Search

Robert A. Hafer

Examiner (ID: 19169)

Most Active Art Unit
3303
Art Unit(s)
PCT, 3712, 3502, 3303, 3302, 3505, 3301
Total Applications
338
Issued Applications
311
Pending Applications
7
Abandoned Applications
19

Applications

Application numberTitle of the applicationFiling DateStatus
Array ( [id] => 18963402 [patent_doc_number] => 11897145 [patent_country] => US [patent_kind] => B1 [patent_issue_date] => 2024-02-13 [patent_title] => Part modeling for path generation to guide robotic end effector [patent_app_type] => utility [patent_app_number] => 18/447295 [patent_app_country] => US [patent_app_date] => 2023-08-09 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 13 [patent_figures_cnt] => 13 [patent_no_of_words] => 11935 [patent_no_of_claims] => 20 [patent_no_of_ind_claims] => 3 [patent_words_short_claim] => 172 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => patent [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18447295 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/447295
Part modeling for path generation to guide robotic end effector Aug 8, 2023 Issued
Array ( [id] => 19235496 [patent_doc_number] => 20240192690 [patent_country] => US [patent_kind] => A1 [patent_issue_date] => 2024-06-13 [patent_title] => LIGHT WEIGHT AND REAL TIME SLAM FOR ROBOTS [patent_app_type] => utility [patent_app_number] => 18/366761 [patent_app_country] => US [patent_app_date] => 2023-08-08 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 0 [patent_figures_cnt] => 0 [patent_no_of_words] => 167736 [patent_no_of_claims] => 0 [patent_no_of_ind_claims] => -112 [patent_words_short_claim] => 352 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => publication [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18366761 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/366761
LIGHT WEIGHT AND REAL TIME SLAM FOR ROBOTS Aug 7, 2023 Pending
Array ( [id] => 19134972 [patent_doc_number] => 11969892 [patent_country] => US [patent_kind] => B2 [patent_issue_date] => 2024-04-30 [patent_title] => Method, system, and storage medium for selecting grasp posture of dual-arm robot [patent_app_type] => utility [patent_app_number] => 18/230199 [patent_app_country] => US [patent_app_date] => 2023-08-04 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 8 [patent_figures_cnt] => 11 [patent_no_of_words] => 7646 [patent_no_of_claims] => 15 [patent_no_of_ind_claims] => 2 [patent_words_short_claim] => 409 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => patent [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18230199 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/230199
Method, system, and storage medium for selecting grasp posture of dual-arm robot Aug 3, 2023 Issued
Array ( [id] => 19078000 [patent_doc_number] => 11947362 [patent_country] => US [patent_kind] => B1 [patent_issue_date] => 2024-04-02 [patent_title] => Transformable swarm robots for pipe inspection and maintenance [patent_app_type] => utility [patent_app_number] => 18/228353 [patent_app_country] => US [patent_app_date] => 2023-07-31 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 21 [patent_figures_cnt] => 21 [patent_no_of_words] => 5848 [patent_no_of_claims] => 11 [patent_no_of_ind_claims] => 2 [patent_words_short_claim] => 147 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => patent [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18228353 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/228353
Transformable swarm robots for pipe inspection and maintenance Jul 30, 2023 Issued
Array ( [id] => 20356647 [patent_doc_number] => 12472628 [patent_country] => US [patent_kind] => B2 [patent_issue_date] => 2025-11-18 [patent_title] => Grasp pose prediction [patent_app_type] => utility [patent_app_number] => 18/219031 [patent_app_country] => US [patent_app_date] => 2023-07-06 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 56 [patent_figures_cnt] => 57 [patent_no_of_words] => 80376 [patent_no_of_claims] => 20 [patent_no_of_ind_claims] => 3 [patent_words_short_claim] => 116 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => patent [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18219031 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/219031
Grasp pose prediction Jul 5, 2023 Issued
Array ( [id] => 19683057 [patent_doc_number] => 20250001602 [patent_country] => US [patent_kind] => A1 [patent_issue_date] => 2025-01-02 [patent_title] => METHOD AND CONTROL UNIT FOR CONTROLLING MOTION OF AN OBJECT TOWARDS A TARGET POSE, AND ROBOT [patent_app_type] => utility [patent_app_number] => 18/343748 [patent_app_country] => US [patent_app_date] => 2023-06-29 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 0 [patent_figures_cnt] => 0 [patent_no_of_words] => 13873 [patent_no_of_claims] => 0 [patent_no_of_ind_claims] => -15 [patent_words_short_claim] => 148 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => publication [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18343748 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/343748
Method and control unit for controlling motion of an object towards a target pose, and robot Jun 28, 2023 Issued
Array ( [id] => 18707238 [patent_doc_number] => 20230329811 [patent_country] => US [patent_kind] => A1 [patent_issue_date] => 2023-10-19 [patent_title] => SYSTEM AND METHOD FOR MANIPULATING AN ANATOMY [patent_app_type] => utility [patent_app_number] => 18/213293 [patent_app_country] => US [patent_app_date] => 2023-06-23 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 0 [patent_figures_cnt] => 0 [patent_no_of_words] => 9936 [patent_no_of_claims] => 0 [patent_no_of_ind_claims] => -18 [patent_words_short_claim] => 112 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => publication [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18213293 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/213293
System and method for manipulating an anatomy Jun 22, 2023 Issued
Array ( [id] => 20419903 [patent_doc_number] => 20250381988 [patent_country] => US [patent_kind] => A1 [patent_issue_date] => 2025-12-18 [patent_title] => MOVING BODY, CONTROL METHOD, AND PROGRAM [patent_app_type] => utility [patent_app_number] => 18/878270 [patent_app_country] => US [patent_app_date] => 2023-06-23 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 0 [patent_figures_cnt] => 0 [patent_no_of_words] => 2491 [patent_no_of_claims] => 0 [patent_no_of_ind_claims] => -8 [patent_words_short_claim] => 60 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => publication [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18878270 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/878270
MOVING BODY, CONTROL METHOD, AND PROGRAM Jun 22, 2023 Pending
Array ( [id] => 20526495 [patent_doc_number] => 12544915 [patent_country] => US [patent_kind] => B2 [patent_issue_date] => 2026-02-10 [patent_title] => Systems and methods for acquiring and moving objects having complex outer surfaces [patent_app_type] => utility [patent_app_number] => 18/213536 [patent_app_country] => US [patent_app_date] => 2023-06-23 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 29 [patent_figures_cnt] => 72 [patent_no_of_words] => 2206 [patent_no_of_claims] => 13 [patent_no_of_ind_claims] => 3 [patent_words_short_claim] => 78 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => patent [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18213536 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/213536
Systems and methods for acquiring and moving objects having complex outer surfaces Jun 22, 2023 Issued
Array ( [id] => 18710935 [patent_doc_number] => 20230333564 [patent_country] => US [patent_kind] => A1 [patent_issue_date] => 2023-10-19 [patent_title] => AUTONOMOUS OBJECT RELOCATION ROBOT [patent_app_type] => utility [patent_app_number] => 18/211862 [patent_app_country] => US [patent_app_date] => 2023-06-20 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 0 [patent_figures_cnt] => 0 [patent_no_of_words] => 8674 [patent_no_of_claims] => 0 [patent_no_of_ind_claims] => -8 [patent_words_short_claim] => 126 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => publication [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18211862 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/211862
Autonomous object relocation robot Jun 19, 2023 Issued
Array ( [id] => 20437881 [patent_doc_number] => 12508706 [patent_country] => US [patent_kind] => B2 [patent_issue_date] => 2025-12-30 [patent_title] => Construction constrained motion primitives from robot maps [patent_app_type] => utility [patent_app_number] => 18/332602 [patent_app_country] => US [patent_app_date] => 2023-06-09 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 11 [patent_figures_cnt] => 11 [patent_no_of_words] => 3248 [patent_no_of_claims] => 20 [patent_no_of_ind_claims] => 3 [patent_words_short_claim] => 174 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => patent [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18332602 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/332602
Construction constrained motion primitives from robot maps Jun 8, 2023 Issued
Array ( [id] => 18843431 [patent_doc_number] => 20230405835 [patent_country] => US [patent_kind] => A1 [patent_issue_date] => 2023-12-21 [patent_title] => HAPTIC PHOTOGRAMMETRY IN ROBOTS AND METHODS FOR OPERATING THE SAME [patent_app_type] => utility [patent_app_number] => 18/207219 [patent_app_country] => US [patent_app_date] => 2023-06-08 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 0 [patent_figures_cnt] => 0 [patent_no_of_words] => 23497 [patent_no_of_claims] => 0 [patent_no_of_ind_claims] => -18 [patent_words_short_claim] => 181 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => publication [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18207219 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/207219
Haptic photogrammetry in robots and methods for operating the same Jun 7, 2023 Issued
Array ( [id] => 18672662 [patent_doc_number] => 20230310105 [patent_country] => US [patent_kind] => A1 [patent_issue_date] => 2023-10-05 [patent_title] => SYSTEM AND METHOD FOR MAINTAINING A TOOL POSITION AND ORIENTATION [patent_app_type] => utility [patent_app_number] => 18/330438 [patent_app_country] => US [patent_app_date] => 2023-06-07 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 0 [patent_figures_cnt] => 0 [patent_no_of_words] => 11116 [patent_no_of_claims] => 0 [patent_no_of_ind_claims] => -17 [patent_words_short_claim] => 143 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => publication [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18330438 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/330438
System and method for maintaining a tool position and orientation Jun 6, 2023 Issued
Array ( [id] => 19613888 [patent_doc_number] => 20240399568 [patent_country] => US [patent_kind] => A1 [patent_issue_date] => 2024-12-05 [patent_title] => SYNTHESIZING MACHINE LEARNING-BASED CONTROLLERS FOR UNDERACTUATED ROBOTIC MANIPULATORS [patent_app_type] => utility [patent_app_number] => 18/325537 [patent_app_country] => US [patent_app_date] => 2023-05-30 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 0 [patent_figures_cnt] => 0 [patent_no_of_words] => 4506 [patent_no_of_claims] => 0 [patent_no_of_ind_claims] => -18 [patent_words_short_claim] => 113 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => publication [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18325537 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/325537
Synthesizing machine learning-based controllers for underactuated robotic manipulators May 29, 2023 Issued
Array ( [id] => 19990198 [patent_doc_number] => 20250128420 [patent_country] => US [patent_kind] => A1 [patent_issue_date] => 2025-04-24 [patent_title] => METHODS, SYSTEMS AND APPARATUSES FOR EQUIPMENT ALIGNMENT AND POSITION TEACH [patent_app_type] => utility [patent_app_number] => 18/722267 [patent_app_country] => US [patent_app_date] => 2023-05-09 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 0 [patent_figures_cnt] => 0 [patent_no_of_words] => 5587 [patent_no_of_claims] => 0 [patent_no_of_ind_claims] => -14 [patent_words_short_claim] => 136 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => publication [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18722267 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/722267
METHODS, SYSTEMS AND APPARATUSES FOR EQUIPMENT ALIGNMENT AND POSITION TEACH May 8, 2023 Pending
Array ( [id] => 19761925 [patent_doc_number] => 12220194 [patent_country] => US [patent_kind] => B2 [patent_issue_date] => 2025-02-11 [patent_title] => Flexible medical instrument [patent_app_type] => utility [patent_app_number] => 18/306827 [patent_app_country] => US [patent_app_date] => 2023-04-25 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 3 [patent_figures_cnt] => 5 [patent_no_of_words] => 5638 [patent_no_of_claims] => 20 [patent_no_of_ind_claims] => 2 [patent_words_short_claim] => 101 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => patent [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18306827 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/306827
Flexible medical instrument Apr 24, 2023 Issued
Array ( [id] => 18551501 [patent_doc_number] => 20230249506 [patent_country] => US [patent_kind] => A1 [patent_issue_date] => 2023-08-10 [patent_title] => TRACTOR-TRAILER COMMUNICATION SYSTEM [patent_app_type] => utility [patent_app_number] => 18/303785 [patent_app_country] => US [patent_app_date] => 2023-04-20 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 0 [patent_figures_cnt] => 0 [patent_no_of_words] => 7608 [patent_no_of_claims] => 0 [patent_no_of_ind_claims] => -17 [patent_words_short_claim] => 85 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => publication [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18303785 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/303785
Tractor-trailer communication system Apr 19, 2023 Issued
Array ( [id] => 18708257 [patent_doc_number] => 20230330843 [patent_country] => US [patent_kind] => A1 [patent_issue_date] => 2023-10-19 [patent_title] => SYSTEM AND/OR METHOD FOR GRASPING OBJECTS [patent_app_type] => utility [patent_app_number] => 18/136215 [patent_app_country] => US [patent_app_date] => 2023-04-18 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 0 [patent_figures_cnt] => 0 [patent_no_of_words] => 7434 [patent_no_of_claims] => 0 [patent_no_of_ind_claims] => -18 [patent_words_short_claim] => 75 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => publication [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18136215 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/136215
System and/or method for grasping objects Apr 17, 2023 Issued
Array ( [id] => 18535688 [patent_doc_number] => 20230240773 [patent_country] => US [patent_kind] => A1 [patent_issue_date] => 2023-08-03 [patent_title] => ONE-SIDED ROBOTIC SURGICAL PROCEDURE [patent_app_type] => utility [patent_app_number] => 18/298891 [patent_app_country] => US [patent_app_date] => 2023-04-11 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 0 [patent_figures_cnt] => 0 [patent_no_of_words] => 6275 [patent_no_of_claims] => 0 [patent_no_of_ind_claims] => -24 [patent_words_short_claim] => 140 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => publication [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18298891 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/298891
One-sided robotic surgical procedure Apr 10, 2023 Issued
Array ( [id] => 20234029 [patent_doc_number] => 20250291348 [patent_country] => US [patent_kind] => A1 [patent_issue_date] => 2025-09-18 [patent_title] => AUTONOMOUS DRIVING CONTROL SYSTEM AND AUTONOMOUS DRIVING CONTROL METHOD [patent_app_type] => utility [patent_app_number] => 18/862678 [patent_app_country] => US [patent_app_date] => 2023-04-07 [patent_effective_date] => 0000-00-00 [patent_drawing_sheets_cnt] => 0 [patent_figures_cnt] => 0 [patent_no_of_words] => 12401 [patent_no_of_claims] => 0 [patent_no_of_ind_claims] => -14 [patent_words_short_claim] => 2 [patent_maintenance] => 1 [patent_no_of_assignments] => 0 [patent_current_assignee] =>[type] => publication [pdf_file] =>[firstpage_image] =>[orig_patent_app_number] => 18862678 [rel_patent_id] =>[rel_patent_doc_number] =>)
18/862678
AUTONOMOUS DRIVING CONTROL SYSTEM AND AUTONOMOUS DRIVING CONTROL METHOD Apr 6, 2023 Pending
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