Walking platforms with automatic self-stabilization - Legged mobile robot and method of controlling operation of the same - Legged mobile robot and method and apparatus for controlling the operation thereof - Recognizing self-position in robot system - Robotic paint applicator and method of protecting a paint robot having and explosion proof electric motor - System and method generating a trajectory for an end effector - Fine tuning of a robot program - Modularity system for computer assisted surgery - Arm cart for telerobotic surgical system - Microwrist system for surgical procedures - Tendon link mechanism with six degrees of freedom - Thermogravimetrical analyzer autosampler sealed sample pan - Transport apparatus and vacuum processing system using the same

Walking platforms with automatic self-stabilization

A walking platform that achieves automatic self-stabilization includes a motor within the mid-region of the platform that is in communication with a crankshaft. The crankshaft has a connecting rod that is rotatably attached to it. The connecting rod, in turn, has a pole that is rotatably attached to it. There is a foot attached that is capable of supporting the weight of the platform. The motor is powered by a battery that causes the components of the platform to simulate a walking motion. This battery is attached to the lower portion of the platform in order to lower the center of gravity of the platform. The platform also includes at least one levered component that is rotatably attached to the platform, allowing it to pivot freely and dampen oscillations produced by the walking platform.

Filo, Andrew S.
Filo; Andrew S.; December 14, 02004
#6831437

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Legged mobile robot and method of controlling operation of the same

A legged mobile robot possesses degrees of freedom which are provided at roll, pitch, and yaw axes at a trunk. By using these degrees of freedom which are provided at the trunk, the robot can smoothly get up from any fallen-down posture. In addition, by reducing the required torque and load on movable portions other than the trunk, and by spreading/averaging out the load between each of the movable portions, concentration of a load on a particular member is prevented from occurring. As a result, the robot is operated more reliably, and energy is used with greater efficiency during a getting-up operation. The robot independently, reliably, and smoothly gets up from various fallen-down postures such as a lying-on-the-face posture, a lying-on-the-back posture, and a lying sideways posture.

Hattori, Yuichi; Ishida, Tatsuzo; Yamaguchi, Jinichi
Sony Corporation; December 14, 02004
#6832131

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Legged mobile robot and method and apparatus for controlling the operation thereof

A legged mobile robot is adaptively controlled in its attitude against variable external forces to continue the operation without inversion. When the legged mobile robot kicks an object having a certain mass, such as a ball, the robot is to be prevented from being fallen down by the reactive force from the object. Even if the mass or the repulsion coefficient of the object kicked is unknown, the operation of kicking the object at a sufficiently low speed is carried out at the outset to predict the reactive force produced on actual kicking in order to predict the reactive force produced on actual kicking. The result is that the stability in attitude can be maintained on kicking at an arbitrary speed. The legged mobile robot is able to take part as one of the players in athletic games, such as soccer games, in which each player performs his or her role as the or she is subjected to an external force.

Ishida, Tatsuzo; Kuroki, Yoshihiro; Yamaguchi, Jinichi
Sony Corporation; December 14, 02004
#6832132

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Apparatus and method for recognizing self-position in robot system

The present invention relates to an apparatus and method for recognizing self-position employing a virtual map divided into directional reflex distance data and cell unit, and a computer-readable recording medium for recording a program containing the method of the invention. The apparatus for recognizing self-position in a robot system includes: a reflex distance detecting unit for outputting a designated signal to each direction obtained by equally dividing 360.degree. as designated, detecting a point where the outputted signal reaches a designated object by using the signal reflected and inputted, and based on the detection result, detecting the distance to the object in each direction; direction detecting unit for providing information of absolute direction; and, controlling unit for controlling general operation of the reflex distance detecting unit and the direction detecting unit, dividing the region on a virtual map into a cell unit to generate directional reflex distance information per cell, and recognizing the present position by comparing the directional reflex distance information of each cell with the directional reflex distance information from the present position of a detected robot.

Kim, In-Gwang
December 21, 02004
#6834118

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Robotic paint applicator and method of protecting a paint robot having and explosion proof electric motor

A robotic paint applicator having a plurality of relatively movable housing enclosures each including an explosion proof motor including a housing having a gas inlet and outlet, and a source of non-combustible gas under pressure connected to each motor housing inlet circulating non-combustible gas through the motor housing and directing non-combustible gas into the robot housing enclosures. The robot housing enclosures are substantially air-tight and interconnected with a control unit operating an inlet valve to maintain a predetermined pressure of non-combustible gas within each robot housing enclosure. The method of this invention includes purging the motor housings and robot enclosures at a first pressure and maintaining a lesser pressure of non-combustible gas following purging.

Haas, Jurgen; Hezel, Thomas; Frey, Marcus
Behr Systems, Inc.; December 28, 02004
#6835248

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System and method generating a trajectory for an end effector

A method, program embodied on a computer readable medium, and various systems are provided for generating a process trajectory. A normalized image of an object is displayed on a display device of a computer system, the object including a surface that is to be processed using an end effector. A number of predefined trajectories are stored in a memory of the computer system, each of the predefined trajectories defining a motion of the end effector to process a surface of one of a number of spatial definitions. A trajectory generation system is implemented to generate the process trajectory for the end effector to process the surface of the object by associating at least one of the predefined trajectories with the normalized image.

Greene, Charles A.; Phillips, Larry S.
Advanced Robotic Technologies, Inc.; December 28, 02004
#6836700

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Method for fine tuning of a robot program

A method for fine tuning of a robot program for a robot application comprising an industrial robot, a tool and a work object to be processed by the tool along a path comprising a number of desired poses on the work object, the robot program comprises a number of program instructions containing programmed poses corresponding to the desired poses, wherein the method comprises: defining a fine tuning coordinate system Xft, Yft, Zft, selecting one of said programmed poses pi, calculating said selected pose in the fine tuning coordinate system, producing program instructions for said selected pose in the fine tuning coordinate system, running said one or more program instructions by the robot, determining the difference between the pose obtained after running the program instructions and the desired pose, adjusting the fine tuning coordinate system in dependence of said difference, producing program instructions for said selected pose in the adjusted fine tuning coordinate system Xft', Yft', Zft'.

Brog.ang.rdh, Torgny; Brantmark, H.ang.kan; Gan, Zhongxue; Rossano, Gregory; Li, Xiongzi; Sun, Yunquan; Tang, Quing
ABB AB; December 28, 02004
#6836702

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Modularity system for computer assisted surgery

A medical system that allows a medical device to be controlled by one of two input devices. The input devices may be consoles that contain handles and a screen. The medical devices may include robotic arms and instruments used to perform a medical procedure. The system may include an arbitrator that determines which console has priority to control one or more of the robotic arms/instruments.

Wang, Yulun; Ghodoussi, Modjtaba; Uecker, Darrin; Wright, James; Mangaser, Amante
Computer Motion, Inc.; December 28, 02004
#6836703

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Arm cart for telerobotic surgical system

Improved robotic surgical systems, devices, and methods often include a first assembly with a surgical end effector supported and manipulated relative to a first base by a first robotic linkage, while a second surgical end effector manipulated and supported relative to a second, independent base by a second robotic linkage. One or more of these robotic assemblies may be moved relative to the other. To coordinate the end effector movements with those of input devices being manipulated by a surgeon relative to a display of a surgical worksite, the processor deriving the commands for movement of the robotic linkages may make use of a signal indicating a relative orientation of the bases of the robotic arm assemblies. Surprisingly, the robotic arm assemblies may not transmit signals to the processor indicating a relative translational position of the bases.

Moll, Frederic H.; Rosa, David J.; Ramans, Andris D.; Blumenkranz, Stephen J.; Guthart, Gary S.; Niemeyer, Gunter D.; Nowlin, William C.; Salisbury, Jr., J. Kenneth; Tierney, Michael J.; Mintz, David S.
Intuitive Surgical, Inc.; January 04, 02005
#6837883

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Microwrist system for surgical procedures

A medical robotic system with a handle assembly that is used to control a medical instrument. The handle assembly and medical instrument have five degrees of freedom. Five degrees of freedom may provide greater dexterity than medical robotic systems of the prior art with four or less degrees of freedom. Five degrees of freedom reduces the size and complexity of the instrument.

Sanchez, Dan; Uecker, Darrin; Svanidze, Oleg; Wright, James; Wang, Yulun
Institute Surgical, Inc.; January 04, 02005
#6839612

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Tendon link mechanism with six degrees of freedom

A computer-controlled parallel-leg mechanism, with three pairs of remotely-actuated tendon legs, provides accurate six-degrees-of-freedom motion and positioning for a tool platform. Leg pair termination at a common point with three degrees of pivoting freedom is provided by a unique linkage joint. Non-intrusive tool-position feedback is enabled by nine shaft encoders mounted at the mechanism's base end.

Moran, Michael Julius
January 11, 02005
#6840127

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Thermogravimetrical analyzer autosampler sealed sample pan

The present invention relates to apparatus, systems, and methods for opening an autosampler sealed sample pan prior to TGA testing. The sealed sample pan comprises a pan, cover, and bail. A notch is formed in the seal sample pan cover. The cover can be opened by applying a concentrated force to the inside of the notch with a punch element integrated into the autosampler. This causes the center disk portion of the cover to be partially sheared and the sealed sample pan to be opened. It also prevents the punch element from touching the sample. A force sensor is used to determine if the cover has been opened. If the cover has been opened, then the sample pan is loaded to the TGA balance. If the cover has not been opened, the autosampler will not load the pan and will automatically move to the next sealed sample pan.

Reader, Jr., John R.; Shdaimah, Amichai; Ferguson, Fred L.
Waters Investment Limited; January 11, 02005
#6840668

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Transport apparatus and vacuum processing system using the same

This invention provides a transport apparatus having a simple configuration that can reduce its turning radius and transport semiconductor devices at high speed. The transport apparatus comprising the first and second arms having at a first end of each thereof a rotary drive shaft being arranged coaxially, and third and fourth arms rotatably linked at respective the first ends thereof to the respective second ends of the first and second arms. The second ends of the third and fourth arms are supported around centers of coaxially arranged spindles, respectively. The transport apparatus further comprises an articulating mechanism having an attitude control mechanism adapted to apply rotary forces with opposite phases to the respective spindles arranged at the third and fourth arms.

Minami, Hirofumi; Yuyama, Junpei
ULVAC, Inc.; January 11, 02005
#6840732

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