Adam Lee Sanders

US Patent:

20110071672, Mar 24, 2011

Filed:

Sep 22, 2009

Appl. No.:

12/564094

Inventors:

Adam M. Sanders - Holly MI, US
Leandro G. Barajas - Troy MI, US
Frank Noble Permenter - Webster TX, US
Philip A. Strawser - Houston TX, US

Assignee:

GM GLOBAL TECHNOLOGY OPERATIONS, INC. - Detroit MI
The U.S.A. as Represented by the Administrator of the National Aeronautics and Space Aministration - Washington DC
Oceaneering International, Inc. - Houston TX

International Classification:

G06F 19/00

US Classification:

700245

Abstract:

A robotic system for performing an autonomous task includes a humanoid robot having a plurality of compliant robotic joints, actuators, and other integrated system devices that are controllable in response to control data from various control points, and having sensors for measuring feedback data at the control points. The system includes a multi-level distributed control framework (DCF) for controlling the integrated system components over multiple high-speed communication networks. The DCF has a plurality of first controllers each embedded in a respective one of the integrated system components, e.g., the robotic joints, a second controller coordinating the components via the first controllers, and a third controller for transmitting a signal commanding performance of the autonomous task to the second controller. The DCF virtually centralizes all of the control data and the feedback data in a single location to facilitate control of the robot across the multiple communication networks.

US Patent:

20110071676, Mar 24, 2011

Filed:

Sep 22, 2009

Appl. No.:

12/564096

Inventors:

Adam M. Sanders - Holly MI, US
Matthew J. Reiland - Oxford MI, US
Muhammad E. Abdallah - Houston TX, US
Douglas Martin Linn - White Lake MI, US
Robert Platt - Houston TX, US

Assignee:

GM GLOBAL TECHNOLOGY OPERATIONS, INC. - Detroit MI
The U.S.A As Represented by the Administrator of the National Aeronautics and space Administration - WASHINGTON DC

International Classification:

G05B 19/04

US Classification:

700250

Abstract:

A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.

US Patent:

20120072019, Mar 22, 2012

Filed:

Sep 22, 2010

Appl. No.:

12/887972

Inventors:

Adam M. Sanders - Holly MI, US
Matthew J. Reiland - Oxford MI, US

Assignee:

GM GLOBAL TECHNOLOGY OPERATIONS, INC. - Detroit MI

International Classification:

B25J 17/00

US Classification:

700245, 901 6

Abstract:

A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.

US Patent:

20130035792, Feb 7, 2013

Filed:

Aug 2, 2011

Appl. No.:

13/196252

Inventors:

Adam M. Sanders - Holly MI, US
Nathaniel Quillin - League City TX, US
Frank Noble Permenter - Webster TX, US
Joseph Pfeiffer - Las Cruses NM, US

Assignee:

The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration - Washington DC
GM GLOBAL TECHNOLOGY OPERATIONS LLC - Detriot MI

International Classification:

B25J 19/02

US Classification:

700258

Abstract:

A robotic system includes a dexterous robot and a controller. The robot includes a plurality of robotic joints, actuators for moving the joints, and sensors for measuring a characteristic of the joints, and for transmitting the characteristics as sensor signals. The controller receives the sensor signals, and is configured for executing instructions from memory, classifying the sensor signals into distinct classes via the state classification module, monitoring a system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the system state. A method for controlling the robot in the above system includes receiving the signals via the controller, classifying the signals using the state classification module, monitoring the present system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the present system state.

US Patent:

20130096719, Apr 18, 2013

Filed:

Oct 13, 2011

Appl. No.:

13/272442

Inventors:

Adam M. Sanders - Holly MI, US
Matthew J. Reiland - Oxford MI, US
Douglas Martin Linn - White Lake MI, US
Nathaniel Quillin - League City TX, US

Assignee:

The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration - Washington DC
GM GLOBAL TECHNOLOGY OPERATIONS LLC - Detroit MI

International Classification:

G05B 15/00
G06F 19/00

US Classification:

700264, 901 2

Abstract:

A control interface for inputting data into a controller and/or controlling a robotic system is displayed on a human-to-machine interface device. The specific configuration of the control interface displayed is based upon the task to be performed, the capabilities of the robotic system, the capabilities of the human-to-machine interface device, and the level of expertise of the user. The specific configuration of the control interface is designed to optimize the interaction between the user and the robotic system based upon the above described criteria.