A method includes accessing RGB and depth image data representing a scene that includes at least a portion of a robotic limb. Using this data, a computing system may segment the image data to isolate and identify at least a portion of the robotic limb within the scene. The computing system can determine a current pose of the robotic limb within the scene based on the image data, joint data, or a 3D virtual model of the robotic limb. The computing system may then determine a desired goal pose, which may be based on the image data or the 3D virtual model. Based on the determined goal pose, the computing device determines the difference between the current pose and the goal pose of the robotic limb, and using this difference, provides a pose adjustment that for the robotic limb.

The present invention relates to a sensor module for detecting unevenness of a surface, especially for detecting bulging and bowing of the pipe external surface. The sensor module comprises an arm assembly comprising an arm body having at least two ends, one or more surface contacting element mounted to at least one end of the arm body; a magnet assembly comprising at least one magnet to generate magnetic lines of force; and a magnetic sensor assembly comprising a magnetic sensor being assembled adjacent to the magnet for sensing changes in the magnetic lines of force in response to movement of the arm body. The invention also relates to an apparatus comprising the said sensor module and a method for detecting unevenness of a surface using the said sensor module.

A robotic manipulator comprises a plurality of spring compensated joints, each including a four-bar linkage mechanism, a gravity compensating spring, a spring adjustment mechanism, a spring adjustment actuator and an inertial actuator. The gravity compensating spring is coupled between two links of the four-bar linkage mechanism at two different spring attachment points to provide a lifting force opposing a gravitational load force. The spring adjustment mechanism is coupled to alter a position of one of the spring attachment points. The spring adjustment actuator is coupled to move the spring adjustment mechanism to alter the position of the spring attachment point and adjust the amount of lifting force provided by the spring. The inertial actuator is coupled between links of the four-bar linkage mechanism to effectuate rotational movement of the four-bar linkage mechanism and apply an adjustable amount of force to accelerate and manipulate a payload handled by the robotic manipulator.

An automated cooking system for adding time and labor efficiencies in food production environments such as restaurants. The automated cooking system includes at least a fryer, a dispensing freezer, a hot holding station, a plurality of baskets, and a gantry system. The gantry system includes a gantry control for a gantry, configured to engage and move each of the baskets. The basket and gantry include interface elements for enabling precise movements and rapid opening and closing of baskets at the system. Aspects of an automated cooking system and a corresponding method for discharging cooked food product help to avoid the problems associated with manually operating a cooking system. Specifically, the system described herein provides for apparatuses and methods to cook and dispense food product in a more efficient manner with regard to both time and labor considerations within food production environments.

A soft actuator includes an inflation chamber. The inflation chamber has a first end and a second end opposite the first end. The inflation chamber is inflatable during an inflation stage, in which the second end rotates toward the first end about a folding axis, and is operable to be loaded during an inflated stage, in which the inflation chamber is inflated. The soft actuator also includes a variable-stiffness hinge located between the first end and the second end along the folding axis. The variable-stiffness hinge has a decreased stiffness in the inflation stage and an increased stiffness in the inflated stage.

At least three spherical surface sliding bearings provided between a first member and a second member and disposed at mutually different positions when seen in the height direction, are provided. Each of the at least three spherical surface sliding bearings has an inner ring and an outer ring, either one of the inner ring and the outer ring is attached to the first member, and the other is attached to the second member. In at least two of the at least three spherical surface sliding bearings, the height adjustment mechanism intervenes, at least either one of between one of the inner ring and the outer ring, and the first member, and between the other and the second member.

A medical manipulator includes: an insertion portion, an end effector, a bend restraining unit, a position detector, an operation unit, a first drive unit, and a control unit. The control unit is configured to generate the first drive signal based on an output and the position of the bend restraining unit which is detected by the position detector. The output is output from the operation unit that operates the bending portion.

A robotic system and method for aligning a target to an equipped vehicle for calibration of a sensor on the equipped vehicle includes a vehicle support stand upon which an equipped vehicle is disposed in an established known position for calibration of the sensor, and a robotic manipulator having a multi-axis robotic arm configured to moveably hold a target. The robotic manipulator is configured to position the target into a calibration position relative to the sensor on the equipped vehicle by longitudinal movement of the robotic manipulator relative to the vehicle support stand and by movement of the robotic arm based on the established known position of the equipped vehicle on the vehicle support stand whereby the sensor is able to be calibrated using the target.

Embodiments of the present disclosure provide methods for determining an object location of an object. In the method, a group of measurement locations for a group of feature marks in the object are collected from a group of sensors, respectively. A group of estimation locations are obtained for the group of feature marks based on the object location and a group of offsets between the group of estimation locations and the object location, respectively. An error function is generated based on the group of measurement locations and the group of estimation locations. The object location is determined based on the error function. With these embodiments, performance and accuracy for determining the object location may be greatly increased.

In one embodiment, a selectable-rate spring comprises a flexure bar connected to a rotatable shaft, the flexure bar having at least one arched portion. The selectable-rate spring also includes at least one rotational contactor connectable to a link member, wherein the rotational contactor rotates about an axis while maintaining contact with the arched portion of the flexure bar. As the rotational contactor rotates, it changes the connection stiffness between the rotatable shaft and the link member.