A robot includes a mobile base, a turntable rotatably coupled to the mobile base, a robotic arm operatively coupled to the turntable, and at least one directional sensor. An orientation of the at least one directional sensor is independently controllable. A method of controlling a robotic arm includes controlling a state of a mobile base and controlling a state of a robotic arm coupled to the mobile base, based, at least in part, on the state of the mobile base.

A method of estimating one or more mass characteristics of a payload manipulated by a robot includes moving the payload using the robot, determining one or more accelerations of the payload while the payload is in motion, sensing, using one or more sensors of the robot, a wrench applied to the payload while the payload is in motion, and estimating the one or more mass characteristics of the payload based, at least in part, on the determined accelerations and the sensed wrench.

A perception mast for mobile robot is provided. The mobile robot comprises a mobile base, a turntable operatively coupled to the mobile base, the turntable configured to rotate about a first axis, an arm operatively coupled to a first location on the turntable, and the perception mast operatively coupled to a second location on the turntable, the perception mast configured to rotate about a second axis parallel to the first axis, wherein the perception mast includes disposed thereon, a first perception module and a second perception module arranged between the first imaging module and the turntable.

An imaging apparatus includes a structural support rigidly coupled to a surface of a mobile robot and a plurality of perception modules, each of which is arranged on the structural support, has a different field of view, and includes a two-dimensional (2D) camera configured to capture a color image of an environment, a depth sensor configured to capture depth information of one or more objects in the environment, and at least one light source configured to provide illumination to the environment. The imaging apparatus further includes control circuitry configured to control a timing of operation of the 2D camera, the depth sensor, and the at least one light source included in each of the plurality of perception modules, and at least one computer processor configured to process the color image and the depth information to identify at least one characteristic of one or more objects in the environment.

The article pickup system includes: a camera that is provided in a mobile body capable of moving in an environment where a plurality of articles to be picked up are present and that acquires image data by capturing the plurality of articles; and an article pickup robot that moves in the environment and picks up the plurality of captured articles. The article pickup robot includes: a camera position acquisition unit that detects the camera and then acquires position information of the camera; an article position specification unit that specifies positions of the plurality of articles based on the position information of the camera; a mobile unit that moves to the specified positions; and a pickup unit that picks up the plurality of articles at the positions to which the mobile unit has moved.

A docking station is provided that includes at least one component configured to couple to a robot and an identification surface. The identification surface includes a first curvature that varies at a first substantially constant rate of change along a first dimension the identification includes a second curvature that varies at a second substantially constant rate of change along a second dimension. The second dimension is orthogonal to the first dimension. The identification surface includes a third curvature that varies at a third substantially constant rate of change along a third dimension. The third dimension is orthogonal to the first dimension and the second dimension.

A robotic apparatus comprising an articulated arm mounted to a chassis and having an end effector capable of inspecting the root and tip, as well as the length between the root and tip, of an airfoil-shaped body (such as a rotorblade). The robotic apparatus has means for propelling the chassis in a spanwise direction. The chassis-mounted articulated arm facilitates the scanning of sensors over the root or tip of the airfoil-shaped body without repositioning the chassis.

A working method of performing work with increase or decrease in weight on an object by a robot system having a robot, a first hand with an assist device, and a second hand without the assist device, includes switching between an assisted work state in which the first hand is coupled to the robot and work is performed with assistance by the assist device and a non-assisted work state in which the second hand is coupled to the robot and work is performed without assistance by the assist device according to a weight of the object.

A system that can travel and rotate and is designed in the manner of an at least one-armed robot is used for handling spacer frames in the course of the production of insulating glass. The system grasps a spacer frame with a gripper system provided to rotate at the free end of the robot arm. A spacer frame is moved by the system to stations of a line for producing insulating glass. For example, a spacer frame is held in a station for producing spacer frames, moved to a station for filling the spacer frame, when the spacer frame is to be filled with hygroscopic material, then further moved to a station, in which the lateral surfaces of the spacer frame are coated with sealing and adhesive agents, and finally moved to a station for assembling insulating glass, in which the spacer frame is mounted on a glass panel.

The present teachings provide a method of controlling a remote vehicle having an end effector and an image sensing device. The method includes obtaining an image of an object with the image sensing device, determining a ray from a focal point of the image to the object based on the obtained image, positioning the end effector of the remote vehicle to align with the determined ray, and moving the end effector along the determined ray to approach the object.