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1. 发明申请

US20120328395A1 Teleoperated Robotic System 有权
标题翻译：遥控机器人系统
公开(公告)号：US20120328395A1
公开(公告)日：2012-12-27
申请号：US13332165
申请日：2011-12-20
申请人： Stephen C. Jacobsen , Fraser M. Smith , John McCullough , Glenn Colvin, JR. , Wayco Scroggin , Marc X. Olivier
发明人： Stephen C. Jacobsen , Fraser M. Smith , John McCullough , Glenn Colvin, JR. , Wayco Scroggin , Marc X. Olivier
IPC分类号： B25J3/00
CPC分类号： B25J3/04 , B25J5/005 , B25J13/025
摘要： A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.
摘要翻译：包括主控臂，从手臂和移动平台的远程机器人系统。在使用中，用户操纵主控臂以控制从臂的移动。远程机器人系统可以包括两个主控臂和两个从站。主控制臂和从动臂可以安装在平台上。该平台可以为主控制臂和机器人系统的远程操作员或用户提供支持。因此，移动平台可以允许机器人系统从一个地方移动到另一个地方，以将从属臂定位在使用位置。另外，用户可以定位在平台上，使得用户可以直接看到和听到从手臂和从属臂操作的工作空间。

2. 发明申请

US20120237319A1 Robotic Lift Device with Human Interface Operation 有权
标题翻译：具有人机界面操作的机器人提升装置
公开(公告)号：US20120237319A1
公开(公告)日：2012-09-20
申请号：US13421612
申请日：2012-03-15
申请人： Stephen C. Jacobsen , Fraser M. Smith , John McCullough , Marc X. Olivier , Glenn Colvin , Wayco Scroggin
发明人： Stephen C. Jacobsen , Fraser M. Smith , John McCullough , Marc X. Olivier , Glenn Colvin , Wayco Scroggin
IPC分类号： B25J13/00
CPC分类号： B25J3/04 , B25J5/005 , B25J5/007 , B25J9/0087
摘要： An operator controllable robotic device is disclosed. The robotic device comprises a support member, an upper robotic arm, a lower robotic arm, and a control arm. The upper robotic arm is coupled to the support member and has rotational movement in at least one degree of freedom relative to the support member. The lower robotic arm is coupled to the upper robotic arm and has rotational movement in at least one degree of freedom relative to the upper robotic arm. The control arm allows an operator to control the robotic device. The control arm is coupled to the upper robotic arm and has rotational movement in at least one degree of freedom relative to the upper robotic arm. The control arm allows a movement of the operator to control a movement of at least one of the upper robotic arm and the lower robotic arm.
摘要翻译：公开了一种操作者可控机器人装置。机器人装置包括支撑构件，上机械手臂，下机械手臂和控制臂。上机械手臂联接到支撑构件并且相对于支撑构件具有至少一个自由度的旋转运动。下部机器人臂联接到上部机器人手臂，并且相对于上部机器人手臂具有至少一个自由度的旋转运动。控制臂允许操作者控制机器人装置。控制臂联接到上部机械手臂，并且相对于上部机器人手臂具有至少一个自由度的旋转运动。控制臂允许操作者的运动来控制上机械手臂和下机械手臂中的至少一个的运动。

3. 发明申请

US20120137667A1 Regenerative Hydraulic Pump 有权
标题翻译：再生液压泵
公开(公告)号：US20120137667A1
公开(公告)日：2012-06-07
申请号：US12959198
申请日：2010-12-02
申请人： Stephen C. Jacobsen , John McCullough , Marc X. Olivier , Fraser M. Smith
发明人： Stephen C. Jacobsen , John McCullough , Marc X. Olivier , Fraser M. Smith
IPC分类号： F16D31/02
CPC分类号： F04B17/05 , B60K6/12 , F02B63/06 , F02B67/08 , F04B1/0421 , F04B1/053 , F04B9/045 , F04B11/0016 , F04B11/0033 , F04B49/16 , F04B53/162 , Y02T10/6208
摘要： A regenerative hydraulic pump that allows for efficient operation of a hydraulic system under high pressure/low flow conditions that comprises a crankshaft providing a rotating inertial mass, and a regenerative hydraulic pump cylinder that comprises a pump cylinder housing, a pump piston mechanically connected to the crankshaft; and a compliant pressure chamber that stores a portion of the energy extracted by the pump piston during a pumping stroke for release back to the pump piston and to the crankshaft during a regenerative back stroke.
摘要翻译：一种再生液压泵，其允许在包括提供旋转惯性质量的曲轴的高压/低流量条件下的液压系统的有效操作，以及包括泵缸壳体的再生液压泵缸，与所述泵缸体机械连接的泵活塞曲轴以及柔性压力室，其在泵送冲程期间存储由所述泵活塞提取的能量的一部分，以在再生后冲程期间释放回到所述泵活塞和所述曲轴。

4. 发明授权

US09200625B2 Regenerative hydraulic pump 有权
标题翻译：再生液压泵
公开(公告)号：US09200625B2
公开(公告)日：2015-12-01
申请号：US12959198
申请日：2010-12-02
申请人： Stephen C. Jacobsen , John McCullough , Marc X. Olivier , Fraser M. Smith
发明人： Stephen C. Jacobsen , John McCullough , Marc X. Olivier , Fraser M. Smith
IPC分类号： F04B11/00 , F04B17/05 , B60K6/12 , F02B63/06 , F02B67/08 , F04B1/04 , F04B1/053 , F04B9/04 , F04B49/16 , F04B53/16
CPC分类号： F04B17/05 , B60K6/12 , F02B63/06 , F02B67/08 , F04B1/0421 , F04B1/053 , F04B9/045 , F04B11/0016 , F04B11/0033 , F04B49/16 , F04B53/162 , Y02T10/6208
摘要： A regenerative hydraulic pump that allows for efficient operation of a hydraulic system under high pressure/low flow conditions that comprises a crankshaft providing a rotating inertial mass, and a regenerative hydraulic pump cylinder that comprises a pump cylinder housing, a pump piston mechanically connected to the crankshaft; and a compliant pressure chamber that stores a portion of the energy extracted by the pump piston during a pumping stroke for release back to the pump piston and to the crankshaft during a regenerative back stroke.
摘要翻译：一种再生液压泵，其允许在包括提供旋转惯性质量的曲轴的高压/低流量条件下的液压系统的有效操作，以及包括泵缸壳体的再生液压泵缸，与所述泵缸体机械连接的泵活塞曲轴以及柔性压力室，其在泵送冲程期间存储由所述泵活塞提取的能量的一部分，以在再生后冲程期间释放回到所述泵活塞和所述曲轴。

5. 发明授权

US08977388B2 Platform perturbation compensation 有权
标题翻译：平台扰动补偿
公开(公告)号：US08977388B2
公开(公告)日：2015-03-10
申请号：US13332138
申请日：2011-12-20
申请人： Stephen C. Jacobsen , John McCullough , Fraser M. Smith , Marc X. Olivier
发明人： Stephen C. Jacobsen , John McCullough , Fraser M. Smith , Marc X. Olivier
IPC分类号： G06F7/00 , B66C13/44 , B25J3/04 , B25J5/00 , B25J9/00 , B66C1/42
CPC分类号： B66C13/44 , B25J3/04 , B25J5/005 , B25J9/0087 , B66C1/425
摘要： A method for compensating for a perturbation external to a platform having a plurality of mechanical arms in accordance with an embodiment of the technology includes detecting a normal positional and/or orientational measurement of the platform using a sensor. A perturbed positional and/or orientational measurement of the platform can also be detected using the sensor. The normal positional and/or orientational measurement and the perturbed positional and/or orientational measurement can be compared to determine a positional and/or orientational difference. A position and/or orientation of a mechanical arm can be adjusted to compensate for the perturbation based on the positional and/or orientational difference.
摘要翻译：根据该技术的实施例，用于补偿具有多个机械臂的平台外部的扰动的方法包括使用传感器检测平台的正常位置和/或取向测量。还可以使用传感器来检测平台的扰动位置和/或取向测量。可以比较正常的位置和/或取向测量和扰动的位置和/或取向测量以确定位置和/或取向差。可以调节机械臂的位置和/或取向，以基于位置和/或取向差来补偿扰动。

6. 发明授权

US09314921B2 Robotic lift device with human interface operation 有权
标题翻译：具有人机界面操作的机器人电梯装置
公开(公告)号：US09314921B2
公开(公告)日：2016-04-19
申请号：US13421612
申请日：2012-03-15
申请人： Stephen C. Jacobsen , Fraser M. Smith , John McCullough , Marc X. Olivier , Glenn Colvin , Wayco Scroggin
发明人： Stephen C. Jacobsen , Fraser M. Smith , John McCullough , Marc X. Olivier , Glenn Colvin , Wayco Scroggin
IPC分类号： B25J3/04 , B25J5/00 , B25J9/00
CPC分类号： B25J3/04 , B25J5/005 , B25J5/007 , B25J9/0087
摘要： An operator controllable robotic device is disclosed. The robotic device comprises a support member, an upper robotic arm, a lower robotic arm, and a control arm. The upper robotic arm is coupled to the support member and has rotational movement in at least one degree of freedom relative to the support member. The lower robotic arm is coupled to the upper robotic arm and has rotational movement in at least one degree of freedom relative to the upper robotic arm. The control arm allows an operator to control the robotic device. The control arm is coupled to the upper robotic arm and has rotational movement in at least one degree of freedom relative to the upper robotic arm. The control arm allows a movement of the operator to control a movement of at least one of the upper robotic arm and the lower robotic arm.
摘要翻译：公开了一种操作者可控机器人装置。机器人装置包括支撑构件，上机械手臂，下机械手臂和控制臂。上机械手臂联接到支撑构件并且相对于支撑构件具有至少一个自由度的旋转运动。下部机器人臂联接到上部机器人手臂，并且相对于上部机器人手臂具有至少一个自由度的旋转运动。控制臂允许操作者控制机器人装置。控制臂联接到上部机械手臂，并且相对于上部机器人手臂具有至少一个自由度的旋转运动。控制臂允许操作者的运动来控制上机械手臂和下机械手臂中的至少一个的运动。

7. 发明申请

US20120277901A1 Platform Perturbation Compensation 有权
标题翻译：平台扰动补偿
公开(公告)号：US20120277901A1
公开(公告)日：2012-11-01
申请号：US13332138
申请日：2011-12-20
申请人： Stephen C. Jacobsen , John McCullough , Fraser M. Smith , Marc X. Olivier
发明人： Stephen C. Jacobsen , John McCullough , Fraser M. Smith , Marc X. Olivier
IPC分类号： G06F7/00 , B66F19/00
CPC分类号： B66C13/44 , B25J3/04 , B25J5/005 , B25J9/0087 , B66C1/425
摘要： A method for compensating for a perturbation external to a platform having a plurality of mechanical arms in accordance with an embodiment of the technology includes detecting a normal positional and/or orientational measurement of the platform using a sensor. A perturbed positional and/or orientational measurement of the platform can also be detected using the sensor. The normal positional and/or orientational measurement and the perturbed positional and/or orientational measurement can be compared to determine a positional and/or orientational difference. A position and/or orientation of a mechanical arm can be adjusted to compensate for the perturbation based on the positional and/or orientational difference.
摘要翻译：根据该技术的实施例，用于补偿具有多个机械臂的平台外部的扰动的方法包括使用传感器检测平台的正常位置和/或取向测量。还可以使用传感器来检测平台的扰动位置和/或取向测量。可以比较正常的位置和/或取向测量和扰动的位置和/或取向测量以确定位置和/或取向差。可以调节机械臂的位置和/或取向，以基于位置和/或取向差来补偿扰动。

8. 发明授权

US09789603B2 Teleoperated robotic system 有权
公开(公告)号：US09789603B2
公开(公告)日：2017-10-17
申请号：US13332165
申请日：2011-12-20
申请人： Stephen C. Jacobsen , Fraser M. Smith , John McCullough , Glenn Colvin, Jr. , Wayco Scroggin , Marc X. Olivier
发明人： Stephen C. Jacobsen , Fraser M. Smith , John McCullough , Glenn Colvin, Jr. , Wayco Scroggin , Marc X. Olivier
IPC分类号： B25J3/00 , B25J3/04 , B25J5/00 , B25J13/02
CPC分类号： B25J3/04 , B25J5/005 , B25J13/025
摘要： A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

9. 发明申请

US20130011220A1 System and Method For Controlling A Teleoperated Robotic Agile Lift System 有权
标题翻译：用于控制遥控机器人敏捷升降系统的系统和方法
公开(公告)号：US20130011220A1
公开(公告)日：2013-01-10
申请号：US13332152
申请日：2011-12-20
申请人： Stephen C. Jacobsen , Fraser M. Smith , Marc X. Olivier , Shane Stilson
发明人： Stephen C. Jacobsen , Fraser M. Smith , Marc X. Olivier , Shane Stilson
IPC分类号： B25J3/00
CPC分类号： B25J3/04 , B25J5/005 , B25J9/0084 , B25J9/1689 , B25J13/025 , B66C1/425 , B66C13/44
摘要： A method for controlling a tele-operated robot agile lift system is disclosed. The method comprises manipulating a human-machine interface of a master robot located on a mobile platform. The human machine interface is kinematically equivalent to a user's arm with a plurality of support members. A position value and a torque value is measured for each support member. The position value and torque value are communicated to support members of a kinematically equivalent slave arm to position the support members to correspond with a position of the human-machine interface.
摘要翻译：公开了一种用于控制远程操作的机器人敏捷升降系统的方法。该方法包括操纵位于移动平台上的主机器人的人机界面。人机界面在运动上相当于具有多个支撑构件的使用者手臂。测量每个支撑构件的位置值和扭矩值。位置值和扭矩值被传递到运动学等效的从动臂的支撑构件，以将支撑构件定位成与人机界面的位置相对应。

10. 发明授权

US08317555B2 Amphibious robotic crawler 有权
标题翻译：两栖机器人履带
公开(公告)号：US08317555B2
公开(公告)日：2012-11-27
申请号：US12814302
申请日：2010-06-11
申请人： Stephen C. Jacobsen , Fraser M. Smith , Marc X. Olivier
发明人： Stephen C. Jacobsen , Fraser M. Smith , Marc X. Olivier
IPC分类号： B63H19/08
CPC分类号： B63C11/52 , B63C11/34
摘要： An amphibious robotic crawler for traversing a body of water having two frame units coupled end-to-end or in tandem by an actuated linkage arm. Each frame unit includes a housing with a drivable continuous track rotatably supported thereon. The frame units are operable with a power supply, a drive mechanism and a control module. Each frame unit further includes a buoyancy control element for suspending the frame unit in the water, and for controlling the depth of the robotic crawler within the water. The control module coordinates the rotation of the continuous tracks, the position of the linkage arm and the buoyancy of the buoyancy control elements to control movement, direction and pose of the robotic crawler through the body of water.
摘要翻译：一种水陆两用的机器人履带，用于横过具有两个框架单元的水体，该框架单元由致动的连接臂端对端或串联连接。每个框架单元包括具有可旋转地支撑在其上的可驱动连续轨道的壳体。框架单元可与电源，驱动机构和控制模块一起操作。每个框架单元还包括用于将框架单元悬挂在水中的浮力控制元件，并用于控制机器人履带在水中的深度。控制模块协调连续轨道的旋转，联动臂的位置和浮力控制元件的浮力，以控制机器人履带通过水体的运动，方向和姿态。

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