416A1 PROSTHESIS 审中-公开
公开(公告)号：US20190117416A1
公开(公告)日：2019-04-25
申请号：US16095115
申请日：2017-04-25
申请人： Cavos Bagatelle Verwaltungs GmbH & Co. KG
发明人： Sami Haddadin
IPC分类号： A61F2/72 , A61F2/54 , A61F2/60
摘要： The invention relates to a prosthesis to replace a missing extremity of a living being, which has: one or more prosthetic links driven by actuators, first sensors, which sense a current state ZUS(t) of the prosthesis; an interface to second sensors, which sense biosignals SIGBIO(t) of the living being to control the missing extremity; third sensors for sensing data DUMG(t), which describe a current environment of the prosthesis; a prediction unit, which determines, based on the biosignals SIGBIO(t) and on the state ZUS(t) of the prosthesis and of the data DUMG(t), a model MA(t) of an action A to be executed with the prosthesis and predicts motions Beweg(MA(t)), dependent on the model MA(t), of the prosthetic links for a period of time [t, t+Δt]; an evaluating unit, by which the discrete decision E to replace the action A with another action A′(E) can be determined on the basis of an evaluation of the biosignals SIGBIO(t), of the state ZUS(t), of the data DUMG(t), and of the predicted motions Beweg(MA(t)) in accordance with a specified evaluation scheme, wherein the action A′(E) can define a reflexive motion and/or protective motion of the prosthesis that is autonomously controlled in an open-loop/closed-loop manner, and wherein, if the action A′(E) does not define such a reflexive motion and/or protective motion of the prosthesis that is autonomously controlled in an open-loop/closed-loop manner, the prediction unit determines a model MA′(t) of the action A′ to be performed by the prosthesis and predicts motions Beweg(MA′(t)), dependent on the model MA′(t), of the prosthetic links for a time period [t, t+Δt]; and a control unit, which derives control signals Sig(t), based on the currently valid, predicted motions Beweg(MA(t)) or Beweg(MA′(t)) or based on the reflexive and/or protective motion autonomously controlled in an open-loop/closed-loop manner, for controlling the actuators and controls/regulates the actuators based on the control signals Sig(t).

5. 发明申请

US20170282367A1 SYSTEM FOR GENERATING SETS OF CONTROL DATA FOR ROBOTS 审中-公开
公开(公告)号：US20170282367A1
公开(公告)日：2017-10-05
申请号：US15508328
申请日：2015-08-28
申请人： CAVOS BAGATELLE VERWALTUNGS GMBH & CO. KG
发明人： Sami Haddadin
IPC分类号： B25J9/16
CPC分类号： B25J9/1661 , B25J9/1602 , B25J9/163 , G05B19/41865 , G05B2219/36289 , G05B2219/36301 , G05B2219/39361 , Y02P90/18 , Y02P90/20
摘要： The invention relates to a system for generating sets of control data for networked robots, comprising a plurality of robots (Ri), wherein i=1, 2, 3, . . . , n, and n≧2, an optimizer (OE) and a database (DB), which are networked via a data network, wherein each robot (Ri) comprises at least: a control unit (SEi) for controlling and/or regulating the robot (Ri); a storage unit (SPEi) for controlling sets of control data SDi(Ak), which in each case enable the control of the robot (Ri) in accordance with a predetermined task (Ak), wherein k=1, 2, 3, . . . , m; a unit (EEi) for specifying a new task Am+1 for the robot (Ri), wherein Am+1≠Ak; a unit (EHi) for determining a set of control data SD,(Am+1) for execution of the task (Am+1) by the robot (Ri), an evaluation unit (BEi), which evaluates the set of control data SDi(Am+1) determined by the unit (EHi), with regard to at least one parameter (P1) with the characteristic number KP1(SDi(Am+1)), and a communication unit (KEi) for communication with the optimizer (OE) and/or the database (DB) and/or other robots (Rj≠i), the optimizer (OE), which is designed and configured in order to determine, upon request by a robot (Ri), at least one optimized set of control data SDi,P2(Am+1) with regard to at least one predetermined parameter (P2), wherein the request by the robot (Ri) occurs when the characteristic number KP1(SDi(Am+1) does not meet a predetermined condition, and the data base (DB) stores the set of control data SDi,P2(Am+1) optimized by the optimizer (OE) and provides it to the robot (Ri) for execution of the task (Am+1).

6. 发明授权

US11214366B2 Wind measurement by means of a multicopter 有权
公开(公告)号：US11214366B2
公开(公告)日：2022-01-04
申请号：US16340018
申请日：2017-10-09
申请人： CAVOS BAGATELLE VERWALTUNGS GMBH & CO. KG
发明人： Teodor Tomic , Philipp Lutz , Sami Haddadin
IPC分类号： B64C39/02 , G01P5/00 , B60L15/20 , G01P13/02
摘要： A multicopter including motors driving propellers, a first interface providing parameters including: a position of a center of gravity of the multicopter, time derivatives, an orientation of the multicopter and its time derivative; a second interface providing power generated by respective propellers; a first unit, based on the parameters, a provided model that describes dynamics of the multicopter, and an estimation of a force wrench acting externally on the multicopter, the estimation based on based on the model, determines horizontal components of a relative speed of the multicopter in relation to air; a second unit which, based on the horizontal components and power, determines a vertical component of the relative speed; a third unit which, based on the horizontal components, vertical component, and parameters, determines a wind speed in an inertial system; and a storage unit to store wind speeds and/or a transmission unit to wirelessly transmit the wind speeds.

7. 发明授权

US10710243B2 Control and regulation of actuators of a robot by taking into consideration ambient contacts 有权
公开(公告)号：US10710243B2
公开(公告)日：2020-07-14
申请号：US15575490
申请日：2016-05-10
申请人： Cavos Bagatelle Verwaltungs GmbH & Co. KG
发明人： Sami Haddadin
IPC分类号： G05B19/18 , B25J9/16
摘要： A method and device for the control and regulation of actuators of a robot, taking environmental contacts into consideration, wherein the robot comprises at least two parts, which are connected by an articulated joint drivable by an actuator. The method comprises: by way of a sensor system, ascertaining and storing a time-dependent variable, as a function of the time, of one or more external contact forces and/or of one or more external moments on the parts, providing a condition for the variable, classifying the feature vector based on predefined categories, which each indicate a contact type between one of the parts or the articulated joint and an object in a surrounding environment, which are each imparted by corresponding external contact forces and/or external contact moments, to generate a classification result, and open-loop and/or closed-loop control of the actuator as a function of the classification result.

8. 发明授权

US10493625B2 System for generating sets of control data for robots 有权
公开(公告)号：US10493625B2
公开(公告)日：2019-12-03
申请号：US15508328
申请日：2015-08-28
申请人： CAVOS BAGATELLE VERWALTUNGS GMBH & CO. KG
发明人： Sami Haddadin
IPC分类号： B25J9/16 , G05B19/418
CPC分类号： B25J9/1661 , B25J9/1602 , B25J9/163 , G05B19/41865 , G05B2219/36289 , G05B2219/36301 , G05B2219/39361 , Y02P90/18 , Y02P90/20
摘要： The invention relates to a system for generating sets of control data for networked robots, comprising a plurality of robots (Ri), wherein i=1, 2, 3, . . . , n, and n≥2, an optimizer (OE) and a database (DB), which are networked via a data network, wherein each robot (Ri) includes at least: a control unit (SEi) for controlling and/or regulating the robot (Ri); a storage unit (SPEi) for controlling sets of control data SDi(Ak), which in each case enable the control of the robot (Ri) in accordance with a predetermined task (Ak), wherein k=1, 2, 3, . . . , m; a unit (EEi) for specifying a new task Am+1 for the robot (Ri), wherein Am+1≠Ak; a unit (EHi) for determining a set of control data SDi(Am+1) for execution of the task (Am+1) by the robot (Ri), an evaluation unit (BEi), which evaluates the set of control data SDi(Am+1) determined by the unit (EHi), with regard to at least one parameter (P1) with the characteristic number KP1(SDi(Am+1)), and a communication unit (KEi) for communication with the optimizer (OE) and/or the database (DB) and/or other robots (Rj≠i), the optimizer (OE), which is designed and configured in order to determine, upon request by a robot (Ri), at least one optimized set of control data SDi,P2(Am+1) with regard to at least one predetermined parameter (P2), wherein the request by the robot (Ri) occurs when the characteristic number KP1(SDi(Am+1)) does not meet a predetermined condition, and the data base (DB) stores the set of control data SDi,P2(Am+1) optimized by the optimizer (OE) and provides it to the robot (Ri) for execution of the task (Am+1).

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