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11.发明授权Hierarchical robot control system and method for controlling select degrees of freedom of an object using multiple manipulators 有权分层机器人控制系统和用于使用多个操纵器来控制物体的选择自由度的方法公开(公告)号：US08483882B2
公开(公告)日：2013-07-09
申请号：US12686512
申请日：2010-01-13
CPC分类号： H01R13/17 , H01R13/052
摘要： A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control, e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.
摘要翻译： 机器人系统包括机器人，其具有用于在主任务期间使用多个抓握类型中的一个抓握对象的操纵器，以及控制器。 控制器在主任务期间使用多任务控制层次来控制操纵器，并且响应于输入信号自动地对每个抓握类型的系统的内力进行参数化。 主要任务在对象级别的控制下被定义，例如使用闭合链变换，使得仅为对象命令选择自由度。 用于机器人系统的控制系统具有使用上述层级控制操纵器的主机和算法。 用于控制系统的方法包括使用主机接收和处理输入信号，包括在对象级别的控制下定义主要任务，例如使用闭合链定义，以及对每个抓握类型的内部力进行参数化 。
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公开(公告)号：US08412378B2
公开(公告)日：2013-04-02
申请号：US12629637
申请日：2009-12-02
申请人： Muhammad E. Abdallah , Robert Platt
发明人： Muhammad E. Abdallah , Robert Platt
CPC分类号： B25J9/1615 , B25J9/1692 , B25J15/0009 , G05B2219/39024 , G05B2219/39457
摘要： A method for calibrating tension sensors on tendons in a tendon-driven manipulator without disassembling the manipulator and without external force references. The method calibrates the tensions against each other to produce results that are kinematically consistent. The results might not be absolutely accurate, however, they are optimized with respect to an initial or nominal calibration. The method includes causing the tendons to be slack and recording the sensor values from sensors that measure the tension on the tendons. The method further includes tensioning the tendons with the manipulator positioned so that it is not in contact with any obstacle or joint limit and again recording the sensor values. The method then performs a regression process to determine the sensor parameters that both satisfy a zero-torque constraint on the manipulator and minimize the error with respect to nominal calibration values.
摘要翻译： 一种用于在肌腱驱动的操纵器上的腱上校准张力传感器的方法，而不拆卸机械手并且不需要外力参考。 该方法校准彼此之间的张力，以产生运动学上一致的结果。 结果可能不是绝对准确的，但是它们相对于初始或标称校准进行了优化。 该方法包括使肌腱松弛并记录来自测量腱上张力的传感器的传感器值。 该方法还包括用操纵器张紧肌腱，所述操纵器被定位成使得其不与任何障碍物或接合极限接触并且再次记录传感器值。 该方法然后执行回归过程以确定两者都满足操纵器上的零扭矩约束并且使关于标称校准值的误差最小化的传感器参数。
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13.发明申请ROBUST OPERATION OF TENDON-DRIVEN ROBOT FINGERS USING FORCE AND POSITION-BASED CONTROL LAWS 有权使用强力和基于位置的控制法强力运转机器人手指公开(公告)号：US20120109379A1
公开(公告)日：2012-05-03
申请号：US12916803
申请日：2010-11-01
申请人： Muhammad E. Abdallah , Robert J. Platt, JR. , Matthew J. Reiland , Brian Hargrave , Myron A. Diftler , Philip A. Strawser , Chris A. Ihrke
发明人： Muhammad E. Abdallah , Robert J. Platt, JR. , Matthew J. Reiland , Brian Hargrave , Myron A. Diftler , Philip A. Strawser , Chris A. Ihrke
IPC分类号： G05B15/00
CPC分类号： B25J15/0009 , B25J9/1045
摘要： A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.
摘要翻译： 机器人系统包括腱驱动的手指和控制系统。 当张力传感器可用时，系统通过基于力的控制律控制手指，并且当传感器不可用时，通过基于位置的控制规律来控制手指。 多个腱可以各自具有相应的传感器。 当只有一些传感器可用时，系统选择性地将符合值注入基于位置的控制律。 控制系统包括主机和具有控制过程的非暂时计算机可读介质，该控制过程由主机通过基于力或基于位置的控制定律来执行以控制手指。 用于控制手指的方法包括确定张力传感器的可用性，以及使用控制系统通过力或基于位置的控制律选择性地控制手指。 位置控制法允许控制系统抵抗干扰，同时名义上保持内部肌腱张力的初始状态。
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14.发明申请Systems and Methods for Controlling a Legged Robot Using a Two-Phase Disturbance Response Strategy 有权使用两相干扰响应策略来控制有腿机器人的系统和方法公开(公告)号：US20110029130A1
公开(公告)日：2011-02-03
申请号：US12904990
申请日：2010-10-14
CPC分类号： B62D57/032
摘要： Systems and methods are presented that enable a legged robot to maintain its balance when subjected to an unexpected force. In the reflex phase, the robot withstands the immediate effect of the force by yielding to it. In one embodiment, during the reflex phase, the control system determines an instruction that will cause the robot to perform a movement that generates a negative rate of change of the robot's angular momentum at its centroid in a magnitude large enough to compensate for the destabilizing effect of the force. In the recovery phase, the robot recovers its posture after having moved during the reflex phase. In one embodiment, the robot returns to a statically stable upright posture that maximizes the robot's potential energy. In one embodiment, during the recovery phase, the control system determines an instruction that will cause the robot to perform a movement that increases its potential energy.
摘要翻译： 提出了系统和方法，使得腿式机器人在受到意想不到的力时保持其平衡。 在反射阶段，机器人能忍受力的立即的影响。 在一个实施例中，在反射阶段期间，控制系统确定将使机器人执行运动的指令，该运动在其质心处产生机器人的角动量的负变化率，其幅度足够大以补偿不稳定效应 的力量。 在恢复阶段，机器人在反射阶段移动后恢复其姿势。 在一个实施例中，机器人返回到使机器人的潜在能量最大化的静态稳定的直立姿态。 在一个实施例中，在恢复阶段期间，控制系统确定将使机器人执行增加其势能的运动的指令。
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15.发明授权Systems and methods for controlling a legged robot using a two-phase disturbance response strategy 有权使用两相干扰响应策略控制腿式机器人的系统和方法公开(公告)号：US07835822B2
公开(公告)日：2010-11-16
申请号：US11392312
申请日：2006-03-28
IPC分类号： G05B19/04
CPC分类号： B62D57/032
摘要： Systems and methods are presented that enable a legged robot to maintain its balance when subjected to an unexpected force. In the reflex phase, the robot withstands the immediate effect of the force by yielding to it. In one embodiment, during the reflex phase, the control system determines an instruction that will cause the robot to perform a movement that generates a negative rate of change of the robot's angular momentum at its centroid in a magnitude large enough to compensate for the destabilizing effect of the force. In the recovery phase, the robot recovers its posture after having moved during the reflex phase. In one embodiment, the robot returns to a statically stable upright posture that maximizes the robot's potential energy. In one embodiment, during the recovery phase, the control system determines an instruction that will cause the robot to perform a movement that increases its potential energy.
摘要翻译： 提出了系统和方法，使得腿式机器人在受到意想不到的力时保持其平衡。 在反射阶段，机器人能忍受力的立即的影响。 在一个实施例中，在反射阶段期间，控制系统确定将使机器人执行运动的指令，该运动在其质心处产生机器人角动量的负变化率，其幅度足够大以补偿不稳定效应 的力量。 在恢复阶段，机器人在反射阶段移动后恢复其姿势。 在一个实施例中，机器人返回到使机器人的潜在能量最大化的静态稳定的直立姿态。 在一个实施例中，在恢复阶段期间，控制系统确定将使机器人执行增加其势能的运动的指令。
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16.发明申请HIERARCHICAL ROBOT CONTROL SYSTEM AND METHOD FOR CONTROLLING SELECT DEGREES OF FREEDOM OF AN OBJECT USING MULTIPLE MANIPULATORS 有权分级机器人控制系统和使用多个操纵器控制对象的自由选择程度的方法公开(公告)号：US20100280661A1
公开(公告)日：2010-11-04
申请号：US12686512
申请日：2010-01-13
CPC分类号： H01R13/17 , H01R13/052
摘要： A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. Hie controller controls the manipulators dining the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.
摘要翻译： 机器人系统包括机器人，其具有用于在主任务期间使用多个抓握类型中的一个抓握对象的操纵器，以及控制器。 Hie控制器控制操纵器使用多任务控制层次来对主要任务进行用餐，并且响应于输入信号自动地对每个抓握类型的系统的内力进行参数化。 主要任务被定义在对象级别的控制下，例如使用闭合链变换，使得仅为对象命令选择自由度。 用于机器人系统的控制系统具有使用上述层级控制操纵器的主机和算法。 用于控制系统的方法包括使用主机接收和处理输入信号，包括在对象级别的控制下定义主要任务，例如使用闭合链定义，以及对每个抓握类型的内部力进行参数化 。
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公开(公告)号：US20100161127A1
公开(公告)日：2010-06-24
申请号：US12338697
申请日：2008-12-18
申请人： Muhammad E. Abdallah , Matthew J. Reiland , Robert Platt , Charles W. Wampler, II , Brian Hargrave
发明人： Muhammad E. Abdallah , Matthew J. Reiland , Robert Platt , Charles W. Wampler, II , Brian Hargrave
CPC分类号： B25J9/1653 , G05B2219/39343 , G05B2219/40352
摘要： A system and method for providing multiple priority impedance control for a robot manipulator where impedance laws are realized simultaneously and with a given order of priority. The method includes a control scheme for realizing a Cartesian space impedance objective as a first priority while also realizing a joint space impedance objective as a second priority. The method also includes a control scheme for realizing two Cartesian space impedance objectives with different levels of priority. The method includes instances of the control schemes that use feedback from force sensors mounted at an end-effector and other instances of the control schemes that do not use this feedback.
摘要翻译： 一种用于为机器人操纵器提供多重优先级阻抗控制的系统和方法，其中阻抗定律同时实现并且具有给定的优先顺序。 该方法包括用于实现笛卡尔空间阻抗目标作为第一优先级的控制方案，同时还实现作为第二优先级的联合空间阻抗目标。 该方法还包括用于实现具有不同优先级的两个笛卡尔空间阻抗目标的控制方案。 该方法包括使用安装在末端执行器处的力传感器的反馈和不使用该反馈的控制方案的其他实例的控制方案的实例。
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公开(公告)号：US20100121222A1
公开(公告)日：2010-05-13
申请号：US12269552
申请日：2008-11-12
申请人： MUHAMMAD E. ABDALLAH , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Charles W. Wampler, II , Robert Platt
发明人： MUHAMMAD E. ABDALLAH , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Charles W. Wampler, II , Robert Platt
IPC分类号： A61B5/103
CPC分类号： B25J15/0009 , B25J9/1045 , G01L1/2218 , G01L5/226
摘要： A technique that determines the tension in a tendon using a conduit reaction force applied to an end of a conduit through which the tendon is threaded. Any suitable tendon tension sensor can be employed that uses the conduit reaction force for this purpose. In one non-limiting embodiment, the tendon tension sensor includes a cylindrical strain gauge element and a force member mounted to an end of the conduit. The force member includes a cylindrical portion having a bore and a plate portion, where the cylindrical portion is inserted into a bore in the strain gauge element. The tendon is threaded through the strain gauge element and the force member. A strain gauge is mounted to the strain gauge element and measures the reaction force when tension on the tendon causes the strain gauge element to be pushed against the force member.
摘要翻译： 使用施加到导管的端部的导管反作用力来确定腱中的张力的技术，腱穿过该导管。 可以使用任何合适的腱张力传感器，其用于该目的的导管反作用力。 在一个非限制性实施例中，腱张力传感器包括圆柱形应变计元件和安装到导管端部的力部件。 力构件包括具有孔和圆柱形部分的圆柱形部分，其中圆柱形部分插入到应变计元件中的孔中。 腱穿过应变计元件和力部件。 应变计安装到应变计元件上，并且当肌腱上的张力导致应变计元件被推靠在力构件上时，测量反作用力。
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19.发明授权Systems and methods for controlling a legged robot using a two-phase disturbance response strategy 有权使用两相干扰响应策略控制腿式机器人的系统和方法公开(公告)号：US08145354B2
公开(公告)日：2012-03-27
申请号：US12904990
申请日：2010-10-14
IPC分类号： G05B19/04
CPC分类号： B62D57/032
摘要： Systems and methods are presented that enable a legged robot to maintain its balance when subjected to an unexpected force. In the reflex phase, the robot withstands the immediate effect of the force by yielding to it. In one embodiment, during the reflex phase, the control system determines an instruction that will cause the robot to perform a movement that generates a negative rate of change of the robot's angular momentum at its centroid in a magnitude large enough to compensate for the destabilizing effect of the force. In the recovery phase, the robot recovers its posture after having moved during the reflex phase. In one embodiment, the robot returns to a statically stable upright posture that maximizes the robot's potential energy. In one embodiment, during the recovery phase, the control system determines an instruction that will cause the robot to perform a movement that increases its potential energy.
摘要翻译： 提出了系统和方法，使得腿式机器人在受到意想不到的力时保持其平衡。 在反射阶段，机器人能忍受力的立即的影响。 在一个实施例中，在反射阶段期间，控制系统确定将使机器人执行运动的指令，该运动在其质心处产生机器人的角动量的负变化率，其幅度足够大以补偿不稳定效应 的力量。 在恢复阶段，机器人在反射阶段移动后恢复其姿势。 在一个实施例中，机器人返回到使机器人的潜在能量最大化的静态稳定的直立姿态。 在一个实施例中，在恢复阶段期间，控制系统确定将使机器人执行增加其势能的运动的指令。
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20.发明申请公开(公告)号：US20110295419A1
公开(公告)日：2011-12-01
申请号：US12787479
申请日：2010-05-26
CPC分类号： B25J9/1612
摘要： A robotic system includes a robotic mechanism responsive to velocity control signals, and a permissible workspace defined by a convex-polygon boundary. A host machine determines a position of a reference point on the mechanism with respect to the boundary, and includes an algorithm for enforcing the boundary by automatically shaping the velocity control signals as a function of the position, thereby providing smooth and unperturbed operation of the mechanism along the edges and corners of the boundary. The algorithm is suited for application with higher speeds and/or external forces. A host machine includes an algorithm for enforcing the boundary by shaping the velocity control signals as a function of the reference point position, and a hardware module for executing the algorithm. A method for enforcing the convex-polygon boundary is also provided that shapes a velocity control signal via a host machine as a function of the reference point position.
摘要翻译： 机器人系统包括响应于速度控制信号的机器人机构和由凸多边形边界限定的允许工作空间。 主机确定相对于边界的机构上的参考点的位置，并且包括用于通过根据位置自动地形成速度控制信号来强制边界的算法，从而提供机构的平滑和不受干扰的操作 沿着边界的边缘和角落。 该算法适用于具有较高速度和/或外力的应用。 主机包括用于通过使作为参考点位置的函数的速度控制信号整形来强制边界的算法，以及用于执行该算法的硬件模块。 还提供了一种用于强制凸多边形边界的方法，其根据参考点位置通过主机对速度控制信号进行成形。
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