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1. 发明授权

US08428781B2 Systems and methods of coordination control for robot manipulation 有权
标题翻译：机器人操纵的协调控制系统和方法
公开(公告)号：US08428781B2
公开(公告)日：2013-04-23
申请号：US12620482
申请日：2009-11-17
申请人： Chu-Yin Chang , James English , Neil Tardella , James Bacon
发明人： Chu-Yin Chang , James English , Neil Tardella , James Bacon
IPC分类号： G05B15/00
CPC分类号： B25J9/162 , B25J9/1643 , B25J9/1682 , G05B2219/40336 , Y10T74/20323
摘要： Disclosed herein are systems and methods for controlling robotic apparatus having several movable elements or segments coupled by joints. At least one of the movable elements can include one or more mobile bases, while the others can form one or more manipulators. One of the movable elements can be treated as an end effector for which a certain motion is desired. The end effector may include a tool, for example, or represent a robotic hand (or a point thereon), or one or more of the one or more mobile bases. In accordance with the systems and methods disclosed herein, movement of the manipulator and the mobile base can be controlled and coordinated to effect a desired motion for the end effector. In many cases, the motion can include simultaneously moving the manipulator and the mobile base.
摘要翻译：这里公开了用于控制机器人装置的系统和方法，其具有由接头联接的多个可移动元件或段。可移动元件中的至少一个可以包括一个或多个移动基座，而另一个可以形成一个或多个操纵器。可移动元件中的一个可以被视为需要某种运动的端部执行器。端部执行器可以包括例如或者代表机器人手（或其上的点）或者一个或多个移动基座中的一个或多个的工具。根据本文公开的系统和方法，可以控制和协调机械手和移动基座的运动，以实现末端执行器的所需运动。在许多情况下，运动可以包括同时移动操纵器和移动基座。

2. 发明申请

US20090306825A1 MANIPULATION SYSTEM AND METHOD 审中-公开
标题翻译：操纵系统和方法
公开(公告)号：US20090306825A1
公开(公告)日：2009-12-10
申请号：US12427193
申请日：2009-04-21
申请人： Ying Li , Justin C. Keesling , James English , Neil Tardella
发明人： Ying Li , Justin C. Keesling , James English , Neil Tardella
IPC分类号： G05B15/02
CPC分类号： B25J9/1669 , G05B2219/39543
摘要： A method, computer program product, and system for robotic manipulation is provided. The method may include receiving, at a computing device, an input indicating an existence of an object having at least one characteristic and identifying the at least one characteristic via the computing device. The method may further include determining a robotic manipulating algorithm for the object based upon, at least in part, the at least one characteristic, the robotic manipulating algorithm defining instructions for enabling a robot to manipulate the object. Numerous other embodiments are also within the scope of the present disclosure.
摘要翻译：提供了一种用于机器人操纵的方法，计算机程序产品和系统。该方法可以包括在计算设备处接收指示存在具有至少一个特征的对象的输入，以及经由计算设备识别该至少一个特性。该方法可以进一步包括至少部分地基于至少一个特征来确定用于对象的机器人操纵算法，所述机器人操纵算法定义用于使机器人能够操纵对象的指令。许多其它实施例也在本公开的范围内。

3. 发明申请

US20100152899A1 SYSTEMS AND METHODS OF COORDINATION CONTROL FOR ROBOT MANIPULATION 有权
标题翻译：用于机器人操纵的协调控制系统和方法
公开(公告)号：US20100152899A1
公开(公告)日：2010-06-17
申请号：US12620482
申请日：2009-11-17
申请人： Chu-Yin Chang , James English , Neil Tardella , James Bacon
发明人： Chu-Yin Chang , James English , Neil Tardella , James Bacon
IPC分类号： G05B15/00 , G06F19/00
CPC分类号： B25J9/162 , B25J9/1643 , B25J9/1682 , G05B2219/40336 , Y10T74/20323
摘要： Disclosed herein are systems and methods for controlling robotic apparatus having several movable elements or segments coupled by joints. At least one of the movable elements can include one or more mobile bases, while the others can form one or more manipulators. One of the movable elements can be treated as an end effector for which a certain motion is desired. The end effector may include a tool, for example, or represent a robotic hand (or a point thereon), or one or more of the one or more mobile bases. In accordance with the systems and methods disclosed herein, movement of the manipulator and the mobile base can be controlled and coordinated to effect a desired motion for the end effector. In many cases, the motion can include simultaneously moving the manipulator and the mobile base.
摘要翻译：这里公开了用于控制机器人装置的系统和方法，其具有由接头联接的多个可移动元件或段。可移动元件中的至少一个可以包括一个或多个移动基座，而另一个可以形成一个或多个操纵器。可移动元件中的一个可以被视为需要某种运动的端部执行器。端部执行器可以包括例如或者代表机器人手（或其上的点）或者一个或多个移动基座中的一个或多个的工具。根据本文公开的系统和方法，可以控制和协调机械手和移动基座的运动，以实现末端执行器的所需运动。在许多情况下，运动可以包括同时移动操纵器和移动基座。

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