MUMBAI, India, Feb. 6 -- Intellectual Property India has published a patent application (202511131157 A) filed by Thapar Institute Of Engineering & Technology, Patiala, Punjab, on Dec. 24, 2025, for 'nurse mobile robot with i apf, improved tangent bug, log barrier control and bond graph fdi.'
Inventor(s) include Prof. T. K. Bera; Prof. Nizar Chatti; Dr. Raja Rout; and Himanshu.
The application for the patent was published on Feb. 6, under issue no. 06/2026.
According to the abstract released by the Intellectual Property India: "A nurse mobile robot system for autonomous and fault-tolerant navigation in hospitals is disclosed. The robot comprises a circular four-wheel differential-drive base powered by planetary-geared DC motors with RMCS-2303 drivers, an onboard computer running ROS Noetic with Arduino-based actuation, a Hokuyo UTM-30LX LiDAR, a Kinect RGB-D sensor, and a 5-DOF Dynamixel robotic arm. Sensor fusion of LiDAR and RGB-D data provides state and obstacle estimation. An Improved Artificial Potential Field integrated with reinforcement learning and an Improved Tangent Bug algorithm generate local and global motion commands, which are tracked by a log-barrier Lyapunov controller enforcing minimum obstacle clearance. A bond-graph analytical redundancy relation-based FDI module detects actuator faults and reconfigures wheel actuation online, maintaining bounded tracking error. The system enables safe multi-waypoint delivery of medical items in dynamic hospital environments with reduced human supervision."
Disclaimer: Curated by HT Syndication.
