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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
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
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
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
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
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
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
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
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
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
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
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
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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