# US 2016/0256997 A1 · Robot and method of operating robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2016/0256997 A1 - Document ID: US20160256997A1 - Status: Published application - Kind: A1 - Application number: 15/152,937 - Filed: 2016-05-12 - Published: 2016-09-08 - Earliest claimed: 2013-06-10 - Assignees: Seiko Epson Corporation - Applicants: Seiko Epson Corporation - Inventors: Masaru TAKAHASHI - Web page: https://patentgrep.com/patent/US20160256997A1 ## CPC - B25J 5/007: {mounted on wheels} - B25J 9/0087: {Dual arms (double SCARA arms B25J9/043)} - B25J 9/1692: {Calibration of manipulator} - Y10S 901/01: Mobile robot - Y10S 901/02: Arm motion controller - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract A robot includes a base, a body connected to the base, a pair of articulated arms rotatably connected to the body, and a moving mechanism adapted to move the body toward or away from the base. Further, a relative positional relationship with a workbench is detected by moving the body with respect to the base using the moving mechanism while keeping the articulated arms in predetermined postures while facing the workbench, and then making the articulated arms contact the workbench. ## Claims ### Claim 1 A robot comprising: a base; a body connected to the base; a first articulated arm rotatably connected to the body; a second articulated arm rotatably connected to the body; a moving mechanism adapted to move the body toward or away from the base; and a robot control device provided to the base. ### Claim 2 (depends on 1) The robot according to claim 1 wherein the robot control device is inside the base. ### Claim 3 (depends on 1) The robot according to claim 1 further comprising a contact member contacting a workbench. ### Claim 4 (depends on 2) The robot according to claim 2 further comprising a contact member contacting a workbench. ### Claim 5 (depends on 3) The robot according to claim 3 wherein the contact member is provided to the base. ### Claim 6 (depends on 4) The robot according to claim 4 wherein the contact member is provided to the base. ### Claim 7 (depends on 5) The robot according to claim 5 wherein the contact member is provided to the moving mechanism. ### Claim 8 (depends on 6) The robot according to claim 6 wherein the contact member is provided to the moving mechanism. ### Claim 9 (depends on 1) The robot according to claim 1 further comprising rotating members provided to the base. ### Claim 10 (depends on 2) The robot according to claim 2 further comprising rotating members provided to the base. ### Claim 11 (depends on 9) The robot according to claim 9 further comprising a grip section provided to the base. ### Claim 12 (depends on 10) The robot according to claim 10 further comprising a grip section provided to the base. ### Claim 13 (depends on 1) The robot according to claim 1 further comprising an emergency stop button provided to the base. ### Claim 14 (depends on 2) The robot according to claim 2 further comprising an emergency stop button provided to the base. ### Claim 15 (depends on 1) The robot according to claim 1 further comprising a signal light showing a state of the robot and provided to the body. ### Claim 16 (depends on 2) The robot according to claim 2 further comprising a signal light showing a state of the robot and provided to the body. ### Claim 17 (depends on 15) The robot according to claim 15 wherein the shape of the signal light includes a rod. ### Claim 18 (depends on 16) The robot according to claim 16 wherein the shape of the signal light includes a rod. ### Claim 19 (depends on 1) The robot according to claim 1 further comprising an imaging device provided to the body. ### Claim 20 (depends on 1) The robot according to claim 1 wherein the robot is a dual-arm robot.