Robert J Pack

US Patent:

7331436, Feb 19, 2008

Filed:

Mar 26, 2004

Appl. No.:

10/811316

Inventors:

Robert Todd Pack - Nashua NH, US
Tyson Sawyer - Rindge NH, US
Chikyung Won - Tewksbury MA, US
Grinnell More - Temple NH, US

Assignee:

Irobot Corporation - Burlington MA

International Classification:

H02G 11/02

US Classification:

191 122A, 191 122 R, 901 1

Abstract:

A cable handling system mounted to a mobile robot to dispense and retrieve cable at zero tension includes a cable reel drive and a downstream tension roller drive that includes an idler. As a cable passes through the tension roller drive, position along the length of the cable and/or the cable speed is monitored accurately by a sensor attached to the idler. A system controller in communication with the sensor controls the cable reel drive and the tension roller drive for dispensing and retrieving cable downstream of the tension roller drive.

US Patent:

7499774, Mar 3, 2009

Filed:

Oct 22, 2004

Appl. No.:

10/971724

Inventors:

David S. Barrett - Needham MA, US
James Allard - Newton MA, US
Misha Filippov - Arlington MA, US
Robert Todd Pack - Nashua NH, US
Selma Svendsen - Melrose MA, US

Assignee:

iRobot Corporation - Burlington MA

International Classification:

B60W 50/02
G06F 17/00

US Classification:

701 23, 701 1, 701 2, 701 45, 34042611

Abstract:

System and method for processing a safety signal in an autonomous vehicle. Safety signals are typically generated in response to the detection of unsafe conditions or are sent by the vehicle operator. In either case, the safety signals are conveyed using redundant communication paths. The paths include a computer network and a current loop. The safety signals are processed, thereby causing actuators (e. g. , linkages) to manipulate input devices (e. g. , articulation controls and drive controls, such as a throttle, brake, tie rods, steering gear, throttle lever, accelerator, or transmission shifter). The manipulation ensures the vehicle responds appropriately to the safety signals, for example, by shutting down the vehicle.

US Patent:

7499775, Mar 3, 2009

Filed:

Oct 22, 2004

Appl. No.:

10/971725

Inventors:

Misha Filippov - Arlington MA, US
James Allard - Newton MA, US
David S. Barrett - Needham MA, US
Robert Todd Pack - Nashua NH, US
Selma Svendsen - Melrose MA, US

Assignee:

iRobot Corporation - Burlington MA

International Classification:

G05D 1/02
G06F 19/00

US Classification:

701 23, 701 28, 701301, 340903

Abstract:

System and method for tracking obstacles by an autonomous vehicle. Localization sensors (i. e. , sensors to measure pitch, roll, and yaw, and systems including an inertial navigation system, a compass, a global positioning system, or an odometer) detect the position of the vehicle. Perception sensors (e. g. , LIDAR, stereo vision, infrared vision, radar, or sonar) assess the environment about the vehicle. Using these sensors, locations of terrain features relative to the vehicle are computed and kept up-to-date. The vehicle trajectory is adjusted to avoid terrain features that are obstacles in the path of the vehicle.

US Patent:

7499776, Mar 3, 2009

Filed:

Oct 22, 2004

Appl. No.:

10/972082

Inventors:

James Allard - Newton MA, US
David S. Barrett - Needham MA, US
Misha Filippov - Arlington MA, US
Robert Todd Pack - Nashua NH, US
Selma Svendsen - Melrose MA, US

Assignee:

iRobot Corporation - Burlington MA

International Classification:

B60W 50/02
G06F 17/00

US Classification:

701 23, 701 1, 701 33, 701 50

Abstract:

Systems and methods for interruptible autonomous control of a vehicle. Autonomous control is achieved by using actuators that interact with input devices in the vehicle. The actuators (e. g. , linkages) manipulate the input devices (e. g. , articulation controls and drive controls, such as a throttle, brake, tie rods, steering gear, throttle lever, or accelerator) to direct the operation of the vehicle. Although operating autonomously, manual operation of the vehicle is possible following the detection of events that suggest manual control is desired. Subsequent autonomous control may be permitted, permitted after a prescribed delay, or prevented.

US Patent:

7499804, Mar 3, 2009

Filed:

Oct 22, 2004

Appl. No.:

10/971718

Inventors:

Selma Svendsen - Melrose MA, US
James Allard - Newton MA, US
David S. Barrett - Needham MA, US
Misha Filippov - Arlington MA, US
Robert Todd Pack - Nashua NH, US

Assignee:

iRobot Corporation - Burlington MA

International Classification:

B60W 50/02
G06F 17/00

US Classification:

701301, 701 2, 701 23, 34042611

Abstract:

System and method for multi-modal control of a vehicle. Actuators (e. g. , linkages) manipulate input devices (e. g. , articulation controls and drive controls, such as a throttle, brake, accelerator, throttle lever, steering gear, tie rods, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. After receipt of a mode select command that dictates the operational mode of the vehicle (e. g. , manned operation, remote unmanned tele-operation, assisted remote tele-operation, and autonomous unmanned operation), the actuators manipulate the operator input devices, in accordance with the behaviors, to affect the desired operational mode.

US Patent:

7546912, Jun 16, 2009

Filed:

Dec 29, 2006

Appl. No.:

11/648445

Inventors:

Robert Todd Pack - Nashua NH, US
Tyson Sawyer - Rindge NH, US
Chikyung Won - Tewksbury MA, US
Grinnell More - Temple NH, US

Assignee:

iRobot Corporation - Burlington MA

International Classification:

H02G 11/02

US Classification:

191 122A, 191 122 R, 901 1

Abstract:

A cable handling system mounted to a mobile robot to dispense and retrieve cable at zero tension includes a cable reel drive and a downstream tension roller drive that includes an idler. As a cable passes through the tension roller drive, position along the length of the cable and/or the cable speed is monitored accurately by a sensor attached to the idler. A system controller in communication with the sensor controls the cable reel drive and the tension roller drive for dispensing and retrieving cable downstream of the tension roller drive.

US Patent:

7979175, Jul 12, 2011

Filed:

Jan 21, 2009

Appl. No.:

12/357151

Inventors:

James Allard - Newton MA, US
David S. Barrett - Needham MA, US
Misha Filippov - Arlington MA, US
Robert Todd Pack - Nashua NH, US
Selma Svendsen - Melrose MA, US

Assignee:

iRobot Corporation - Bedford MA

International Classification:

B60W 50/02
G06F 19/00

US Classification:

701 23, 701 1, 701 3

Abstract:

Systems and methods for interruptible autonomous control of a vehicle. Autonomous control is achieved by using actuators that interact with input devices in the vehicle. The actuators (e. g. , linkages) manipulate the input devices (e. g. , articulation controls and drive controls, such as a throttle, brake, tie rods, steering gear, throttle lever, or accelerator) to direct the operation of the vehicle. Although operating autonomously, manual operation of the vehicle is possible following the detection of events that suggest manual control is desired. Subsequent autonomous control may be permitted, permitted after a prescribed delay, or prevented.

US Patent:

8078338, Dec 13, 2011

Filed:

Oct 22, 2004

Appl. No.:

10/972081

Inventors:

Robert Todd Pack - Nashua NH, US
James Allard - Newton MA, US
David S. Barrett - Needham MA, US
Misha Filippov - Arlington MA, US
Selma Svendsen - Melrose MA, US

Assignee:

iRobot Corporation - Burlington MA

International Classification:

G05D 1/00
G06F 7/00

US Classification:

701 1, 701 36, 701 41, 701 45, 701 48, 701 51, 701 52, 701 53, 701 65, 701 70, 701 79, 701 83, 701 84, 701 87, 701 91

Abstract:

System and method for behavior based control of an autonomous vehicle. Actuators (e. g. , linkages) manipulate input devices (e. g. , articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.