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1 / 44,174
1.WO/2026/014247MOBILE ROBOT
WO - 15.01.2026
Int.Class B25J 5/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
 Appl.No PCT/JP2025/022921 Applicant OMRON CORPORATION Inventor SUZUMURA, Akihiro
Provided is a mobile robot equipped with a control system capable of pursuing an operational objective other than fall prevention while reducing a calculation load related to the position of the center of gravity.　A whole-body operation generating unit: generates joint commands, which are operation commands for a motor driver that drives each joint of a manipulator, using optimal control for minimizing the value of an objective function that includes a term for realizing a center-of-gravity state of the manipulator corresponding to an adjusted model state, the optimal control including, as terms of the objective function or as optimization constraining conditions, matters relating to an operational objective, other than fall prevention, associated with the fact that the mobile robot is provided with a manipulator having a greater degree of freedom than a coarse-grained model, or the fact that a cart has a specific mechanical form; and generates wheel commands, which are operation commands for a motor driver that drives a wheel.
2.WO/2026/012506INTELLIGENT STANDARD-EMULSION-EXPLOSIVE CHARGING ROBOT SUITABLE FOR UNDERGROUND ENGINEERING
WO - 15.01.2026
Int.Class F42D 1/10
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
42AMMUNITION; BLASTING
DBLASTING
1Blasting methods or apparatus, e.g. for loading or tamping
08Tamping methods; Methods for loading boreholes with explosives; Apparatus therefor
10Feeding explosives in granular or slurry form; Feeding explosives by pneumatic or hydraulic pressure
 Appl.No PCT/CN2025/110569 Applicant SHANDONG UNIVERSITY Inventor LI, Liping
An intelligent standard-emulsion-explosive charging robot suitable for underground engineering. The charging robot comprises a blast hole identification device (1), an air blowing and pushing device (2), a robotic arm (3), an air compressor (4), a detonator device (5) and a charging device (6), wherein the blast hole identification device comprises an industrial camera (7) and a fill light (8); the air blowing and pushing device comprises the air compressor, an air blowing and pushing tube (10) and servo electric motors (11-1, 11-2); the detonator device comprises a detonator compartment (15), a servo electric motor (16), a coupling (17), a robotic gripper (19), a steering gear (20) and a ball screw (21); and the charging device comprises a driving device and an explosive compartment (24). The intelligent charging robot has a compact structure and a high degree of automation, and can simultaneously push a plurality of emulsion explosives in a single operation, thereby reducing the labor intensity and improving the tunnel construction efficiency.
3.WO/2026/013151SYSTEM FOR INSERTING A PENETRATING ELEMENT AND METHOD FOR ASSEMBLING A SYSTEM FOR INSERTING A PENETRATING ELEMENT
WO - 15.01.2026
Int.Class B25J 11/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
 Appl.No PCT/EP2025/069632 Applicant WEBER SCHRAUBAUTOMATEN GMBH Inventor WIETHOFF, Ralf
The invention relates to a screwdriving system (10). The screwdriving system (10) comprises a screwdriving unit (18) having a housing (20), a tool holder (22) for receiving a screwdriving tool (24), a rotary drive (26) for rotating the tool holder (22), and a linear drive (28) for imparting a feed movement to the tool holder (22). The screwdriving system (10) also comprises a compensation module (32) which is separate from the screwdriving unit (18). The compensation module (32) has a first element (34) for mechanical coupling to the housing (20) of the screwdriving unit (18) and a second element (36) for mechanical coupling to an articulated-arm robot (16), such that the screwdriving unit (18) can be fastened to the articulated-arm robot (16) via the compensation module (32). The compensation module (32) comprises at least one bearing (38). The first element (34) and the second element (36) can be moved relative to one another via said at least one bearing (38) such that a deflection of a robot axis (16a) of the articulated-arm robot (16) due to pressing forces and a resultant change in position of the screwdriving unit (18) can be at least partially compensated. The invention also relates to a method for assembling a screwdriving system (10), in which method a compensation module (32) is arranged between an articulated-arm robot (16) and a screwdriving unit (18).
4.WO/2026/014246MOBILE ROBOT
WO - 15.01.2026
Int.Class B25J 5/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
 Appl.No PCT/JP2025/022920 Applicant OMRON CORPORATION Inventor SUZUMURA, Akihiro
The present invention imparts favorable followability of a truck with respect to changes in target speed while preventing toppling by utilizing the movement of a manipulator. A robot control unit comprises: a target truck state acquisition unit that acquires a target truck state, which is the target state of a truck for causing a mobile robot to travel in accordance with a travel plan; an operation generation unit that permits the position of the zero moment point of the mobile robot to move within a prescribed range set up in a support region of the mobile robot, that determines a command for minimizing the value of an objective function including a term pertaining to the error amount between the target state and a predicted state of the mobile robot spanning a certain time range in the future, and that generates, on the basis of the command, a joint command, which is an operation command for a motor driver which drives a joint of a manipulator, and a wheel command, which is an operation command for a motor driver which drives a wheel; and an execution control unit that causes the mobile robot to operate by periodically executing the operation generation unit.
5.WO/2026/015197SYSTEMS AND METHODS FOR CLEANING FLUID TANKS
WO - 15.01.2026
Int.Class B08B 9/093
BPERFORMING OPERATIONS; TRANSPORTING
08CLEANING
BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
9Cleaning hollow articles by methods or apparatus specially adapted thereto
08Cleaning of containers, e.g. tanks
093by the force of jets or sprays
 Appl.No PCT/US2025/028508 Applicant CLEANTECH SYSTEMS, LLC Inventor ROBIN, Ross, J.
Disclosed herein are systems and methods for cleaning fluid tanks. In a specific embodiment, a tank cleaning system for cleaning drilling fluid tanks and fluid production storage offloading fluid tanks includes; a track and trolley assembly, where the track is mounted within the fluid tank and where the trolley is configured for connection to and movement along the track, an arm assembly, a sprayer assembly, and a submersible pump. In another specific embodiment, a non-transitory computer readable medium comprising instructions which, when implemented by one or more computers, causes the one or more computers to: receive an input of data from a user, receive a signal from one or more sensors, receive a video signal from a camera, operating a fluid tank cleaning system, and at least partially cleaning an inner surface of the tank.
6.WO/2026/013619UNMANNED AGRICULTURAL ROVER HAVING A FUEL CELL PROPULSION
WO - 15.01.2026
Int.Class B60K 7/00
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
7Disposition of motor in, or adjacent to, traction wheel
 Appl.No PCT/IB2025/057013 Applicant ECOTHEA S.R.L. Inventor SOMA', Aurelio
An unmanned off-road rover comprises: One or more electric motorwheels having a reduction gear (R); - A satellite localization module; - An obstacle detection module; - A fuel cell driving module; and - An electric power take-off and/or an electric socket to power an electric implement.
7.WO/2026/014819REMOTE CENTER-OF-MOTION MODULE AND MEDICAL DEVICE INCLUDING SAME
WO - 15.01.2026
Int.Class A61B 90/50
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/-A61B50/171
50Supports for surgical instruments, e.g. articulated arms
 Appl.No PCT/KR2025/009597 Applicant KOREA INSTITUTE OF MACHINERY & MATERIALS Inventor SHIM, Seongbo
In a remote center-of-motion module and a medical device including same, the center-of-motion module comprises a link unit having an end portion which is driven to rotate around a pivot. The link unit comprises: a link portion including a plurality of links; a joint unit including at least one rotation portion which connects the links; and a linear movement unit including at least one linear movement portion which connects the links intersecting each other.
8.WO/2026/012568METHOD OF CLEANING SURFACE, AND CLEANING SYSTEM
WO - 15.01.2026
Int.Class B08B 3/02
BPERFORMING OPERATIONS; TRANSPORTING
08CLEANING
BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
3Cleaning by methods involving the use or presence of liquid or steam
02Cleaning by the force of jets or sprays
 Appl.No PCT/EP2024/069231 Applicant ABB SCHWEIZ AG Inventor LAGERBERG, Tomas
A method of cleaning a surface (64), the method comprising providing a nozzle device (14) including a nozzle (16) arranged to provide a projection (18) of a jet (20) of a liquid (22); providing, in an electronic system (12), at least one projection value, each projection value being a value indicative of a projection parameter (40) associated with the projection; providing, in the electronic system, a target value (94) indicative of a force (74) with which the jet should impact on a surface; determining, by the electronic system, a distance (72) between the nozzle and the surface based on the target value and the at least one projection value; and controlling, by the electronic system, the nozzle device to clean the surface by controlling the nozzle device to provide the projection of the jet of the liquid onto the surface at the distance from the surface.
9.WO/2026/014608COMPANION MOBILE APPARATUS AND CONTROL METHOD THEREFOR
WO - 15.01.2026
Int.Class B25J 13/08
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
08by means of sensing devices, e.g. viewing or touching devices
 Appl.No PCT/KR2024/015359 Applicant WAVE.AI CO., LTD. Inventor KIM, Ung Sam
A companion mobile apparatus and a control method therefor are disclosed. The companion mobile apparatus according to one aspect of the present invention comprises: a mobile apparatus main body; an imaging module disposed on the side surface of the mobile apparatus main body; a sensor module disposed on the side surface of the mobile apparatus main body; a driving module for moving the mobile apparatus main body; and a processor provided inside the mobile apparatus main body and connected to the sensor module, the imaging module, the sensor module and the driving module, wherein the processor recognizes a companion target on the basis of lateral image data obtained through the imaging module, and controls the driving module such that the companion target is accompanied while a preset certain distance therefrom is maintained in the lateral direction of the companion target by using distance data measured through the sensor module.
10.WO/2026/015508MICROROBOT PLATFORM AND USER INTERFACE FOR EYELASH ENHANCEMENT
WO - 15.01.2026
Int.Class A45D 44/00
AHUMAN NECESSITIES
45HAND OR TRAVELLING ARTICLES
DHAIRDRESSING OR SHAVING EQUIPMENT ; EQUIPMENT FOR COSMETICS OR COSMETIC TREATMENTS, e.g. FOR MANICURING OR PEDICURING
44Other cosmetic or toiletry articles, e.g. for hairdressers' rooms
 Appl.No PCT/US2025/036758 Applicant L'OREAL Inventor FELICIANO, Rafael
A method of controlling one or more microrobots to apply eyelash enhancements comprises obtaining digital source image data of a subject; defining an eyelash region of the subject in the source image data; generating an eyelash map based at least in part on analysis of the defined eyelash region; and generating microrobot control instructions based at least in part on the eyelash map. The control instructions are configured to cause the microrobot(s) to apply lashes to the subject based on the eyelash map. Defining the eyelash region may include extracting facial landmarks (e.g., points or contours) from the source image data, identifying the eyelash region based on the facial landmarks, and applying an image mask corresponding to the eyelash region. A modified image or 3D model can be generated based on the source image data and an eyelash recommendation. The control instructions may be further based on the eyelash recommendation.
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