G05B 2219/40
Robotics, robotics mapping to robotics vision
G05B2219/40 (Robotics, robotics mapping to robotics vision) appears on 6,217 US grants and 7,753 published applications in this corpus.
Search patents in G05B- Granted patents
- 6,217
- Published applications
- 7,753
- Assignees
- 1,919
- Inventors
- 12,501
- Latest grant
- 6 Oct 2026
Filings by year
| Year | Granted patents | Published applications |
|---|---|---|
| 1976 | 1 | 0 |
| 1977 | 1 | 0 |
| 1978 | 3 | 0 |
| 1979 | 3 | 0 |
| 1980 | 0 | 0 |
| 1981 | 6 | 0 |
| 1982 | 0 | 0 |
| 1983 | 1 | 0 |
| 1984 | 4 | 0 |
| 1985 | 2 | 0 |
| 1986 | 8 | 0 |
| 1987 | 9 | 0 |
| 1988 | 5 | 0 |
| 1989 | 11 | 0 |
| 1990 | 15 | 0 |
| 1991 | 13 | 0 |
| 1992 | 9 | 0 |
| 1993 | 11 | 0 |
| 1994 | 21 | 0 |
| 1995 | 25 | 0 |
| 1996 | 30 | 0 |
| 1997 | 29 | 0 |
| 1998 | 39 | 0 |
| 1999 | 40 | 0 |
| 2000 | 34 | 0 |
| 2001 | 53 | 22 |
| 2002 | 45 | 52 |
| 2003 | 56 | 58 |
| 2004 | 44 | 52 |
| 2005 | 35 | 51 |
| 2006 | 45 | 75 |
| 2007 | 41 | 78 |
| 2008 | 35 | 70 |
| 2009 | 25 | 114 |
| 2010 | 43 | 96 |
| 2011 | 70 | 126 |
| 2012 | 82 | 112 |
| 2013 | 121 | 150 |
| 2014 | 119 | 192 |
| 2015 | 190 | 268 |
| 2016 | 237 | 295 |
| 2017 | 278 | 387 |
| 2018 | 301 | 487 |
| 2019 | 351 | 616 |
| 2020 | 424 | 605 |
| 2021 | 423 | 740 |
| 2022 | 517 | 784 |
| 2023 | 587 | 838 |
| 2024 | 647 | 753 |
| 2025 | 740 | 445 |
| 2026 | 388 | 287 |
By publication year. Applications have been published since 2001. 2026 runs to 8 Oct.
Subgroups
Granted patents
- G05B 2219/40202Human robot coexistenceIndexing code383
- G05B 2219/40298Manipulator on vehicle, wheels, mobileIndexing code344
- G05B 2219/40053Pick 3-d object from pile of objectsIndexing code298
- G05B 2219/40607Fixed camera to observe workspace, object, workpiece, globalIndexing code214
- G05B 2219/40006Placing, palletize, un palletize, paper roll placing, box stackingIndexing code182
- G05B 2219/40613Camera, laser scanner on end effector, hand eye manipulator, localIndexing code154
- G05B 2219/40476Collision, planning for collision free pathIndexing code152
- G05B 2219/40411Robot assists human in non-industrial environment like home or officeIndexing code147
All 567 subgroupsShow fewer
- G05B 2219/40564Recognize shape, contour of object, extract position and orientationIndexing code135
- G05B 2219/40115Translate goal to task program, use of expert systemIndexing code126
- G05B 2219/40195Tele-operation, computer assisted manual operationIndexing code126
- G05B 2219/40032Peg and hole insertion, mating and joining, remote center complianceIndexing code123
- G05B 2219/40099Graphical user interface for robotics, visual robot user interfaceIndexing code121
- G05B 2219/40519Motion, trajectory planningIndexing code117
- G05B 2219/40174Robot teleoperation through internetIndexing code109
- G05B 2219/40499Reinforcement learning algorithmIndexing code109
- G05B 2219/40116Learn by operator observation, symbiosis, show, watchIndexing code103
- G05B 2219/40201Detect contact, collision with humanIndexing code101
- G05B 2219/40391Human to robot skill transferIndexing code100
- G05B 2219/40203Detect position of operator, create non material barrier to protect operatorIndexing code94
- G05B 2219/40264Human like, type robot armIndexing code92
- G05B 2219/40304Modular structureIndexing code91
- G05B 2219/40543Identification and location, position of components, objectsIndexing code83
- G05B 2219/40305Exoskeleton, human robot interaction, extendersIndexing code82
- G05B 2219/40317For collision avoidance and detectionIndexing code82
- G05B 2219/40269Naturally compliant robot armIndexing code80
- G05B 2219/40161Visual display of machining, operation, remote viewingIndexing code76
- G05B 2219/40532Ann for vision processingIndexing code72
- G05B 2219/40392Programming, visual robot programming languageIndexing code69
- G05B 2219/40554Object recognition to track object on conveyorIndexing code69
- G05B 2219/40169Display of actual situation at the remote siteIndexing code65
- G05B 2219/40609Camera to monitor end effector as well as object to be handledIndexing code65
- G05B 2219/40146Telepresence, teletaction, sensor feedback from follower to operatorIndexing code63
- G05B 2219/40458Grid adaptive optimizationIndexing code63
- G05B 2219/40014Gripping workpiece to place it in another placeIndexing code62
- G05B 2219/40599Force, torque sensor integrated in jointIndexing code62
- G05B 2219/40113Task planningIndexing code59
- G05B 2219/40418Presurgical planning, on screen indicate regions to be operated onIndexing code59
- G05B 2219/40515Integration of simulation and planningIndexing code59
- G05B 2219/40395Compose movement with primitive movement segments from databaseIndexing code58
- G05B 2219/405866-dof force sensorIndexing code58
- G05B 2219/40131Virtual reality control, programming of manipulatorIndexing code56
- G05B 2219/40584Camera, non-contact sensor mounted on wrist, indep from gripperIndexing code55
- G05B 2219/40033Assembly, microassemblyIndexing code54
- G05B 2219/40442Voxel map, 3-d grid mapIndexing code54
- G05B 2219/40078Sort objects, workpiecesIndexing code53
- G05B 2219/40293Gantry, portalIndexing code53
- G05B 2219/40311Real time simulationIndexing code53
- G05B 2219/40387Modify without repeating teaching operationIndexing code52
- G05B 2219/40233Portable robotIndexing code50
- G05B 2219/40323Modeling robot environment for sensor based robot systemIndexing code50
- G05B 2219/40252Robot on track, rail moves only back and forthIndexing code49
- G05B 2219/40144Force sensation feedback from followerIndexing code47
- G05B 2219/40184Compliant teleoperation, operator controls motion, system controls contact, forceIndexing code45
- G05B 2219/40414Man robot interface, exchange of information between operator and robotIndexing code45
- G05B 2219/40625Tactile sensorIndexing code45
- G05B 2219/40425Sensing, vision based motion planningIndexing code44
- G05B 2219/40136Stereo audio and visionIndexing code41
- G05B 2219/40512Real time path planning, trajectory generationIndexing code41
- G05B 2219/40067Stack irregular packagesIndexing code40
- G05B 2219/40082Docking, align object on end effector with targetIndexing code39
- G05B 2219/40477Plan path independent from obstacles, then correction for obstaclesIndexing code39
- G05B 2219/40307Two, dual arm robot, arm used synchronously, or each separately, asynchronouslyIndexing code38
- G05B 2219/40367Redundant manipulatorIndexing code38
- G05B 2219/40153Teleassistance, operator assists, controls autonomous robotIndexing code37
- G05B 2219/40446Graph basedIndexing code37
- G05B 2219/40465Criteria is lowest cost function, minimum work pathIndexing code37
- G05B 2219/40517Constraint motion planning, variational dynamic programmingIndexing code37
- G05B 2219/40302Dynamically reconfigurable robot, adapt structure to tasks, cellular robot, cebotIndexing code36
- G05B 2219/40007Optimize sequence of pick and place operations upon arrival of workpiece onIndexing code35
- G05B 2219/40577Multisensor object recognitionIndexing code35
- G05B 2219/40087Align hand on workpiece to pick up workpiece, peg and holeIndexing code34
- G05B 2219/40122Manipulate virtual object, for trajectory planning of real object, haptic displayIndexing code34
- G05B 2219/40182Leader has different configuration than follower manipulatorIndexing code34
- G05B 2219/40339Avoid collisionIndexing code34
- G05B 2219/40454Max velocity, acceleration limit for workpiece and arm jerk rate as constraintsIndexing code34
- G05B 2219/40478Graphic display of work area of robot, forbidden, permitted zoneIndexing code34
- G05B 2219/40492Model manipulator by spheres for collision avoidanceIndexing code34
- G05B 2219/40627Tactile image sensor, matrix, array of tactile elements, tixelsIndexing code34
- G05B 2219/40134Force sensation of follower converted to vibration for operatorIndexing code33
- G05B 2219/40393Learn natural high level command, associate its template with a plan, sequenceIndexing code33
- G05B 2219/40518Motion and task planningIndexing code32
- G05B 2219/40415Semi active robot, cobot, guides surgeon, operator to planned trajectory, constraintIndexing code31
- G05B 2219/40424Online motion planning, in real time, use vision to detect workspace changesIndexing code31
- G05B 2219/40475In presence of moving obstacles, dynamic environmentIndexing code31
- G05B 2219/40523Path motion planning, path in space followed by tip of robotIndexing code31
- G05B 2219/40234Snake arm, flexi-digit robotic manipulator, a hand at each endIndexing code30
- G05B 2219/40413Robot has multisensors surrounding operator, to understand intention of operatorIndexing code30
- G05B 2219/40463Shortest distance in time, or metric, time optimalIndexing code30
- G05B 2219/40162Sound display of machining operationIndexing code29
- G05B 2219/40183Tele-machiningIndexing code29
- G05B 2219/40333Singularity, at least one movement not possible, kinematic redundancyIndexing code29
- G05B 2219/40527Modeling, identification of link parametersIndexing code29
- G05B 2219/40623Track position of end effector by laser beamIndexing code29
- G05B 2219/40143Slip, texture sensation feedback, by vibration stimulation of fingersIndexing code28
- G05B 2219/40163Measuring, predictive information feedback to operatorIndexing code28
- G05B 2219/40306Two or more independent robotsIndexing code28
- G05B 2219/40555Orientation and distanceIndexing code28
- G05B 2219/40575Camera combined with tactile sensors, for 3-dIndexing code28
- G05B 2219/40267Parallel manipulator, end effector connected to at least two independent linksIndexing code27
- G05B 2219/40022Snatching, dynamic pick, effector contacts object, moves with objectIndexing code26
- G05B 2219/40145Force sensation of follower converted to audio signal for operatorIndexing code26
- G05B 2219/40497Collision monitor controls planner in real time to replan if collisionIndexing code26
- G05B 2219/40617Agile eye, control position of camera, active vision, pan-tilt camera, follow objectIndexing code26
- G05B 2219/40139Force from follower converted to a digital display-like fingers and objectIndexing code25
- G05B 2219/40371Control trajectory to avoid joint limit as well as obstacle collisionIndexing code25
- G05B 2219/40066Stack and align identical layers, laminates, electronic substrate layersIndexing code24
- G05B 2219/40196Projecting light on floor to delimit danger zone around robotIndexing code24
- G05B 2219/40538Barcode reader to detect positionIndexing code24
- G05B 2219/40549Acceleration of end effectorIndexing code24
- G05B 2219/40596Encoder in each jointIndexing code24
- G05B 2219/40142Temperature sensation, thermal feedback to operator fingersIndexing code23
- G05B 2219/40513Planning of vehicle and of its manipulator armIndexing code23
- G05B 2219/40091Tele-programming by graphical simulationIndexing code22
- G05B 2219/40198Contact with human allowed if under pain tolerance limitIndexing code22
- G05B 2219/40448Preprocess nodes with arm configurations, c-space and planning by connecting nodesIndexing code22
- G05B 2219/40557Tracking a tool, compute 3-d position relative to cameraIndexing code22
- G05B 2219/40582Force sensor in robot fixture, baseIndexing code22
- G05B 2219/40604Two camera, global vision camera, end effector neighbourhood vision cameraIndexing code22
- G05B 2219/40003Move end effector so that image center is shifted to desired positionIndexing code21
- G05B 2219/40005Vision, analyse image at one station during manipulation at next stationIndexing code21
- G05B 2219/40062Door openingIndexing code21
- G05B 2219/40114From vision detected initial and user given final state, generate tasksIndexing code21
- G05B 2219/40121Trajectory planning in virtual spaceIndexing code21
- G05B 2219/40479Use graphic display, layout of robot path, obstacles to indicate interferenceIndexing code21
- G05B 2219/40565Detect features of object, not position or orientationIndexing code21
- G05B 2219/40111For assemblyIndexing code20
- G05B 2219/40272Manipulator on slide, trackIndexing code20
- G05B 2219/40397Programming language for robots, universal, user orientedIndexing code20
- G05B 2219/40408Intention learningIndexing code20
- G05B 2219/40516ReplanningIndexing code20
- G05B 2219/40544Detect proximity of objectIndexing code20
- G05B 2219/40583Detect relative position or orientation between gripper and currently handled objectIndexing code20
- G05B 2219/40611Camera to monitor endpoint, end effector positionIndexing code20
- G05B 2219/40253Soft arm robot, light, rubber, very compliantIndexing code19
- G05B 2219/40314Simulation of program locally before remote operationIndexing code19
- G05B 2219/40137Force sensation feedback from simulated toolIndexing code18
- G05B 2219/40191Autonomous manipulation, computer assists operator during manipulationIndexing code18
- G05B 2219/40409Robot brings object near operator, operator places object in correct positionIndexing code18
- G05B 2219/40013Kitting, place parts from belt into tray, place tray on conveyor beltIndexing code17
- G05B 2219/40041Robot operates panel like car radio by pushing, turning buttons, knobsIndexing code17
- G05B 2219/40155Purpose is grasping objectsIndexing code17
- G05B 2219/40354Singularity detectionIndexing code17
- G05B 2219/40385Compare offline teached point with online teached point, modify rest as functionIndexing code17
- G05B 2219/40417For cooperating manipulatorsIndexing code17
- G05B 2219/40471Using gradient methodIndexing code17
- G05B 2219/40619Haptic, combination of tactile and proprioceptive sensingIndexing code17
- G05B 2219/40102Tasks are classified in types of unit motionsIndexing code16
- G05B 2219/40123Indicate, select features on display, remote manipulator will executeIndexing code16
- G05B 2219/40132Haptic joystick with force feedback based on accelerometer included in joystickIndexing code16
- G05B 2219/40443Conditional and iterative planningIndexing code16
- G05B 2219/40474Using potential fieldsIndexing code16
- G05B 2219/40506Self motion topology knowledge, configuration mappingIndexing code16
- G05B 2219/40563Object detectionIndexing code16
- G05B 2219/40571Camera, vision combined with force sensorIndexing code16
- G05B 2219/40597Measure, calculate angular momentum, gyro of rotating body at end effectorIndexing code16
- G05B 2219/40039Robot mounted or sliding inside vehicle, on assembly line or for testIndexing code15
- G05B 2219/40151Time delay, problems caused by time delay between local and remoteIndexing code15
- G05B 2219/40194Force reflective, impedance shaping tele operationIndexing code15
- G05B 2219/40301Scara, selective compliance assembly robot arm, links, arms in a planeIndexing code15
- G05B 2219/40336Optimize multiple constraints or subtasksIndexing code15
- G05B 2219/40428Using rapidly exploring random trees algorithm rrt-algorithmIndexing code15
- G05B 2219/40431Grid of preoptimised paths as function of target position, choose closest, fineIndexing code15
- G05B 2219/40521Alternative, allowable path substitution if arm movements not possibleIndexing code15
- G05B 2219/40629Manipulation planning, consider manipulation task, path, graspingIndexing code15
- G05B 2219/40054Supply sheet to bending machineIndexing code14
- G05B 2219/40074Move tip of arm or carried object on surface, wall, constraintIndexing code14
- G05B 2219/40095Modify tasks due to modular tooling, other fixture configuration, environmentIndexing code14
- G05B 2219/40219Detect contact, proximity of other manipulatorsIndexing code14
- G05B 2219/40284Toolrack on vehicle with manipulator, toolchangerIndexing code14
- G05B 2219/40405Leader-follower position controlIndexing code14
- G05B 2219/40419Task, motion planning of objects in contact, task level programming, not robotIndexing code14
- G05B 2219/40567Purpose, workpiece slip sensingIndexing code14
- G05B 2219/40028Insert flexible rod, beam into holeIndexing code13
- G05B 2219/40204Each fault condition has a different recovery procedureIndexing code13
- G05B 2219/40205Multiple arm systemsIndexing code13
- G05B 2219/40279Flexible arm, linkIndexing code13
- G05B 2219/40383Correction, modification program by detection type workpieceIndexing code13
- G05B 2219/40399Selection of leader-follower operation modeIndexing code13
- G05B 2219/40422Force controlled velocity motion planning, adaptiveIndexing code13
- G05B 2219/40495Inverse kinematics model controls trajectory planning and servo systemIndexing code13
- G05B 2219/40537Detect if robot has picked up more than one piece from binIndexing code13
- G05B 2219/40559Collision between hand and workpiece, operatorIndexing code13
- G05B 2219/40562Position and orientation of end effector, teach probe, track themIndexing code13
- G05B 2219/40103Show object with laser pointer, give oral command for action on, withIndexing code12
- G05B 2219/40108Generating possible sequence of steps as function of timing and conflictsIndexing code12
- G05B 2219/40119Virtual internal model, derive from forces on object, motion of end effectorIndexing code12
- G05B 2219/40158Correlate actual image at angle with image presented to operator without angleIndexing code12
- G05B 2219/40168Simulated display of remote site, driven by operator interactionIndexing code12
- G05B 2219/40218Check conditions before allowing unlocking of joint brakeIndexing code12
- G05B 2219/40283Reservoir with additional material on vehicle with manipulatorIndexing code12
- G05B 2219/40362Elbow high or low, avoid obstacle collision with redundancy controlIndexing code12
- G05B 2219/40429Stochastic, probabilistic generation of intermediate pointsIndexing code12
- G05B 2219/40449Continuous, smooth robot motionIndexing code12
- G05B 2219/40531Ann for voice recognitionIndexing code12
- G05B 2219/40536Signal processing for sensorsIndexing code12
- G05B 2219/40541Identification of contact formation, state from several force measurementsIndexing code12
- G05B 2219/40573Isee integrated sensor, end effector, camera, proximity, gas, temperature, forceIndexing code12
- G05B 2219/40002Camera, robot follows direction movement of operator head, helmet, headstickIndexing code11
- G05B 2219/40043Move object without swinging, no pendulum or swing motion at stop pointIndexing code11
- G05B 2219/40126Virtual landmarks, reference points for operatorIndexing code11
- G05B 2219/40154Moving of objectsIndexing code11
- G05B 2219/40244Walking manipulator with integrated stewart, parallel armIndexing code11
- G05B 2219/40327Calculation, inverse kinematics solution using damped least squares methodIndexing code11
- G05B 2219/40359Constraint, physical limitationsIndexing code11
- G05B 2219/40394Combine offline with online information to generate robot actionsIndexing code11
- G05B 2219/40412Sensor knowledge command fusion network, data and feature and action and constraintIndexing code11
- G05B 2219/40421Motion planning for manipulator handling sheet metal profilesIndexing code11
- G05B 2219/40455Proximity of obstaclesIndexing code11
- G05B 2219/40466Plan for minimum time trajectory, at least one joint maximum torqueIndexing code11
- G05B 2219/40507Distributed planning, offline trajectory, online motion, avoid collisionIndexing code11
- G05B 2219/40514Computed robot optimized configurations to train ann, output path in real timeIndexing code11
- G05B 2219/40576Multisensory object recognition, surface reconstructionIndexing code11
- G05B 2219/40585Chemical, biological sensorsIndexing code11
- G05B 2219/40601Reference sensorsIndexing code11
- G05B 2219/40077Posicast, inverted pendulum, acrobat, balance rodIndexing code10
- G05B 2219/40097Select stations with mouse to create process stepsIndexing code10
- G05B 2219/40117Virtual mecanism, like slider to constraint movement in task spaceIndexing code10
- G05B 2219/40224If robot gets a return signal, go to initial condition positionIndexing code10
- G05B 2219/40257Flexible macro manipulator with rigid attached micromanipulatorIndexing code10
- G05B 2219/40292Manipulator is positioned by a crane to cover a large workpiece, extendedIndexing code10
- G05B 2219/40382Limit allowable area where robot can be teachedIndexing code10
- G05B 2219/40453Maximum torque for each axisIndexing code10
- G05B 2219/40503Input design parameters of workpiece into path, trajectory plannerIndexing code10
- G05B 2219/40572Camera combined with position sensorIndexing code10
- G05B 2219/40073Carry container with liquid, compensate liquid vibration, swinging effectIndexing code9
- G05B 2219/40164Fault recovery from task execution errorsIndexing code9
- G05B 2219/40175Inclination, tilt of operator seat, chair serves as control command, like handleIndexing code9
- G05B 2219/40213Record history, log of instructions sent from task planner to path plannerIndexing code9
- G05B 2219/40228If deviation of compliant tool is too large, stop and alarmIndexing code9
- G05B 2219/40294Portable robot can be fixed, attached to different workplaces, stationsIndexing code9
- G05B 2219/40297Macro manipulator and microhand, distributed positioningIndexing code9
- G05B 2219/40318Simulation of reaction force and moment, force simulationIndexing code9
- G05B 2219/40324Simulation, modeling of muscle, musculoskeletal dynamical systemIndexing code9
- G05B 2219/40369Generate all possible arm postures associated with end effector positionIndexing code9
- G05B 2219/40494Neural network for object trajectory prediction, fuzzy for robot pathIndexing code9
- G05B 2219/40594Two range sensors for recognizing 3-d objectsIndexing code9
- G05B 2219/40009Remove and replace machine part, moduleIndexing code8
- G05B 2219/40025Dynamic manipulation, throwingIndexing code8
- G05B 2219/40034Disassembly, for recyclingIndexing code8
- G05B 2219/40042Control tilting angle of surface carried by robotIndexing code8
- G05B 2219/40057Contour tracking, edge followingIndexing code8
- G05B 2219/40072Exert a screwing motionIndexing code8
- G05B 2219/40118Task oriented virtual tool, developed for task, assists operator in taskIndexing code8
- G05B 2219/40178Distributed top, resource availability in networkIndexing code8
- G05B 2219/40223If insertion force to high, alarm, stop for operator assistanceIndexing code8
- G05B 2219/40271Underwater, submarine movable manipulatorIndexing code8
- G05B 2219/40296Second arm can be attached to first arm, modularIndexing code8
- G05B 2219/40338Task priority redundancyIndexing code8
- G05B 2219/40386Search around teached point until operation has succes, correct programIndexing code8
- G05B 2219/40389Use robot control language also to write non robotic user, application programsIndexing code8
- G05B 2219/40438Global, compute free configuration space, connectivity graph is then searchedIndexing code8
- G05B 2219/40444Hierarchical planning, in levelsIndexing code8
- G05B 2219/40548Compare measured distances to obstacle with model of environmentIndexing code8
- G05B 2219/40552Joint limitIndexing code8
- G05B 2219/40568Position and force and skin acceleration and stress rate sensorsIndexing code8
- G05B 2219/40606Force, torque sensor in fingerIndexing code8
- G05B 2219/40622Detect orientation of workpiece during movement of end effectorIndexing code8
- G05B 2219/40031Dual peg in holeIndexing code7
- G05B 2219/40089Tele-programming, transmit task as a program, plus extra info needed by robotIndexing code7
- G05B 2219/40147Variable time delay, through internetIndexing code7
- G05B 2219/40273Wire manipulator, crane type manipulator with three wiresIndexing code7
- G05B 2219/40299Holonic, made of similar modules, truss manipulatorIndexing code7
- G05B 2219/40381Control trajectory in case of joint limit, clamping of jointIndexing code7
- G05B 2219/40407Leader-follower, leader is replica of followerIndexing code7
- G05B 2219/40487Sensing to task planning to assembly execution, integration, automaticIndexing code7
- G05B 2219/40496Hierarchical, learning, recognition level controls adaptation, servo levelIndexing code7
- G05B 2219/40522Display of workpiece, workspace, locus of robot tip in different planes, xyIndexing code7
- G05B 2219/40556Multisensor to detect contact errors in assemblyIndexing code7
- G05B 2219/40587Measure force indirectly by using deviation in positionIndexing code7
- G05B 2219/40589Recognize shape, contour of toolIndexing code7
- G05B 2219/40004Window function, only a specific region is analyzedIndexing code6
- G05B 2219/40035Shake grasped parts for dropping excess entangled parts back into pinIndexing code6
- G05B 2219/40065Approach, touch and then push objectIndexing code6
- G05B 2219/40104Reactive planner, user is integral component of planner, interactiveIndexing code6
- G05B 2219/40107Offline task learning knowledge base, static planner controls dynamic onlineIndexing code6
- G05B 2219/40138Scaled feedback of forces from follower to leader and leader to followerIndexing code6
- G05B 2219/40148Predict locally machining forces from model to control remote machineIndexing code6
- G05B 2219/40167Switch between simulated display of remote site, and actual displayIndexing code6
- G05B 2219/40193MicromanipulationIndexing code6
- G05B 2219/40199Soft material covers links, arms for shock and pain attenuationIndexing code6
- G05B 2219/40242End effector with motor to provide a yaw, roll and pitch motionIndexing code6
- G05B 2219/40315Simulation with boundary graphsIndexing code6
- G05B 2219/40316Simulation of human-like robot joint, restricted 3-d motionIndexing code6
- G05B 2219/40342Minimize sum of gravitational torques of some jointsIndexing code6
- G05B 2219/40352Combination of priority, basic task, tip position, and task for link movementIndexing code6
- G05B 2219/40361Category of performance criteriaIndexing code6
- G05B 2219/40365Configuration control, select other tasks by configuration of link positionsIndexing code6
- G05B 2219/40401Convert workspace of leader to workspace of followerIndexing code6
- G05B 2219/40437Local, directly search robot workspaceIndexing code6
- G05B 2219/40452Evaluation function derived from skilled, experimented operator dataIndexing code6
- G05B 2219/40504Simultaneous trajectory and camera planningIndexing code6
- G05B 2219/40511Trajectory optimization, coarse for arm, medium for wrist, fine for fingerIndexing code6
- G05B 2219/40621Triangulation sensorIndexing code6
- G05B 2219/40052Deform, bend flexible materialIndexing code5
- G05B 2219/40059Mount, couple and demount, decouple exchangeable mechanical modulesIndexing code5
- G05B 2219/40064Pierce, penetrate soft tissueIndexing code5
- G05B 2219/40068Collective, group transportIndexing code5
- G05B 2219/40098Show grid locations with symbols of workstationsIndexing code5
- G05B 2219/40109Consider each part to be assembled as an agent, behaving autonomouslyIndexing code5
- G05B 2219/40124During manipulator motion, sensor feedback to adapt model in memoryIndexing code5
- G05B 2219/40197Suppress, execute command depending on physical position of control panelIndexing code5
- G05B 2219/40217Individual emergency stop lines for each part of systemIndexing code5
- G05B 2219/40225During start up, control robot with low speed, after a while graduallyIndexing code5
- G05B 2219/40226Input control signals to control system and to model, compare their outputsIndexing code5
- G05B 2219/40237Bus for communication with sensorsIndexing code5
- G05B 2219/40261Self reproducing, replicating fabrication machine, tools, structure, info for thisIndexing code5
- G05B 2219/40322Simulation with des, discrete event systemIndexing code5
- G05B 2219/40353Split robot into two virtual robot, origin of second equals tip ofIndexing code5
- G05B 2219/40358Inertial, from dynamic modelsIndexing code5
- G05B 2219/40364Position of robot platform as additional taskIndexing code5
- G05B 2219/40384Optimize teached path by data acquisition followed by genetic algorithmIndexing code5
- G05B 2219/40416Planning for variable length tool, laser beam as toolIndexing code5
- G05B 2219/40447Bitmap basedIndexing code5
- G05B 2219/40472Using exact cell decompositionIndexing code5
- G05B 2219/40488Coarse and fine motion planning combinedIndexing code5
- G05B 2219/40528Ann for learning robot contact surface shapeIndexing code5
- G05B 2219/40542Object dimensionIndexing code5
- G05B 2219/40553Haptic object recognitionIndexing code5
- G05B 2219/40598Measure velocity, speed of end effectorIndexing code5
- G05B 2219/40605Two cameras, each on a different end effector to measure relative positionIndexing code5
- G05B 2219/40616Sensor planning, sensor configuration, parameters as function of taskIndexing code5
- G05B 2219/40624Optical beam area sensorIndexing code5
- G05B 2219/40011Lay down, laying non rigid material, handle flat textile materialIndexing code4
- G05B 2219/40026Juggling, tennis playing, throw and catchIndexing code4
- G05B 2219/40037No incomplete containers allowed to exit on output conveyorIndexing code4
- G05B 2219/40058Align box, block with a surfaceIndexing code4
- G05B 2219/40076Fold flexible plate, non rigid materialIndexing code4
- G05B 2219/40129Virtual graphic 3-d pointer, manipulator commands real manipulatorIndexing code4
- G05B 2219/40165Sensor data to display depends on robot statusIndexing code4
- G05B 2219/40216Record image of working robotIndexing code4
- G05B 2219/40221Individual and common power cutoff switch for several robotsIndexing code4
- G05B 2219/40235Parallel robot, structureIndexing code4
- G05B 2219/40241Underactuated robot, has less actuators than number of dofIndexing code4
- G05B 2219/40248Manipulator on slideIndexing code4
- G05B 2219/40276Aqua robot manipulatorIndexing code4
- G05B 2219/40281Closed kinematic loop, chain mechanisms, closed linkage systemsIndexing code4
- G05B 2219/40308Machine, conveyor model in library contains coop robot pathIndexing code4
- G05B 2219/40313Graphic motion simulation for ergonomic analysisIndexing code4
- G05B 2219/40335By probability distribution functions pdfIndexing code4
- G05B 2219/40341Minimize energyIndexing code4
- G05B 2219/40344Configuration index, control, limits of joint movementIndexing code4
- G05B 2219/40434Decompose in motion planning for swarm of robots and motion planning forIndexing code4
- G05B 2219/40547End effector position using accelerometers in tipIndexing code4
- G05B 2219/40558Derive hand position angle from sensed process variable, like waveformIndexing code4
- G05B 2219/40574Laserscanner combined with tactile sensorsIndexing code4
- G05B 2219/40581Touch sensing, arc sensingIndexing code4
- G05B 2219/40591At least three cameras, for tracking, general overview and underviewIndexing code4
- G05B 2219/40614Whole arm proximity sensor whapIndexing code4
- G05B 2219/40018Ball in cupIndexing code3
- G05B 2219/40019Placing and assembly, throw object correctly on tableIndexing code3
- G05B 2219/40038Black list, exclude operation on workpiece when not possible, collision, errorIndexing code3
- G05B 2219/40055Wire strippingIndexing code3
- G05B 2219/40071Relative positioning, grinding and polishing against rotating beltIndexing code3
- G05B 2219/40127Virtual tape measure, indicate distance between end effector and destinationIndexing code3
- G05B 2219/40149Local intelligence for global planning, remote intelligence for tuningIndexing code3
- G05B 2219/40166Surface display, virtual object translated into real surface, movable rodsIndexing code3
- G05B 2219/40173Stop robot if no command received within intervalIndexing code3
- G05B 2219/40176Encode operator actions into symbolic commands for transmission to remoteIndexing code3
- G05B 2219/40181Operator can fine position in small area, free, but if contact, forceIndexing code3
- G05B 2219/40214Command rejection moduleIndexing code3
- G05B 2219/40215Limit link kinetic energy to amount another element can dissipate upon impactIndexing code3
- G05B 2219/40229Analytical redundancy, use available funcional redundancy of modelIndexing code3
- G05B 2219/40236With opposing actuators on same joint, agonist, flexor, muscleIndexing code3
- G05B 2219/40238Dual arm robot, one picks up one part from conveyor as otherIndexing code3
- G05B 2219/40255End effector attached to cable for gravity balance suspensionIndexing code3
- G05B 2219/40277Hybrid, connect parallel manipulators in series, stewart trussIndexing code3
- G05B 2219/40282Vehicle supports manipulator and other controlled devicesIndexing code3
- G05B 2219/40287Workpiece manipulator and tool manipulator cooperateIndexing code3
- G05B 2219/40289Scara for coarse movement, xy table for fine movementIndexing code3
- G05B 2219/40303Arm somersaults over grid, place one hand on grid point, release otherIndexing code3
- G05B 2219/40309Simulation of human hand motionIndexing code3
- G05B 2219/40319Simulate contact of object and obstacle, reduce to pairs with only oneIndexing code3
- G05B 2219/40326Singular value decompositionIndexing code3
- G05B 2219/40328If joint near singularity, restore angle to start values, adapt other jointsIndexing code3
- G05B 2219/40331Joint angle change constraint, singularity between elbow up and downIndexing code3
- G05B 2219/40349Optimize manipulability measure functionIndexing code3
- G05B 2219/40375Control trajectory in case of changed tool lengthIndexing code3
- G05B 2219/40398Opto-electronic follow-up of movement of head, eyelids, finger to control robotIndexing code3
- G05B 2219/40403Leader for walk through, follower uses data for motion control and simulationIndexing code3
- G05B 2219/40423Map task space to sensor spaceIndexing code3
- G05B 2219/40427Integrate sensing and action in planningIndexing code3
- G05B 2219/40432Pass states by weighted transitionsIndexing code3
- G05B 2219/40435Extract minimum number of via points from a trajectoryIndexing code3
- G05B 2219/40445Decompose n-dimension with n-links into smaller m-dimension with m-1-linksIndexing code3
- G05B 2219/40451Closest, nearest arm, robot executes task, minimum travel timeIndexing code3
- G05B 2219/40456End effector orientation errorIndexing code3
- G05B 2219/40459Minimum torque change modelIndexing code3
- G05B 2219/40461Plan for even distribution of motor load of jointsIndexing code3
- G05B 2219/40462Constant consumed energy, regenerate acceleration energy during decelerationIndexing code3
- G05B 2219/40481Search pattern according to type of assembly to be performedIndexing code3
- G05B 2219/40482Before assembly arrange partsIndexing code3
- G05B 2219/40502Configuration metricsIndexing code3
- G05B 2219/40566Measuring, determine axis of revolution surface by tactile sensing, orientationIndexing code3
- G05B 2219/40602Robot control test platformIndexing code3
- G05B 2219/40628Progressive constraintsIndexing code3
- G05B 2219/40016Kick a ball, leg and foot movement simulatorIndexing code2
- G05B 2219/40021Batting, to redirect a projectileIndexing code2
- G05B 2219/40027Preying, object capture, interception, mouse-busterIndexing code2
- G05B 2219/40036Transport plates or sheets between two locations without motion inversionIndexing code2
- G05B 2219/40056Slide an edge over an edgeIndexing code2
- G05B 2219/40061Disconnect cableIndexing code2
- G05B 2219/40069Flattening, sweeping non rigid material, take out wrinklesIndexing code2
- G05B 2219/40088Task is push, slide boxIndexing code2
- G05B 2219/40105Oop task planning, use three knowledge bases, world-, domain- for vision, planIndexing code2
- G05B 2219/40125Overlay real time stereo image of object on existing, stored memory imageIndexing code2
- G05B 2219/40128Virtual tether, line on display connects end effector to destination pointIndexing code2
- G05B 2219/40133Force sensation of follower converted to movement of chair for operatorIndexing code2
- G05B 2219/40156Input work program as well as timing scheduleIndexing code2
- G05B 2219/40157Planning, event based planning, operator changes plans during executionIndexing code2
- G05B 2219/40171Set a common coordinate system for all remotely controlled robotsIndexing code2
- G05B 2219/40179Design of controllerIndexing code2
- G05B 2219/40185Decoupled coarse fine motion coordinationIndexing code2
- G05B 2219/40188Position control with scaling, leader small movement, follower large movementIndexing code2
- G05B 2219/40208Dual redundant actuatorsIndexing code2
- G05B 2219/40211Fault tolerant, if one joint, actuator fails, others take over, reconfigurationIndexing code2
- G05B 2219/40243Global positioning robotIndexing code2
- G05B 2219/40254Serial to parallel, branching manipulator, one macro and several parallel armsIndexing code2
- G05B 2219/40263Dual use mobile detachable manipulatorIndexing code2
- G05B 2219/40265Use of inflatable links, can easily be folded, compressed air for stiffnessIndexing code2
- G05B 2219/40275Manipulator mounted on satellite, space manipulatorIndexing code2
- G05B 2219/40312Oop object oriented programming for simulationIndexing code2
- G05B 2219/40334By fuzzy logic supervisorIndexing code2
- G05B 2219/40343Optimize local torqueIndexing code2
- G05B 2219/40345Minor measureIndexing code2
- G05B 2219/40351Cooperation of hand arm, break down into two subsystemsIndexing code2
- G05B 2219/40372Control end effector impedanceIndexing code2
- G05B 2219/40374Control trajectory in case of distortion of visual inputIndexing code2
- G05B 2219/40377Impact force on stationary end effector, move center of mass, no reactionIndexing code2
- G05B 2219/40379ManipulabilityIndexing code2
- G05B 2219/40404Separate leader controls macro and microfollower manipulatorIndexing code2
- G05B 2219/40406Leader-follower rate controlIndexing code2
- G05B 2219/40426Adaptive trajectory planning as function of force on end effector, bucketIndexing code2
- G05B 2219/40433Distributed, trajectory planning for each virtual armIndexing code2
- G05B 2219/40457End effector position errorIndexing code2
- G05B 2219/40467Virtual springs, impedance methodIndexing code2
- G05B 2219/40473Using genetic algorithm gaIndexing code2
- G05B 2219/40491Gravity stable assembly, upper part cannot fall apartIndexing code2
- G05B 2219/40501Using sub goal method of options for semi optimal path planningIndexing code2
- G05B 2219/40524Replace link, joint, structure by stewart platform to model flexibilityIndexing code2
- G05B 2219/40525Modeling only part of links or modulesIndexing code2
- G05B 2219/40569Force and tactile and proximity sensorIndexing code2
- G05B 2219/40615Integrate sensor placement, configuration with vision trackingIndexing code2
- G05B 2219/40618Measure gripping force offline, calibrate gripper for gripping forceIndexing code2
- G05B 2219/40012Pick and place by chain of three manipulators, handling part to eachIndexing code1
- G05B 2219/40023Dynamic closure, remain contact by acceleration forcesIndexing code1
- G05B 2219/40024CatchingIndexing code1
- G05B 2219/40044Unfold flexible materialIndexing code1
- G05B 2219/40048Transport bar by two mobile robots on wavy roadIndexing code1
- G05B 2219/40063Transport dish pile and dispense material in each dish of pileIndexing code1
- G05B 2219/40075Turn crank, handle, link around fixed pointIndexing code1
- G05B 2219/40081Grasp part, object through hole in wallIndexing code1
- G05B 2219/40083Pick up pen and robot hand writingIndexing code1
- G05B 2219/40085Point with tip always to same remote target pointIndexing code1
- G05B 2219/40086Slide, tumble, pivot object on surface with fingers of manipulator, grasplessIndexing code1
- G05B 2219/40093Use known task for similar, like object, inform system of that likenessIndexing code1
- G05B 2219/40096Modify tasks due to use of different manipulatorIndexing code1
- G05B 2219/40101Generate concurrent tasksIndexing code1
- G05B 2219/40106Feedback of online failures to offline learned knowledge baseIndexing code1
- G05B 2219/40112Using graph grammars and fuzzy logicIndexing code1
- G05B 2219/40135Follower force converted to shape display, actuated by fingers, surface is forceIndexing code1
- G05B 2219/40152Deictic, using a sign language, point finger to reach, close hand toIndexing code1
- G05B 2219/40172Stop command transmission if no feedback signal received at remote siteIndexing code1
- G05B 2219/40189Modes, coarse by rate controller, fine by position controllerIndexing code1
- G05B 2219/40192Control modes, velocity for coarse, position for fine, hand for gripperIndexing code1
- G05B 2219/40206Redundant serial manipulators, kinematic fault toleranceIndexing code1
- G05B 2219/40212Two-way clutch for joint, prevents movement in unallowable directionIndexing code1
- G05B 2219/40227If one access robot fails, other pushes it out of the wayIndexing code1
- G05B 2219/40232Lock mechanical arm if servo, cpu error, other arms remain freeIndexing code1
- G05B 2219/40239Common control box for several robot control boards and additional control boardsIndexing code1
- G05B 2219/40245Gripper on crawling device, smaller than two cmIndexing code1
- G05B 2219/40249Whole arm manipulator, grip object not with end effector but with allIndexing code1
- G05B 2219/40251Ghdrs generalized high dimensional robotic system, virtual decompositionIndexing code1
- G05B 2219/40259Set friction in each joint to optimal valueIndexing code1
- G05B 2219/40268Leader attached to tip of macro manipulator, controls follower micromanipulatorIndexing code1
- G05B 2219/40286End effector with offset arm, to carry hose to feed materialIndexing code1
- G05B 2219/40288Integrate sensor, actuator units into a virtual manipulatorIndexing code1
- G05B 2219/40321Simulation of human arm trajectoriesIndexing code1
- G05B 2219/40346Compatibility indexIndexing code1
- G05B 2219/40357Compliance, design and operational issuesIndexing code1
- G05B 2219/40363Two independent paths planned, interpolations for same robotIndexing code1
- G05B 2219/40366Elbow reaches its target position before the end effectorIndexing code1
- G05B 2219/40373Control of trajectory in case of a limb, joint disturbation, failureIndexing code1
- G05B 2219/40376Moving center of mass and end effector for dynamic task of liftingIndexing code1
- G05B 2219/40378Keep center of mass fixed, no counterweight, no reaction on baseIndexing code1
- G05B 2219/40396Intermediate code for robots, bridge, conversion to controllerIndexing code1
- G05B 2219/40402Control button on leader for quick movement, for fine slow movementIndexing code1
- G05B 2219/40436Distributed search of attainable positions, parallel computedIndexing code1
- G05B 2219/40439Feasible map algorithmIndexing code1
- G05B 2219/40441Probabilistic backprojectionIndexing code1
- G05B 2219/40468Using polytree intersection methodIndexing code1
- G05B 2219/40485Generate goal regions in presence of uncertainty, interferenceIndexing code1
- G05B 2219/40486If physical limitation, execute regrasping stepsIndexing code1
- G05B 2219/40489Assembly, polyhedra in contactIndexing code1
- G05B 2219/40493Task to parameter designer, adapts parameters of impedance model as function ofIndexing code1
- G05B 2219/40508Fuzzy identification of motion plans executed by operatorIndexing code1
- G05B 2219/40526Modeling of links for each possible error or only certain errorIndexing code1
- G05B 2219/40533Generate derivative, change of vibration errorIndexing code1
- G05B 2219/40534Generate derivative, change of position errorIndexing code1
- G05B 2219/40539Edge detection from tactile informationIndexing code1
- G05B 2219/40545Relative position of wrist with respect to end effector spatial configurationIndexing code1
- G05B 2219/40546Motion of objectIndexing code1
- G05B 2219/40551Friction estimation for graspIndexing code1
- G05B 2219/40561Contactpoint between sensor surface and the normal, geometric probingIndexing code1
- G05B 2219/40579Mechanical impedance, from motor current and estimated velocityIndexing code1
- G05B 2219/40588Three laser scanners project beam on photodiodes on end effectorIndexing code1
- G05B 2219/40593Push object and hold, detect moved distanceIndexing code1
- G05B 2219/40595Camera to monitor deviation of each joint, due to bending of linkIndexing code1
- G05B 2219/40626Proprioceptive, detect relative link position, form object from hand contactIndexing code1
- G05B 2219/40001Laser color indicates type of machiningIndexing code0
- G05B 2219/40008Place a box, block in a cornerIndexing code0
- G05B 2219/40015Soccer playingIndexing code0
- G05B 2219/40017Hockey playing, puck and paddleIndexing code0
- G05B 2219/40029Mount elastic ring on a cylinderIndexing code0
- G05B 2219/40045Fill bucket, if hard rock, follow contour rockIndexing code0
- G05B 2219/40046Fill bucket with sand, move horizontally, if resistance move up, move horizontallyIndexing code0
- G05B 2219/40047Machine overhanging sculptured surfacesIndexing code0
- G05B 2219/40049Cut material with scissorsIndexing code0
- G05B 2219/40051Manipulate flexible material fixed with one end to a wallIndexing code0
- G05B 2219/40079Grasp parts from first bin, put them in reverse order in secondIndexing code0
- G05B 2219/40084Posicast, inverted pendulum, acrobat, balance rod, control unactuated joint, dofIndexing code0
- G05B 2219/40092Tele-programming by direct instruction on new object, using vision and force sensorsIndexing code0
- G05B 2219/40094By changing knowledge base directlyIndexing code0
- G05B 2219/40141Pain sensation feedback, impinge air on, squeeze, vibrate, stimulate fingersIndexing code0
- G05B 2219/40159Between operator and sensor a world modeler, local intelligenceIndexing code0
- G05B 2219/40177NanomanipulationIndexing code0
- G05B 2219/40186Reachability control, permits follower to reach commanded positionIndexing code0
- G05B 2219/40187Indexed position control, leader controls only small part of follower spaceIndexing code0
- G05B 2219/40207Parallel structured modules, more joints than dofIndexing code0
- G05B 2219/40209If speed is important processors execute each different code, otherwise same codeIndexing code0
- G05B 2219/40222Lock arm if somebody is looking into the handIndexing code0
- G05B 2219/40231Safety, dual clutched freewheel for joint, if error no movement possibleIndexing code0
- G05B 2219/402466-dof 3-ppsp parallel manipulatorIndexing code0
- G05B 2219/40247Series manipulator mounted on parallel manipulatorIndexing code0
- G05B 2219/40256Large, heavy manipulatorIndexing code0
- G05B 2219/40258Robot can be fixed in orientation and height to ground, plurality ofIndexing code0
- G05B 2219/40262Two link arm with a free, attached to base, and an activeIndexing code0
- G05B 2219/40266Resonant manipulator, springs cooperate with latches, motor only for lost energyIndexing code0
- G05B 2219/40274Cebot segments are mobile manipulators, connected by manipulator arm selfIndexing code0
- G05B 2219/40278Compact, foldable manipulatorIndexing code0
- G05B 2219/40285Variable geometry manipulator, camlockIndexing code0
- G05B 2219/40291Instead of two links, two eccentrically rotating disks for full circle workingIndexing code0
- G05B 2219/40295Sensors at the elbow to detect obstaclesIndexing code0
- G05B 2219/40325Learn inverse kinematic model by variation, perturbationIndexing code0
- G05B 2219/40329Semi-singularity, movement in one direction not possible, in opposite direction is possibleIndexing code0
- G05B 2219/40332Identify degenerated directions, eliminate velocity component in that directionIndexing code0
- G05B 2219/40337Maximum distance criteriumIndexing code0
- G05B 2219/40347Optimize manipulator velocity ratio functionIndexing code0
- G05B 2219/40348Optimize condition numberIndexing code0
- G05B 2219/40355Geometric, task independentIndexing code0
- G05B 2219/40356Kinetic energy, content and distributionIndexing code0
- G05B 2219/40368Multipoint impedance control, redundant manipulator can touch several obstaclesIndexing code0
- G05B 2219/40388Two channels between robot and teaching panel, rs232c and videoIndexing code0
- G05B 2219/40464Minimum relative velocitiesIndexing code0
- G05B 2219/40469Using fuzzy logic performance, distances are fuzzy, very close to very farIndexing code0
- G05B 2219/40483Find possible contactsIndexing code0
- G05B 2219/40484Using several tethered motors, attached to powersupply cable, move over surfaceIndexing code0
- G05B 2219/40498Architecture, integration of planner and motion controllerIndexing code0
- G05B 2219/40505Adaptive posture planning as function of large forcesIndexing code0
- G05B 2219/40509Piano moving modelIndexing code0
- G05B 2219/40529Neural network based on distance between patternsIndexing code0
- G05B 2219/40535Selective perception, retain only information needed for special taskIndexing code0
- G05B 2219/40578Impedance, mechanical impedance measurementIndexing code0
- G05B 2219/40592Two virtual infrared range sensorsIndexing code0
- G05B 2219/40603Infrared stimulated ultrasonic button on end effector, two fixed receiversIndexing code0
- G05B 2219/40608Camera rotates around end effector, no calibration neededIndexing code0
- G05B 2219/406126-dof ultrasonic or infrared external measurementIndexing code0
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- Guided tool change15 Sep 2026US 12,734,693 B2Intuitive Surgical Operations, Inc.
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Most cited
By later US patents
- Alignment of master and slave in a minimally invasive surgical apparatus2,565US 6,364,888 B1Intuitive Surgical, Inc. · 2002
- Image-directed robotic system for precise robotic surgery including redundant consistency checking2,101US 5,408,409 AInternational Business Machines Corporation · 1995
- Grip strength with tactile feedback for robotic surgery2,047US 6,594,552 B1Intuitive Surgical, Inc. · 2003
- Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information1,712US 8,108,072 B2Intuitive Surgical Operations, Inc. · 2012
- Manipulator positioning linkage for robotic surgery1,602US 6,441,577 B2Intuitive Surgical, Inc. · 2002