Embodiments are provided for communicating notifications and other textual data associated with applications installed on an electronic device. According to certain aspects, a user can interface with an input device to send (218) a wake up trigger to the electronic device. The electronic device retrieves (222) application notifications and converts (288) the application notifications to audio data. The electronic device also sends (230) the audio data to an audio output device for annunciation (232). The user may also use the input device to send (242) a request to the electronic device to activate the display screen. The electronic device identifies (248) an application corresponding to an annunciated notification, and activates (254) the display screen and initiates the application.
G06F 3/0484 - Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
G06F 3/0488 - Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
A method includes obtaining, from an operator of a robot, a return execution lease associated with one or more commands for controlling the robot that is scheduled within a sequence of execution leases. The robot is configured to execute commands associated with a current execution lease that is an earliest execution lease in the sequence of execution leases that is not expired. The method includes obtaining an execution lease expiration trigger triggering expiration of the current execution lease. After obtaining the trigger, the method includes determining that the return execution lease is a next current execution lease in the sequence. While the return execution lease is the current execution lease, the method includes executing the one or more commands for controlling the robot associated with the return execution lease which cause the robot to navigate to a return location remote from a current location of the robot.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
Methods and apparatus for implementing a safety system for a mobile robot are described. The method comprises receiving first sensor data from one or more sensors, the first sensor data being captured at a first time, identifying, based on the first sensor data, a first unobserved portion of a safety field in an environment of a mobile robot, assigning, to each of a plurality of contiguous regions within the first unobserved portion of the safety field, an occupancy state, updating, at a second time after the first time, the occupancy state of one or more of the plurality of contiguous regions, and determining one or more operating parameters for the mobile robot, the one or more operating parameters based, at least in part, on the occupancy state of at least some regions of the plurality of contiguous regions at the second time.
According to one disclosed method, one or more sensors of a robot may receive data corresponding to one or more locations of the robot along a path the robot is following within an environment on a first occasion. Based on the received data, a determination may be made that one or more stairs exist in a first region of the environment. Further, when the robot is at a position along the path the robot is following on the first occasion, a determination may be made that the robot is expected to enter the first region. The robot may be controlled to operate in a first operational mode associated with traversal of stairs when it is determined that one or more stairs exist in the first region and the robot is expected to enter the first region.
A robot leg assembly including a hip joint and an upper leg member. A proximal end portion of the upper leg member rotatably coupled to the hip joint. The robot leg assembly including a knee joint rotatably coupled to a distal end portion of the upper leg member, a lower leg member rotatably coupled to the knee joint, a linear actuator disposed on the upper leg member and defining a motion axis, and a motor coupled to the linear actuator and a linkage coupled to the translation stage and to the lower leg member. The linear actuator includes a translation stage moveable along the motion axis to translate rotational motion of the motor to linear motion of the translation stage along the motion axis, which moves the linkage to rotate the lower leg member relative to the upper leg member at the knee joint.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
A computing system may provide a model of a robot. The model may be configured to determine simulated motions of the robot based on sets of control parameters. The computing system may also operate the model with multiple sets of control parameters to simulate respective motions of the robot. The computing system may further determine respective scores for each respective simulated motion of the robot, wherein the respective scores are based on constraints associated with each limb of the robot and a goal. The constraints include actuator constraints and joint constraints for limbs of the robot. Additionally, the computing system may select, based on the respective scores, a set of control parameters associated with a particular score. Further, the computing system may modify a behavior of the robot based on the selected set of control parameters to perform a coordinated exertion of forces by actuators of the robot.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
An example implementation involves controlling robots with non-constant body pitch and height. The implementation involves obtaining a model of the robot that represents the robot as a first point mass rigidly coupled with a second point mass along a longitudinal axis. The implementation also involves determining a state of a first pair of legs, and determining a height of the first point mass based on the model and the state of the first pair of legs. The implementation further involves determining a first amount of vertical force for at least one leg of the first pair of legs to apply along a vertical axis against a surface while the at least one leg is in contact with the surface. Additionally, the implementation involves causing the at least one leg of the first pair of legs to begin applying the amount of vertical force against the surface.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
A kit includes a computing device configured to control motion of equipment for receiving one or more parcels in an environment of a mobile robot. The kit also includes a structure configured to couple to the equipment. The structure comprises an identifier configured to be sensed by a sensor of the mobile robot.
A kit includes a computing device configured to control motion of equipment for receiving one or more parcels in an environment of a mobile robot. The kit also includes a structure configured to couple to the equipment. The structure comprises an identifier configured to be sensed by a sensor of the mobile robot.
B25J 5/00 - Manipulators mounted on wheels or on carriages
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
G05D 1/02 - Control of position or course in two dimensions
A computing device receives location information for a mobile robot. The computing device also receives location information for an entity in an environment of the mobile robot. The computing device determines a distance between the mobile robot and the entity in the environment of the mobile robot. The computing device determines one or more operating parameters for the mobile robot. The one or more operating parameters are based on the determined distance.
G05D 1/02 - Control of position or course in two dimensions
B25J 5/00 - Manipulators mounted on wheels or on carriages
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
A computing device receives location information for a mobile robot. The computing device also receives location information for an entity in an environment of the mobile robot. The computing device determines a distance between the mobile robot and the entity in the environment of the mobile robot. The computing device determines one or more operating parameters for the mobile robot. The one or more operating parameters are based on the determined distance.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
14.
BRAKING AND REGENERATION CONTROL IN A LEGGED ROBOT
An example robot includes a hydraulic actuator cylinder controlling motion of a member of the robot. The hydraulic actuator cylinder comprises a piston, a first chamber, and a second chamber. A valve system controls hydraulic fluid flow between a hydraulic supply line of pressurized hydraulic fluid, the first and second chambers, and a return line. A controller may provide a first signal to the valve system so as to begin moving the piston based on a trajectory comprising moving in a forward direction, stopping, and moving in a reverse direction. The controller may provide a second signal to the valve system so as to cause the piston to override the trajectory as it moves in the forward direction and stop at a given position, and then provide a third signal to the valve system so as to resume moving the piston in the reverse direction based on the trajectory.
F15B 9/09 - Servomotors with follow-up action, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor with electrical control means
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
B25J 5/00 - Manipulators mounted on wheels or on carriages
Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
G05D 1/02 - Control of position or course in two dimensions
B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
A method for detecting boxes includes receiving a plurality of image frame pairs for an area of interest including at least one target box. Each image frame pair includes a monocular image frame and a respective depth image frame. For each image frame pair, the method includes determining corners for a rectangle associated with the at least one target box within the respective monocular image frame. Based on the determined corners, the method includes the following: performing edge detection and determining faces within the respective monocular image frame; and extracting planes corresponding to the at least one target box from the respective depth image frame. The method includes matching the determined faces to the extracted planes and generating a box estimation based on the determined corners, the performed edge detection, and the matched faces of the at least one target box.
G06V 10/25 - Determination of region of interest [ROI] or a volume of interest [VOI]
G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
G06V 10/80 - Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
G06V 10/44 - Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
An actuation pressure to actuate one or more hydraulic actuators may be determined based on a load on the one or more hydraulic actuators of a robotic device. Based on the determined actuation pressure, a pressure rail from among a set of pressure rails at respective pressures may be selected. One or more valves may connect the selected pressure rail to a metering valve. The hydraulic drive system may operate in a discrete mode in which the metering valve opens such that hydraulic fluid flows from the selected pressure rail through the metering valve to the one or more hydraulic actuators at approximately the supply pressure. Responsive to a control state of the robotic device, the hydraulic drive system may operate in a continuous mode in which the metering valve throttles the hydraulic fluid such that the supply pressure is reduced to the determined actuation pressure.
F15B 11/18 - Servomotor systems without provision for follow-up action with two or more servomotors used in combination for obtaining stepwise operation of a single controlled member
G05D 1/02 - Control of position or course in two dimensions
09 - Scientific and electric apparatus and instruments
35 - Advertising and business services
42 - Scientific, technological and industrial services, research and design
Goods & Services
computer software, downloadable and recorded, for the remote management of robotic equipment and internet of things (IoT) enabled devices, namely, for controlling, operating, and monitoring the status of robots, machine tools, industrial machines, and IoT enabled devices, the management of data collected by robotic equipment and IoT enabled devices, analyzing the data gathered by robotic equipment and IoT enabled devices to identify historical trends, predict outcomes, and assess performance, sending real-time instructions, setting routes and missions, and modifying the scheduled tasks of robotic equipment and IoT enabled devices, the real-time monitoring of on-sight sensors, including laser scanning, gas, radiation, vibration, partial discharge, thermal, audio, and the camera and video images collected by robotic equipment and IoT enabled devices, and teleoperation of robotic equipment and IoT enabled devices; computer interface software, namely, downloadable and recorded computer software for use in database management, storing and managing electronic data; the management of data collected by robotic equipment and internet of things (IoT) enabled devices; database management services consisting of a database comprised of data collected by robotic equipment and IoT sensors; data processing services, namely, collecting and analyzing the data gathered by robotic equipment and IoT enabled devices to identify historical trends, predict outcomes, and assess performance; providing online non-downloadable computer software platforms for the remote management of robotic equipment and internet of things (IoT) enabled devices, namely, for controlling, operating, and monitoring the status of robots, machine tools, industrial machines and IoT enabled devices, the management of data collected by robotic equipment and IoT enabled devices, analyzing the data gathered by robotic equipment and IoT enabled devices to identify historical trends, predict outcomes, and assess performance, sending real-time instructions, setting routes and missions, and modifying the scheduled tasks of robotic equipment and IoT enabled devices, the real-time monitoring of on-sight sensors, including laser scanning, gas, radiation, vibration, partial discharge, thermal, audio, and the camera and video images collected by robotic equipment and IoT enabled devices, and teleoperation of robotic equipment and IoT enabled devices; providing temporary use of non-downloadable cloud-based software for managing electronic data interfaces (EDI);
A method for calibrating a position measurement system includes receiving measurement data from the position measurement system and determining that the measurement data includes periodic distortion data. The position measurement system includes a nonius track and a master track. The method also includes modifying the measurement data by decomposing the periodic distortion data into periodic components and removing the periodic components from the measurement data.
G01D 5/244 - Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means generating pulses or pulse trains
G01D 5/347 - Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using optical means, i.e. using infrared, visible or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
Using the techniques discussed herein, a set of images is captured by one or more array imagers (106). Each array imager includes multiple imagers configured in various manners. Each array imager captures multiple images of substantially a same scene at substantially a same time. The images captured by each array image are encoded by multiple processors (112, 114). Each processor can encode sets of images captured by a different array imager, or each processor can encode different sets of images captured by the same array imager. The encoding of the images is performed using various image-compression techniques so that the information that results from the encoding is smaller, in terms of storage size, than the uncompressed images.
H04N 13/282 - Image signal generators for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems
H04N 19/107 - Selection of coding mode or of prediction mode between spatial and temporal predictive coding, e.g. picture refresh
H04N 19/503 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding involving temporal prediction
H04N 19/593 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding involving spatial prediction techniques
H04N 19/62 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using transform coding by frequency transforming in three dimensions
H04N 19/436 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals - characterised by implementation details or hardware specially adapted for video compression or decompression, e.g. dedicated software implementation using parallelised computational arrangements
H04N 19/42 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals - characterised by implementation details or hardware specially adapted for video compression or decompression, e.g. dedicated software implementation
H04N 13/161 - Encoding, multiplexing or demultiplexing different image signal components
H04N 19/597 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding specially adapted for multi-view video sequence encoding
G06T 1/20 - Processor architectures; Processor configuration, e.g. pipelining
H04N 23/45 - Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
H04N 23/75 - Circuitry for compensating brightness variation in the scene by influencing optical camera components
H04N 23/80 - Camera processing pipelines; Components thereof
H04N 23/957 - Light-field or plenoptic cameras or camera modules
A method of manipulating boxes includes receiving a minimum box size for a plurality of boxes varying in size located in a walled container. The method also includes dividing a grip area of a gripper into a plurality of zones. The method further includes locating a set of candidate boxes based on an image from a visual sensor. For each zone, the method additionally includes, determining an overlap of a respective zone with one or more neighboring boxes to the set of candidate boxes. The method also includes determining a grasp pose for a target candidate box that avoids one or more walls of the walled container. The method further includes executing the grasp pose to lift the target candidate box by the gripper where the gripper activates each zone of the plurality of zones that does not overlap a respective neighboring box to the target candidate box.
Methods and apparatus for online camera calibration are provided. The method comprises receiving a first image captured by a first camera of a robot, wherein the first image includes an object having at least one known dimension, receiving a second image captured by a second camera of the robot, wherein the second image includes the object, wherein a field of view of the first camera and a field of view of the second camera at least partially overlap, projecting a plurality of points on the object in the first image to pixel locations in the second image, and determining, based on pixel locations of the plurality of points on the object in second image and the projected plurality of points on the object, a reprojection error.
Methods and apparatus for performing automated inspection of one or more assets in an environment using a mobile robot are provided. The method, comprises defining, within an image captured by a sensor of a robot, a region of interest that includes an asset in an environment of the robot, wherein the asset is associated with an asset identifier, configuring at least one parameter of a computer vision model based on the asset identifier, processing image data within the region of interest using the computer vision model to determine whether an alert should be generated, and outputting the alert when it is determined that the alert should be generated.
A method for online authoring of robot autonomy applications includes receiving sensor data of an environment about a robot while the robot traverses through the environment. The method also includes generating an environmental map representative of the environment about the robot based on the received sensor data. While generating the environmental map, the method includes localizing a current position of the robot within the environmental map and, at each corresponding target location of one or more target locations within the environment, recording a respective action for the robot to perform. The method also includes generating a behavior tree for navigating the robot to each corresponding target location and controlling the robot to perform the respective action at each corresponding target location within the environment during a future mission when the current position of the robot within the environmental map reaches the corresponding target location.
One disclosed method involves at least one application controlling navigation of a robot through an environment based at least in part on a topological map, the topological map including at least a first waypoint, a second waypoint, and a first edge representing a first path between the first waypoint and the second waypoint. The at least one application determines that the topological map includes at least one feature that identifies a first service that is configured to control the robot to perform at least one operation, and instructs the first service to perform the at least one operation as the robot travels along at least a portion of the first path.
According to one disclosed method, one or more sensors of a robot may receive data corresponding to one or more locations of the robot along a path the robot is following within an environment on a first occasion. Based on the received data, a determination may be made that one or more stairs exist in a first region of the environment. Further, when the robot is at a position along the path the robot is following on the first occasion, a determination may be made that the robot is expected to enter the first region. The robot may be controlled to operate in a first operational mode associated with traversal of stairs when it is determined that one or more stairs exist in the first region and the robot is expected to enter the first region.
B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
Methods and apparatus for navigating a robot along a route through an environment, the route being associated with a mission, are provided. The method comprises identifying, based on sensor data received by one or more sensors of the robot, a set of potential obstacles in the environment, determining, based at least in part on stored data indicating a set of footfall locations of the robot during a previous execution of the mission, that at least one of the potential obstacles in the set is an obstacle, and navigating the robot to avoid stepping on the obstacle.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
Methods and apparatus for navigating a robot along a route through an environment, the route being associated with a mission, are provided. The method comprises identifying, based on sensor data received by one or more sensors of the robot, a set of potential obstacles in the environment, determining, based at least in part on stored data indicating a set of footfall locations of the robot during a previous execution of the mission, that at least one of the potential obstacles in the set is an obstacle, and navigating the robot to avoid stepping on the obstacle.
Methods and apparatus for performing automated inspection of one or more assets in an environment using a mobile robot are provided. The method, comprises defining, within an image captured by a sensor of a robot, a region of interest that includes an asset in an environment of the robot, wherein the asset is associated with an asset identifier, configuring at least one parameter of a computer vision model based on the asset identifier, processing image data within the region of interest using the computer vision model to determine whether an alert should be generated, and outputting the alert when it is determined that the alert should be generated.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
An example implementation involves receiving measurements from an inertial sensor coupled to the robot and detecting an occurrence of a foot of the legged robot making contact with a surface. The implementation also involves reducing a gain value of an amplifier from a nominal value to a reduced value upon detecting the occurrence. The amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value. The implementation further involves increasing the gain value from the reduced value to the nominal value over a predetermined duration of time after detecting the occurrence. The gain value is increased according to a profile indicative of a manner in which to increase the gain value of the predetermined duration of time. The implementation also involves controlling at least one actuator of the legged robot based on the modulated output during the predetermined duration of time.
B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
G01L 5/00 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
35.
SYSTEMS AND METHODS FOR SYNCRONIZING MULTIPLE ELECTRONIC DEVICES
Embodiments are provided for syncing multiple electronic devices for collective audio playback. According to certain aspects, a master device connects (218) to a slave device via a wireless connection. The master device calculates (224) a network latency via a series of network latency pings with the slave device and sends (225) the network latency to the slave device. Further, the master devices sends (232) a portion of an audio file as well as a timing instruction including a system time to the slave device. The master device initiates (234) playback of the portion of the audio file and the slave devices initiates (236) playback of the portion of the audio file according to the timing instruction and a calculated system clock offset value.
H04H 20/38 - Arrangements for distribution where lower stations, e.g. receivers, interact with the broadcast
H04H 20/61 - Arrangements specially adapted for specific applications, e.g. for traffic information or for mobile receivers for local area broadcast, e.g. instore broadcast
H04H 20/08 - Arrangements for relaying broadcast information among terminal devices
H04H 20/18 - Arrangements for synchronising broadcast or distribution via plural systems
H04N 21/43 - Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronizing decoder's clock; Client middleware
H04N 21/242 - Synchronization processes, e.g. processing of PCR [Program Clock References]
H04H 60/88 - Arrangements characterised by transmission systems other than for broadcast, e.g. the Internet characterised by the transmission system itself the transmission system being the Internet accessed over computer networks which are wireless networks
A method for generating intermediate waypoints for a navigation system of a robot includes receiving a navigation route. The navigation route includes a series of high-level waypoints that begin at a starting location and end at a destination location and is based on high-level navigation data. The high-level navigation data is representative of locations of static obstacles in an area the robot is to navigate. The method also includes receiving image data of an environment about the robot from an image sensor and generating at least one intermediate waypoint based on the image data. The method also includes adding the at least one intermediate waypoint to the series of high-level waypoints of the navigation route and navigating the robot from the starting location along the series of high-level waypoints and the at least one intermediate waypoint toward the destination location.
A content moving device which enables providing content stored on a first user device, such as a DVR, in a first format and resolution to be provided to a second user device, such as a portable media player (PMP) in a second format and resolution. The content moving device identifies content on the first user device as candidate content which may be desired by the PMP and receives the candidate content from the DVR. The content moving device transcodes the candidate content at times independent of a request from the PMP for the content. The content moving device may provide a list of available transcoded content to the PMP for selection, and provide selected content to the PMP. The content moving device may also provide information relating to any protection schemes of the content provided to the PMP, such as DRM rights and decryption keys. The content moving device performs the often computationally intense and time consuming transcoding of user content to enable the user to move content between different user devices in a convenient manner.
H04N 21/4363 - Adapting the video stream to a specific local network, e.g. a IEEE 1394 or Bluetooth® network
H04N 21/4402 - Processing of video elementary streams, e.g. splicing a video clip retrieved from local storage with an incoming video stream or rendering scenes according to MPEG-4 scene graphs involving reformatting operations of video signals for household redistribution, storage or real-time display
H04N 21/45 - Management operations performed by the client for facilitating the reception of or the interaction with the content or administrating data related to the end-user or to the client device itself, e.g. learning user preferences for recommending movies
H04N 21/41 - Structure of client; Structure of client peripherals
38.
ALERT PERIPHERAL FOR NOTIFICATION OF EVENTS OCCURRING ON A PROGRAMMABLE USER EQUIPMENT WITH COMMUNICATION CAPABILITIES
An alert peripheral device that provides sensory notification to a user of the device includes: a power subsystem; a communication mechanism by which notification signals is received from a first user equipment (UE) that generates and transmits the notification signals in response to detection of specific events at the first UE; and a response notification mechanism that provides a sensory response of the peripheral device following receipt of a notification of a detected event (NDE) signal. The device further includes an embedded controller coupled to each of the other components and which includes firmware that when executed on the embedded controller configures the embedded controller to: establish a communication link between the communication mechanism and the first UE; and in response to detecting a receipt of the NDE signal from the first UE, trigger the response notification mechanism to exhibit the sensory response.
H04M 19/04 - Current supply arrangements for telephone systems providing ringing current or supervisory tones, e.g. dialling tone or busy tone the ringing-current being generated at the substations
H04M 1/72412 - User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories using two-way short-range wireless interfaces
H04W 4/14 - Short messaging services, e.g. short message service [SMS] or unstructured supplementary service data [USSD]
A drive system includes a linear actuator with a drive shaft and having an actuation axis extending along a length of the linear actuator. A motor assembly of the drive system couples to drive shaft and is configured to rotate the drive shaft about the actuation axis of the linear actuator. The drive system further includes a nut attached to the drive shaft and a carrier housing the nut. A linkage system of the drive system extends from a proximal end away from the motor assembly to a distal end. The proximal end of the linkage system rotatably attaches to the carrier at a first proximal attachment location where the first proximal attachment location offset is from the actuation axis. The drive system also includes an output link rotatably coupled to the distal end of the linkage system where the output link is offset from the actuation axis.
An apparatus for decoding frames of a compressed video data stream having at least one frame divided into partitions, includes a memory and a processor configured to execute instructions stored in the memory to read partition data information indicative of a partition location for at least one of the partitions, decode a first partition of the partitions that includes a first sequence of blocks, decode a second partition of the partitions that includes a second sequence of blocks identified from the partition data information using decoded information of the first partition.
H04N 19/61 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using transform coding in combination with predictive coding
H04N 19/91 - Entropy coding, e.g. variable length coding [VLC] or arithmetic coding
H04N 19/82 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals - Details of filtering operations specially adapted for video compression, e.g. for pixel interpolation involving filtering within a prediction loop
H04N 19/17 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object
H04N 19/593 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding involving spatial prediction techniques
H04N 19/44 - Decoders specially adapted therefor, e.g. video decoders which are asymmetric with respect to the encoder
H04N 19/174 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object the region being a slice, e.g. a line of blocks or a group of blocks
H04N 19/176 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object the region being a block, e.g. a macroblock
H04N 19/436 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals - characterised by implementation details or hardware specially adapted for video compression or decompression, e.g. dedicated software implementation using parallelised computational arrangements
H04N 19/51 - Motion estimation or motion compensation
A robot includes a drive system configured to maneuver the robot about an environment and data processing hardware in communication with memory hardware and the drive system. The memory hardware stores instructions that when executed on the data processing hardware cause the data processing hardware to perform operations. The operations include receiving image data of the robot maneuvering in the environment and executing at least one waypoint heuristic. The at least one waypoint heuristic is configured to trigger a waypoint placement on a waypoint map. In response to the at least one waypoint heuristic triggering the waypoint placement, the operations include recording a waypoint on the waypoint map where the waypoint is associated with at least one waypoint edge and includes sensor data obtained by the robot. The at least one waypoint edge includes a pose transform expressing how to move between two waypoints.
A robotic device includes a control system. The control system receives a first measurement indicative of a first distance between a center of mass of the machine and a first position in which a first leg of the machine last made initial contact with a surface. The control system also receives a second measurement indicative of a second distance between the center of mass of the machine and a second position in which the first leg of the machine was last raised from the surface. The control system further determines a third position in which to place a second leg of the machine based on the received first measurement and the received second measurement. Additionally, the control system provides instructions to move the second leg of the machine to the determined third position.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
A method for palletizing by a robot includes positioning an object at an initial position adjacent to a target object location, tilting the object at an angle relative to a ground plane, shifting the object in a first direction from the initial position toward a first alignment position, shifting the object in a second direction from the first alignment position toward a second alignment position, and releasing the object from the robot to pivot the object toward the target object location.
B25J 15/06 - Gripping heads with vacuum or magnetic holding means
B65G 57/24 - Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers, each of predetermined arrangement the layers being transferred as a whole, e.g. on pallets
44.
NAME COMPOSITION ASSISTANCE IN MESSAGING APPLICATIONS
A method includes identifying, at an electronic device a candidate name responsive to user input indicating a salutational trigger during composition of a body of a message of a messaging application. Identifying the candidate name including at least one of: parsing a recipient-specific portion of a recipient message address of the message; parsing a display name associated with the recipient message address; parsing a content of the message body; parsing an attachment name associated with an attachment field of the message; identifying the candidate name from a contact record selected from a contacts database based on a recipient-specific portion of a recipient message address of the message; and parsing user-readable content of an application from which composition of the message was triggered. The method further includes facilitating composition of a recipient name in the body of the message based on the candidate name.
H04L 51/48 - Message addressing, e.g. address format or anonymous messages, aliases
H04L 51/02 - User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail using automatic reactions or user delegation, e.g. automatic replies or chatbot-generated messages
An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) processing the sensor data into a topographical map that includes a two-dimensional matrix of discrete cells, the discrete cells indicating sample heights of respective portions of the environment, (iii) determining, for a first foot of the robotic device, a first step path extending from a first lift-off location to a first touch-down location, (iv) identifying, within the topographical map, a first scan patch of cells that encompass the first step path, (v) determining a first high point among the first scan patch of cells; and (vi) during the first step, directing the robotic device to lift the first foot to a first swing height that is higher than the determined first high point.
G05D 1/02 - Control of position or course in two dimensions
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
Embodiments are provided for receiving a request to output audio at a first speaker and a second speaker of an electronic device, determining that the electronic device is oriented in a portrait orientation or a landscape orientation, identifying, based on the determined orientation, a first equalization setting for the first speaker and a second equalization setting for the second speaker, providing, for output at the first speaker, a first audio signal with the first equalization setting, and providing, for output at the second speaker, a second audio signal with the second equalization setting.
G06F 3/0346 - Pointing devices displaced or positioned by the user; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
G06F 3/03 - Arrangements for converting the position or the displacement of a member into a coded form
A method includes receiving sensor data of an environment about a robot and generating a plurality of waypoints and a plurality of edges each connecting a pair of the waypoints. The method includes receiving a target destination for the robot to navigate to and determining a route specification based on waypoints and corresponding edges for the robot to follow for navigating the robot to the target destination selected from waypoints and edges previously generated. For each waypoint, the method includes generating a goal region encompassing the corresponding waypoint and generating at least one constraint region encompassing a goal region. The at least one constraint region establishes boundaries for the robot to remain within while traversing toward the target destination. The method includes navigating the robot to the target destination by traversing the robot through each goal region while maintaining the robot within the at least one constraint region.
Method, apparatus and computer readable media for receiving a multiprogram program transport service that includes one or more compressed video services and one or more 3D-2D conversion options, generating an uncompressed video signal by performing a decoding portion of a transcoding operation for one of the one or more of the video services, determining from the 3D-2D conversion option whether a 3D-2D conversion is to be performed, performing a scale conversion on the uncompressed video according to a specified type of 3D-2D conversion, generating a compressed video service by performing an encoding portion of a transcoding operation on the uncompressed video that has been scale converted, and generating a second multiprogram program transport service that includes the compressed video signal that has been 3D-2D converted.
H04N 21/2343 - Processing of video elementary streams, e.g. splicing of video streams or manipulating MPEG-4 scene graphs involving reformatting operations of video signals for distribution or compliance with end-user requests or end-user device requirements
H04N 21/236 - Assembling of a multiplex stream, e.g. transport stream, by combining a video stream with other content or additional data, e.g. inserting a URL [Uniform Resource Locator ] into a video stream, multiplexing software data into a video stream; Remultiplexing of multiplex streams; Insertion of stuffing bits into the multiplex stream, e.g. to obtain a constant bit-rate; Assembling of a packetised elementary stream
H04N 19/597 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding specially adapted for multi-view video sequence encoding
H04N 21/2662 - Controlling the complexity of the video stream, e.g. by scaling the resolution or bitrate of the video stream based on the client capabilities
An example implementation for determining mechanically-timed footsteps may involve a robot having a first foot in contact with a ground surface and a second foot not in contact with the ground surface. The robot may determine a position of its center of mass and center of mass velocity, and based on these, determine a capture point for the robot. The robot may also determine a threshold position for the capture point, where the threshold position is based on a target trajectory for the capture point after the second foot contacts the ground surface. The robot may determine that the capture point has reached this threshold position and based on this determination, and cause the second foot to contact the ground surface.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
G05D 1/08 - Control of attitude, i.e. control of roll, pitch, or yaw
A robot includes an input link, an output link, and a wire routing. The output link is coupled to the input link at an inline twist joint where the output link is configured to rotate about the longitudinal axis of the output link relative to the input link. The wire routing traverses the inline twist joint to couple the input link and the output link. The wire routing includes an input link section, an output link section, and an omega section. A first position of the wire routing coaxially aligns at a start of the omega section on the input link with a second position of the wire routing at an end of the omega section on an output link.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
A gripper mechanism includes a pair of gripper jaws, a linear actuator, and a rocker bogey. The linear actuator drives a first gripper jaw to move relative to a second gripper jaw. Here, the linear actuator includes a screw shaft and a drive nut where the drive nut includes a protrusion having protrusion axis expending along a length of the protrusion. The protrusion axis is perpendicular to an actuation axis of the linear actuator along a length of the screw shaft. The rocker bogey is coupled to the drive nut at the protrusion to form a pivot point for the rocker bogey and to enable the rocker bogey to pivot about the protrusion axis when the linear actuator drives the first gripper jaw to move relative to the second gripper jaw.
A robot system includes: an upper body section including one or more end-effectors; a lower body section including one or more legs; and an intermediate body section coupling the upper and lower body sections. An upper body control system operates at least one of the end-effectors. The intermediate body section experiences a first intermediate body linear force and/or moment based on an end-effector force acting on the at least one end-effector. A lower body control system operates the one or more legs. The one or more legs experience respective surface reaction forces. The intermediate body section experiences a second intermediate body linear force and/or moment based on the surface reaction forces. The lower body control system operates the one or more legs so that the second intermediate body linear force balances the first intermediate linear force and the second intermediate body moment balances the first intermediate body moment.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Aspects of the present disclosure provide techniques to undo a portion of a mission recording of a robot by physically moving the robot back through the mission recording in reverse. As a result, after the undo process is completed, the robot is positioned at an earlier point in the mission and the user can continue to record further mission data from that point. The portion of the mission recording that was performed in reverse can be omitted from subsequent performance of the mission, for example by deleting that portion from the mission recording or otherwise marking that portion as inactive. In this manner, the mistake in the initial mission recording is not retained, but the robot need not perform the entire mission recording again.
The disclosure provides a method for generating a joint command. The method includes receiving a maneuver script including a plurality of maneuvers for a legged robot to perform where each maneuver is associated with a cost. The method further includes identifying that two or more maneuvers of the plurality of maneuvers of the maneuver script occur at the same time instance. The method also includes determining a combined maneuver for the legged robot to perform at the time instance based on the two or more maneuvers and the costs associated with the two or more maneuvers. The method additionally includes generating a joint command to control motion of the legged robot at the time instance where the joint command commands a set of joints of the legged robot. Here, the set of joints correspond to the combined maneuver.
A clutch assembly includes a first member for mechanically coupling to an output shaft. A first material is frictionally coupled to a first side surface of the first member. A second material is frictionally coupled to a second side surface of the first member. A compliant member is configured to apply an axial force on at least one of the first material and the second material. A radial spring least partially surrounds an exterior surface of the first member.
A method of controlling a robot includes: receiving, by a computing device, from one or more sensors, sensor data reflecting an environment of the robot, the one or more sensors configured to have a field of view that spans at least 150 degrees with respect to a ground plane of the robot; providing, by the computing device, video output to an extended reality (XR) display usable by an operator of the robot, the video output reflecting the environment of the robot; receiving, by the computing device, movement information reflecting movement by the operator of the robot; and controlling, by the computing device, the robot to move based on the movement information.
B25J 11/00 - Manipulators not otherwise provided for
B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
The present disclosure provides: at least one component of a rotary valve subassembly; a rotary valve assembly including the rotary valve subassembly; a hydraulic circuit including the rotary valve assembly; an assembly including a robot that incorporates the hydraulic circuit; and a method of operating the rotary valve assembly. The at least one component of the rotary valve subassembly includes a spool. The at least one component of the rotary valve subassembly includes a sleeve.
F16K 11/076 - Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves; Arrangement of valves and flow lines specially adapted for mixing fluid with all movable sealing faces moving as one unit comprising only sliding valves with pivoted closure members with sealing faces shaped as surfaces of solids of revolution
G05D 1/02 - Control of position or course in two dimensions
58.
Systems and Methods for Robotic Manipulation Using Extended Reality
A method of controlling a robot includes: receiving, by a computing device, from one or more sensors, sensor data reflecting an environment of the robot, the one or more sensors configured to have a field of view that spans at least 150 degrees with respect to a ground plane of the robot; providing, by the computing device, video output to an extended reality (XR) display usable by an operator of the robot, the video output reflecting the environment of the robot; receiving, by the computing device, movement information reflecting movement by the operator of the robot; and controlling, by the computing device, the robot to move based on the movement information.
A method of localizing a robot includes receiving odometry information plotting locations of the robot and sensor data of the environment about the robot. The method also includes obtaining a series of odometry information members, each including a respective odometry measurement at a respective time. The method also includes obtaining a series of sensor data members, each including a respective sensor measurement at the respective time. The method also includes, for each sensor data member of the series of sensor data members, (i) determining a localization of the robot at the respective time based on the respective sensor data, and (ii) determining an offset of the localization relative to the odometry measurement at the respective time. The method also includes determining whether a variance of the offsets determined for the localizations exceeds a threshold variance. When the variance among the offsets exceeds the threshold variance, a signal is generated.
A method includes receiving sound by a first audio unit installed in an electrical outlet, routing audio data corresponding to the received sound from the first audio unit to a second audio unit installed in a second electrical outlet, and sending the audio data to a mobile device using a wireless link between the mobile device and the second audio unit. Routing the audio data may include receiving the audio data from the first audio unit by a third audio unit and routing the audio data to the second audio unit by the third audio unit serving as a router. The data may be routed using table driven routing, on-demand routing or some other appropriate routing protocol. The method may also include performing voice recognition on the audio data and detecting a command word and routing command word data to the second audio unit.
A device for a robot includes a structure having a locking mechanism. The locking mechanism has an engaged configuration and a disengaged configuration. The device also includes a receiving surface mechanically coupled to the locking mechanism. The receiving surface is configured to interact with a member of the robot to move the locking mechanism between the engaged configuration and the disengaged configuration.
An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
Techniques and apparatuses for recognizing accented speech are described. In some embodiments, an accent module recognizes accented speech using an accent library based on device data, uses different speech recognition correction levels based on an application field into which recognized words are set to be provided, or updates an accent library based on corrections made to incorrectly recognized speech.
A method of planning a path for an articulated arm of robot includes generating a directed graph corresponding to a joint space of the articulated arm. The directed graph includes a plurality of nodes each corresponding to a joint pose of the articulated arm. The method also includes generating a planned path from a start node associated with a start pose of the articulated arm to an end node associated with a target pose of the articulated arm. The planned path includes a series of movements along the nodes between the start node and the end node. The method also includes determining when the articulated arm can travel to a subsequent node or the target pose, terminating a movement of the articulated arm towards a target node, and initiating a subsequent movement of the articulated arm to move directly to the target pose or the subsequent node.
B25J 9/04 - Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian co-ordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
65.
Method and Apparatus that Collect and Uploads Implicit Analytic Data
Techniques and/or apparatuses receive an indication that a user has entered a rating of first media content, determine, responsive to the indication that the user has entered the rating of the first media content, whether the user consumed the first media content prior to entering the rating. Responsive to a determination that the user did not consume the first media content prior to entering the rating, the techniques and/or apparatuses provide an indication that the user did not consume the first media content prior to entering the rating or weight the rating based on the determination that the user did not consume the first media content prior to entering the rating of the first media content.
Techniques are described that determine motion of a robot's body that will maintain an end effector within a useable workspace when the end effector moves according to a predicted future trajectory. The techniques may include determining or otherwise obtaining the predicted future trajectory of the end effector and utilizing the predicted future trajectory to determine any motion of the body that is necessary to maintain the end effector within the useable workspace. In cases where no such motion of the body is necessary because the predicted future trajectory indicates the end effector will stay within the useable workspace without motion of the body, the body may remain stationary, thereby avoiding the drawbacks caused by unnecessary motion described above. Otherwise, the body of the robot can be moved while the end effector moves to ensure that the end effector stays within the useable workspace.
Aspects of the present disclosure provide techniques to undo a portion of a mission recording of a robot by physically moving the robot back through the mission recording in reverse. As a result, after the undo process is completed, the robot is positioned at an earlier point in the mission and the user can continue to record further mission data from that point. The portion of the mission recording that was performed in reverse can be omitted from subsequent performance of the mission, for example by deleting that portion from the mission recording or otherwise marking that portion as inactive. In this manner, the mistake in the initial mission recording is not retained, but the robot need not perform the entire mission recording again.
Techniques are described that determine motion of a robot's body that will maintain an end effector within a useable workspace when the end effector moves according to a predicted future trajectory. The techniques may include determining or otherwise obtaining the predicted future trajectory of the end effector and utilizing the predicted future trajectory to determine any motion of the body that is necessary to maintain the end effector within the useable workspace. In cases where no such motion of the body is necessary because the predicted future trajectory indicates the end effector will stay within the useable workspace without motion of the body, the body may remain stationary, thereby avoiding the drawbacks caused by unnecessary motion described above. Otherwise, the body of the robot can be moved while the end effector moves to ensure that the end effector stays within the useable workspace.
Method and apparatus for object detection by a robot are provided. The method comprises analyzing using a set of trained detection models, one or more first images of an environment of the robot to detect one or more objects in the environment of the robot, generating at least one fine-tuned model by training one or more of the trained detection models in the set, wherein the training is based on a second image of the environment of the robot and annotations associated with the second image, wherein the annotations identify one or more objects in the second image, updating the set of trained detection models to include the generated at least one fine-tuned model, and analyzing using the updated set of trained detection models, one or more third images of the environment of the robot to detect one or more objects in the environment.
G06V 10/762 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using clustering, e.g. of similar faces in social networks
70.
SYSTEMS AND METHODS OF LIGHTING FOR A MOBILE ROBOT
Methods and apparatus for controlling lighting of a mobile robot are provided. A mobile robot includes a drive system configured to enable the mobile robot to be driven, a navigation module configured to provide control instructions to the drive system, a plurality of lighting modules, wherein each of the plurality of lighting modules includes a plurality of individually-controllable light sources, and a controller configured to control an operation of the plurality of individually-controllable light sources based, at least in part, on navigation information received from the navigation module.
A virtual bumper configured to protect a component of a robotic device from damage is provided. The virtual bumper comprises a plurality of distance sensors arranged on the robotic device and at least one computing device configured to receive distance measurement signals from the plurality of distance sensors, detect, based on the received distance measurement signals, at least one object in a motion path of the component, and control the robot to change one or more operations of the robot to avoid a collision between the component and the at least one object.
Some robotic arms may include vacuum-based grippers. Detecting the seal quality between each vacuum assembly of the gripper and a grasped object may enable reactivation of some vacuum assemblies, thereby improving the grasp. One embodiment of a method may include activating each of a plurality of vacuum assemblies of a robotic gripper by supplying a vacuum to each vacuum assembly, determining, for each of the activated vacuum assemblies, a first respective seal quality of the vacuum assembly with a first grasped object, deactivating one or more of the activated vacuum assemblies based, at least in part, on the first respective seal qualities, and reactivating each of the deactivated vacuum assemblies within a reactivation interval.
Disclosed herein are systems and methods directed to an industrial robot that can perform mobile manipulation (e.g., dexterous mobile manipulation). A robotic arm may be capable of precise control when reaching into tight spaces, may be robust to impacts and collisions, and/or may limit the mass of the robotic arm to reduce the load on the battery and increase runtime. A robotic arm may include differently configured proximal joints and/or distal joints. Proximal joints may be designed to promote modularity and may include separate functional units, such as modular actuators, encoder, bearings, and/or clutches. Distal joints may be designed to promote integration and may include offset actuators to enable a through-bore for the internal routing of vacuum, power, and signal connections.
Methods and apparatuses for detecting one or more objects (e.g., dropped objects) by a robotic device are described. The method comprises receiving a distance-based point cloud including a plurality of points in three dimensions, filtering the distance-based point cloud to remove points from the plurality of points based on at least one known surface in an environment of the robotic device to produce a filtered distance-based point cloud, clustering points in the filtered distance-based point cloud to produce a set of point clusters, and detecting one or more objects based, at least in part, on the set of point clusters.
A virtual bumper configured to protect a component of a robotic device from damage is provided. The virtual bumper comprises a plurality of distance sensors arranged on the robotic device and at least one computing device configured to receive distance measurement signals from the plurality of distance sensors, detect, based on the received distance measurement signals, at least one object in a motion path of the component, and control the robot to change one or more operations of the robot to avoid a collision between the component and the at least one object.
Methods and apparatus for determining a grasp strategy to grasp an object with a gripper of a robotic device are described. The method comprises generating a set of grasp candidates to grasp a target object, wherein each of the grasp candidates includes information about a gripper placement relative to the target object, determining, for each of the grasp candidates in the set, a grasp quality, wherein the grasp quality is determined using a physical-interaction model including one or more forces between the target object and the gripper located at the gripper placement for the respective grasp candidate, selecting, based at least in part on the determined grasp qualities, one of the grasp candidates, and controlling the robotic device to attempt to grasp the target object using the selected grasp candidate.
Some robotic arms may include vacuum-based grippers. Detecting the seal quality between each vacuum assembly of the gripper and a grasped object may enable reactivation of some vacuum assemblies, thereby improving the grasp. One embodiment of a method may include activating each of a plurality of vacuum assemblies of a robotic gripper by supplying a vacuum to each vacuum assembly; determining, for each of the activated vacuum assemblies, a first respective seal quality of the vacuum assembly with a first grasped object; deactivating one or more of the activated vacuum assemblies based, at least in part, on the first respective seal qualities; and reactivating each of the deactivated vacuum assemblies within a reactivation interval.
Disclosed herein are systems and methods directed to an industrial robot that can perform mobile manipulation (e.g., dexterous mobile manipulation). A robotic arm may be capable of precise control when reaching into tight spaces, may be robust to impacts and collisions, and/or may limit the mass of the robotic arm to reduce the load on the battery and increase runtime. A robotic arm may include differently configured proximal joints and/or distal joints. Proximal joints may be designed to promote modularity and may include separate functional units, such as modular actuators, encoder, bearings, and/or clutches. Distal joints may be designed to promote integration and may include offset actuators to enable a through-bore for the internal routing of vacuum, power, and signal connections.
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
B25J 9/08 - Programme-controlled manipulators characterised by modular constructions
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
B25J 9/04 - Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian co-ordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
Consistent connection strategies for coupling accessories to a robot can help achieve certain objectives, e.g., to tolerate and correct misalignment during coupling of the accessory. In some embodiments, the connection strategy may enable certain accessories to connect to certain sides of a robot. When connected, an accessory may be rigid in yaw, lateral motion, and fore/aft motion, while remaining unconstrained in roll and pitch as well as vertical motion. A sensor may enable detection of the accessory, and a mechanical fuse may release the accessory when a force threshold is exceeded. A mechanical coupler of an accessory may include two connectors, each of which includes a receiving area configured to receive a pin on the robot and a latch configured to retain the pin within the receiving area. The pins (and the receiving areas) may be differently sized, and may be differently arranged.
Methods and apparatus for object detection and pick order determination for a robotic device are provided. Information about a plurality of two-dimensional (2D) object faces of the objects in the environment may be processed to determine whether each of the plurality of 2D object faces matches a prototype object of a set of prototype objects stored in a memory, wherein each of the prototype objects in the set represents a three-dimensional (3D) object. A model of 3D objects in the environment of the robotic device is generated using one or more of the prototype objects in the set of prototype objects that was determined to match one or more of the 2D object faces.
Methods and apparatuses for detecting one or more objects (e.g., dropped objects) by a robotic device are described. The method comprises receiving a distance-based point cloud including a plurality of points in three dimensions, filtering the distance-based point cloud to remove points from the plurality of points based on at least one known surface in an environment of the robotic device to produce a filtered distance-based point cloud, clustering points in the filtered distance-based point cloud to produce a set of point clusters, and detecting one or more objects based, at least in part, on the set of point clusters.
G06V 10/26 - Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
G06V 10/762 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using clustering, e.g. of similar faces in social networks
Methods and apparatus for determining a grasp strategy to grasp an object with a gripper of a robotic device are described. The method comprises generating a set of grasp candidates to grasp a target object, wherein each of the grasp candidates includes information about a gripper placement relative to the target object, determining, for each of the grasp candidates in the set, a grasp quality, wherein the grasp quality is determined using a physical-interaction model including one or more forces between the target object and the gripper located at the gripper placement for the respective grasp candidate, selecting, based at least in part on the determined grasp qualities, one of the grasp candidates, and controlling the robotic device to attempt to grasp the target object using the selected grasp candidate.
An apparatus for decoupling angular adjustments about perpendicular axes is described herein. The apparatus comprises a first plate, a second plate offset from the first plate in a first direction, a first pivot disposed between the first and second plates, a second pivot disposed between the first and second plates. The second pivot is offset from the first pivot in a second direction perpendicular to the first direction. The third pivot is disposed between the first and second plates. The third pivot is offset from the first pivot in a third direction perpendicular to both the first and second directions. The apparatus further includes a first wedge at least partially disposed between the second pivot and the second plate. The first wedge is configured to adjust a first angle between the first and second plates, the first angle being about a first axis extending along the third direction.
Consistent connection strategies for coupling accessories to a robot can help achieve certain objectives, e.g., to tolerate and correct misalignment during coupling of the accessory. In some embodiments, the connection strategy may enable certain accessories to connect to certain sides of a robot. When connected, an accessory may be rigid in yaw, lateral motion, and fore/aft motion, while remaining unconstrained in roll and pitch as well as vertical motion. A sensor may enable detection of the accessory, and a mechanical fuse may release the accessory when a force threshold is exceeded. A mechanical coupler of an accessory may include two connectors, each of which includes a receiving area configured to receive a pin on the robot and a latch configured to retain the pin within the receiving area. The pins (and the receiving areas) may be differently sized, and may be differently arranged.
Methods and apparatus for object detection and pick order determination for a robotic device are provided. Information about a plurality of two-dimensional (2D) object faces of the objects in the environment may be processed to determine whether each of the plurality of 2D object faces matches a prototype object of a set of prototype objects stored in a memory, wherein each of the prototype objects in the set represents a three-dimensional (3D) object. A model of 3D objects in the environment of the robotic device is generated using one or more of the prototype objects in the set of prototype objects that was determined to match one or more of the 2D object faces.
Method and apparatus for object detection by a robot are provided. The method comprises analyzing using a set of trained detection models, one or more first images of an environment of the robot to detect one or more objects in the environment of the robot, generating at least one fine-tuned model by training one or more of the trained detection models in the set, wherein the training is based on a second image of the environment of the robot and annotations associated with the second image, wherein the annotations identify one or more objects in the second image, updating the set of trained detection models to include the generated at least one fine-tuned model, and analyzing using the updated set of trained detection models, one or more third images of the environment of the robot to detect one or more objects in the environment.
G06V 10/80 - Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
G06V 10/774 - Generating sets of training patterns; Bootstrap methods, e.g. bagging or boosting
Disclosed are techniques that provide a “best” picture taken within a few seconds of the moment when a capture command is received (e.g., when the “shutter” button is pressed). In some situations, several still images are automatically (that is, without the user's input) captured. These images are compared to find a “best” image that is presented to the photographer for consideration. Video is also captured automatically and analyzed to see if there is an action scene or other motion content around the time of the capture command. If the analysis reveals anything interesting, then the video clip is presented to the photographer. The video clip may be cropped to match the still-capture scene and to remove transitory parts. Higher-precision horizon detection may be provided based on motion analysis and on pixel-data analysis.
A method of mitigating slip conditions and estimating ground friction for a robot having a plurality of feet includes receiving a first coefficient of friction corresponding to a ground surface. The method also includes determining whether one of the plurality of feet is in contact with the ground surface, and when a first foot of the plurality feet is in contact with the ground surface, setting a second coefficient of friction associated with the first foot equal to the first coefficient of friction. The method also includes determining a measured velocity of the first foot relative to the ground surface, and adjusting the second coefficient of friction of the first foot based on the measured velocity of the foot. One of the plurality of feet of the robot applies a force on the ground surface based on the adjusted second coefficient of friction.
An electronic circuit comprises a charge storing component, a set of one or more switching components coupled to the charge storing component, and an additional switching component coupled to each of the one or more switching components in the set. The additional switching component is configured to operate in a first state or a second state based on a received current or voltage. The first state prevents current to flow from the charge storing component to each of the one or more switching components in the set and the second state allows current to flow from the charge storing component to each of the one or more switching components in the set.
H02P 3/22 - Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor by short-circuit or resistive braking
H03K 17/56 - Electronic switching or gating, i.e. not by contact-making and -breaking characterised by the use of specified components by the use, as active elements, of semiconductor devices
90.
METHOD AND APPARATUS FOR PROVIDING A SECURE COMMUNICATION IN A SELF-ORGANIZING NETWORK
A communication system provides secure communication between two nodes in a self-organizing network without the need for a centralized security or control device. A first node of the two nodes is provisioned with one or more security profiles, auto-discovers a second node of the two nodes, authenticates the second node based on a security profile of the one or more security profiles, selects a security profile of the one or more security profiles to encrypt a communication session between the two nodes, and encrypts the communication session between the two nodes based on the selected security profile. The second node also is provisioned with the same one or more security profiles, authenticates the first node based on a same security profile as is used to authenticate the second node, and encrypts the communication session based on the same security profile as is used for encryption by the first node.
H04W 4/80 - Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
An electronic circuit comprises a charge storing component, a set of one or more switching components coupled to the charge storing component, and an additional switching component coupled to each of the one or more switching components in the set. The additional switching component is configured to operate in a first state or a second state based on a received current or voltage. The first state prevents current to flow from the charge storing component to each of the one or more switching components in the set and the second state allows current to flow from the charge storing component to each of the one or more switching components in the set.
H02P 3/18 - Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
H02P 29/024 - Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
H02P 29/028 - Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
A method for perception and fitting for a stair tracker includes receiving sensor data for a robot adjacent to a staircase. For each stair of the staircase, the method includes detecting, at a first time step, an edge of a respective stair of the staircase based on the sensor data. The method also includes determining whether the detected edge is a most likely step edge candidate by comparing the detected edge from the first time step to an alternative detected edge at a second time step, the second time step occurring after the first time step. When the detected edge is the most likely step edge candidate, the method includes defining, by the data processing hardware, a height of the respective stair based on sensor data height about the detected edge. The method also includes generating a staircase model including stairs with respective edges at the respective defined heights.
G05D 1/10 - Simultaneous control of position or course in three dimensions
B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
G06V 10/44 - Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
G06F 18/243 - Classification techniques relating to the number of classes
G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
A non-terrestrial, wireless communications network (NTN) (100) can assist User Equipments (UEs) (110) in tracking beams (135) generated by NTN base stations (102) for reselection purposes. The NTN determines one or more candidate beams to which the UE can reselect (e.g., while the UE is in an inactive or idle state with respect to controlling radio resources) based on a geographical location (138) of the UE and respective existing and/or predicted non-terrestrial locations of one or more non-terrestrial base stations of the NTN. The NTN transmits (140) an indication of the one or more candidate beams to the UE (and optionally other beam-related information, such as radio access resources and relative priorities), and the UE can reselect a subsequent beam based on the indication received from the NTN. The UE can locally store (132) a mapping of candidate reselection beams to geographical locations for ease and efficiency of future reselections.
Systems and methods for determining movement of a robot are provided. A computing system of the robot receives information including an initial state of the robot and a goal state of the robot. The computing system determines, using nonlinear optimization, a candidate trajectory for the robot to move from the initial state to the goal state. The computing system determines whether the candidate trajectory is feasible. If the candidate trajectory is feasible, the computing system provides the candidate trajectory to a motion control module of the robot. If the candidate trajectory is not feasible, the computing system determines, using nonlinear optimization, a different candidate trajectory for the robot to move from the initial state to the goal state, the nonlinear optimization using one or more changed parameters.
Systems and methods for determining movement of a robot are provided. A computing system of the robot receives information including an initial state of the robot and a goal state of the robot. The computing system determines, using nonlinear optimization, a candidate trajectory for the robot to move from the initial state to the goal state. The computing system determines whether the candidate trajectory is feasible. If the candidate trajectory is feasible, the computing system provides the candidate trajectory to a motion control module of the robot. If the candidate trajectory is not feasible, the computing system determines, using nonlinear optimization, a different candidate trajectory for the robot to move from the initial state to the goal state, the nonlinear optimization using one or more changed parameters.
Aspects describe communicating quantized machine-learning, ML, configuration information over a wireless network. A base station selects (605) a quantization configuration for quantizing ML configuration information for a deep neural network, DNN, where the quantization configuration indicates one or more quantization formats associated with quantizing the ML configuration information. The base station transmits (610) an indication of the quantization configuration to a user equipment, UE and transfers (615), over the wireless network and with the UE, quantized ML configuration information using the quantization configuration.
A method for detecting boxes includes receiving a plurality of image frame pairs for an area of interest including at least one target box. Each image frame pair includes a monocular image frame and a respective depth image frame. For each image frame pair, the method includes determining corners for a rectangle associated with the at least one target box within the respective monocular image frame. Based on the determined corners, the method includes the following: performing edge detection and determining faces within the respective monocular image frame; and extracting planes corresponding to the at least one target box from the respective depth image frame. The method includes matching the determined faces to the extracted planes and generating a box estimation based on the determined corners, the performed edge detection, and the matched faces of the at least one target box.
G06V 10/25 - Determination of region of interest [ROI] or a volume of interest [VOI]
G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
G06V 10/80 - Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
G06V 10/44 - Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
Methods, devices, systems, and means for user equipment slicing assistance information by a user equipment, UE, are described herein. The UE detects a condition of the UE (610) and, based on the detecting, evaluating one or more preferences (612). Based on evaluating the one or more preferences, the UE sends UE Slicing Assistance Information, USAI, to a core network entity (614), the USAI being based on a current network slice configuration. The UE receives, from a base station, a reduced radio resource configuration for operating using the low-throughput network slice (616) and communicates using the low-throughput network slice (618).
In aspects, a base station schedules air interface resources of a wireless communication system using one or more prediction metrics from a user equipment, UE. The base station receives (505), from the user equipment, user-equipment-prediction-metric capabilities. Based on the user-equipment-prediction-metric capabilities, the base station generates (510) a prediction-reporting request and communicates (515) the prediction-reporting request to the user equipment. The base station receives (520) one or more user-equipment-prediction-metric reports from the UE and schedules (525) the one or more air interface resources of the wireless communication system based on the one or more user-equipment-prediction-metric reports.
H04L 41/149 - Network analysis or design for prediction of maintenance
H04L 41/147 - Network analysis or design for predicting network behaviour
H04L 43/0817 - Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability by checking functioning
H04L 43/0876 - Network utilisation, e.g. volume of load or congestion level
H04L 43/091 - Measuring contribution of individual network components to actual service level
A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to receive sensor data associated with a door. The data processing hardware determines, using the sensor data, door properties of the door. The door properties can include a door width, a grasp search ray, a grasp type, a swing direction, or a door handedness. The data processing hardware generates a door movement operation based on the door properties. The data processing hardware can execute the door movement operation to move the door. The door movement operation can include pushing the door, pulling the door, hooking a frame of the door, or blocking the door. The data processing hardware can utilize the door movement operation to enable a robot to traverse a door without human intervention.
B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
