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公开(公告)号：US20230286144A1
公开(公告)日：2023-09-14
申请号：US18200391
申请日：2023-05-22
发明人： Tanner Rinke , Venkata Krishna Tamminana , Alfredo Medina Ayala , Sungjoon Choi , Moritz Niklaus Bacher , Lars Espen Knoop , Christian Gabriel Schumacher
IPC分类号： B25J9/16
CPC分类号： B25J9/163 , B25J9/1669
摘要： In one example, a robotic system is disclosed that includes a plurality of components coupled together, a plurality of motors operable to move the plurality of components, a controller in electrical communication with the plurality of motors to generate control signals to actuate movement of the plurality of components, wherein the controller is configured to: receive a first set of control signals operative to generate a defined motion for the plurality of components, analyze the first set of control signals to determine a second set of control signals operative to define a retargeted motion for the plurality of components, wherein the retargeted motion suppresses vibrations of the plurality of components as compared to the defined motion, and provide the second set of control signals to the plurality of motors to actuate the retargeted motion by the plurality of components.
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公开(公告)号：US11478931B2
公开(公告)日：2022-10-25
申请号：US16451209
申请日：2019-06-25
IPC分类号： B25J9/16
摘要： A robot control method, and associated robot controllers and robots operating with such methods and controllers, providing computational vibration suppression. Given a desired animation cycle for a robotic system or robot, the control method uses a dynamic simulation of the physical robot, which takes into account the flexible components of the robot, to predict if vibrations will be seen in the physical robot. If vibrations are predicted with the input animation cycle, the control method optimizes the set of motor trajectories to return a set of trajectories that are as close as possible to the artistic or original intent of the provider of the animation cycle, while minimizing unwanted vibration. The new control method or design tool suppresses unwanted vibrations and allows a robot designer to use lighter and/or softer (less stiff) and, therefore, less expensive systems in new robots.
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公开(公告)号：US20210141869A1
公开(公告)日：2021-05-13
申请号：US16678898
申请日：2019-11-08
发明人： Moritz Niklaus Bächer , Christian Hafner , Bernd Bickel , Christian Gabriel Schumacher , Lars Espen Knoop
IPC分类号： G06F17/50
摘要： An automated mechanical design analysis system includes a computing platform having a hardware processor and a system memory storing a software code. The hardware processor executes the software code to receive an input model of a mechanical object, identify one or more design parameter(s) of the input model for automated analysis, and perform a parametric mapping of the input model based on the design parameter(s) to produce a parameterized model corresponding to the input model. The hardware processor further executes the software code to embed the parameterized model in a grid to produce model-grid intersections defining multiple subvolumes of the parameterized model, and generate a simulation of the input model based on the model-grid intersections and the subvolumes, where the simulation of the input model provides a differentiable mathematical representation of the input model.
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4.发明公开公开(公告)号：US20240269899A1
公开(公告)日：2024-08-15
申请号：US18110278
申请日：2023-02-15
发明人： Moritz Niklaus Bächer , Daniele Panozzo , Denis Zorin , Arvi Gjoka , Lars Espen Knoop , Christian Gabriel Schumacher
CPC分类号： B29C33/3835 , B29C39/025 , G06F30/12 , G06F30/20 , G06F2113/22
摘要： A computer-assisted method (and a computer system implementing a design tool and skin fabricated according to these designs) for designing elastomeric skin for robots and robotic devices. The skin design tool is configured to facilitate the optimal navigation of the design space spanned by an animatronic or robotic device skin. The skin design tool includes a soft body simulator that is differentiable with respect to control and design parameters, which enables the skin design tool to provide one or more of the following applications: (1) automated identification of an optimal neutral pose for the skin that minimizes peak stresses when the skin is brought into extreme poses; (2) automated optimization of the skin thickness and shape of a skin to meet a time-varying artistic target; and (3) automated optimization of a skin to achieve a desired behavior if the skin is allowed to slide along an underlying rigid shell.
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公开(公告)号：US11787045B2
公开(公告)日：2023-10-17
申请号：US17224012
申请日：2021-04-06
发明人： Moritz Niklaus Bacher , Lars Espen Knoop , Michael Anthony Hopkins , Kyle Michael Cesare , Christian Gabriel Schumacher , Stelian Coros
CPC分类号： B25J9/1607 , B25J13/088
摘要： A new controller for use in robots with kinematic loops as well as in most other types of robots (such as those with fully actuated kinematic trees). The controller includes an inverse kinematics (IK) module that implements a versatile IK formulation for retargeting of motions, including expressive motions, onto mechanical systems (i.e., robots with loops and/or without loops). Further, the controller is configured to support the precise control of the position and orientation of end effectors and the center of mass (CoM) (such as of walking robots). The formulation of the algorithms carried out by the IK module safeguards against a disassembly when IK targets are moved outside the workspace of the robot. A regularizer is included in the controller that smoothly circumvents kinematic singularities where velocities go to infinity.
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公开(公告)号：US10675766B1
公开(公告)日：2020-06-09
申请号：US16433684
申请日：2019-06-06
发明人： Günter D. Niemeyer , Lanny S. Smoot , Vinay Chawda , Matthew Keith Xi-Jie Pan , Moritz Bächer , Lars Espen Knoop
摘要： A system for providing a user of a virtual reality (VR) system with physical interactions with an object in the real world or in the surrounding physical space while they are concurrently interacting in the virtual world with a corresponding virtual object. The real world object is dynamic with the system including a physical interaction system that includes a robot with a manipulator for moving, positioning, and/or orienting the real world object to move it into contact with the user. For example, the physical object is moved into contact with a tracked body part of the user at a time that is synchronized with a time of an interaction event occurring in the virtual world being created by the VR system. Further, a system is described for providing a dynamic physical interaction to a human participant, e.g., a fast and compelling handover in an augmented reality (AR) system.
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公开(公告)号：US20240051124A1
公开(公告)日：2024-02-15
申请号：US18232239
申请日：2023-08-09
发明人： Moritz Niklaus Bacher , Christian Gabriel Schumacher , Komath Naveen Kumar , Lars Espen Knoop , Agon Serifi
IPC分类号： B25J9/16
CPC分类号： B25J9/161 , B25J9/1605 , B25J9/163 , B25J9/1664 , B25J9/1653
摘要： Systems and methods for training a neural network to predict states of a robotics device are disclosed. Robotics data is received for a robotics device, including indications of a set of components, a digital simulation of the robotics device, and measurement data received from a sensor associated with the robotics device. The set of components includes an actuator and a structural element. A training dataset is generated using the received robotics data. Generating the training dataset includes comparing the measurement data with simulated measurement data based on the digital simulation. A neural network is trained using the generated training dataset to modify the digital simulation of the robotics device to predict a state of the robotics device, such as a position, motion, electrical quantity, or other. When trained, the neural network is applied to predict states of the robotics device or a different robotics device.
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公开(公告)号：US20220226987A1
公开(公告)日：2022-07-21
申请号：US17224012
申请日：2021-04-06
发明人： Moritz Niklaus Bacher , Lars Espen Knoop , Michael Anthony Hopkins , Kyle Michael Cesare , Christian Gabriel Schumacher , Stelian Coros
摘要： A new controller for use in robots with kinematic loops as well as in most other types of robots (such as those with fully actuated kinematic trees). The controller includes an inverse kinematics (IK) module that implements a versatile IK formulation for retargeting of motions, including expressive motions, onto mechanical systems (i.e., robots with loops and/or without loops). Further, the controller is configured to support the precise control of the position and orientation of end effectors and the center of mass (CoM) (such as of walking robots). The formulation of the algorithms carried out by the IK module safeguards against a disassembly when IK targets are moved outside the workspace of the robot. A regularizer is included in the controller that smoothly circumvents kinematic singularities where velocities go to infinity.
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公开(公告)号：US20210232735A1
公开(公告)日：2021-07-29
申请号：US16776089
申请日：2020-01-29
发明人： Moritz Niklaus Bächer , Gabriela Natalia Venturini , Christian Gabriel Schumacher , Cynthia A. Marinaro , Alfredo Ayala , Lars Espen Knoop , Philip J. Jackson
IPC分类号： G06F30/23 , G06F111/10
摘要： A system for performing simulation-based material characterization includes a computing platform having a hardware processor and a system memory storing a software code. The hardware processor executes the software code to obtain a result of a physical test performed on a material, selects a parameterized model of the material based on the obtained result, and performs a simulation of the physical test using the parameterized model to generate a simulated result. The hardware processor further executes the software code to compare the simulated result with the obtained result of the physical test on the material, and adjusts one or more parameter value(s) of the parameterized model, based on the comparison, to improve the simulated result, and predict, after adjusting the parameter value(s), one or more characteristics of the material based on the parameterized model.
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公开(公告)号：US11029664B2
公开(公告)日：2021-06-08
申请号：US15958109
申请日：2018-04-20
发明人： Moritz Bächer , Stelian Coros , Lars Espen Knoop , Hongyi Xu
IPC分类号： G05B19/4097 , G06F30/00 , G06F113/16 , G06F119/18
摘要： Methods and corresponding systems that are useful in design and fabrication of kinetic wire mechanisms or characters. The method includes a computational technique for the design of kinetic wire mechanisms tailored for fabrication on consumer-grade hardware such as a desktop CNC bending device. The method takes as input a skeletal animation of the mechanism to be fabricated and estimates, from the skeletal animation, a cable-driven and compliant wire structure, which matches user-selected keyframes. To enable localized deformations, the technique involves shaping the mechanism's body (i.e., the wire) into functional spring-like entities at a set of locations along the length of the mechanism's body. The method involves determining where on the wire body to place these spring-like entities, determining which types or configurations of spring-like entities should be placed at each of these locations, and optimizing parameters of each user-selected spring-like entity for use at the locations on the wire mechanism.
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