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    Torque control of underactuated tendon-driven robotic fingers
    3.
    发明授权
    Torque control of underactuated tendon-driven robotic fingers 有权
    欠肌腱驱动机器人手指的扭矩控制

    公开(公告)号：US08565918B2

    公开(公告)日：2013-10-22

    申请号：US12720727

    申请日：2010-03-10

    申请人： Muhammad E. Abdallah ,  Chris A. Ihrke ,  Matthew J. Reiland ,  Charles W. Wampler, II ,  Myron A. Diftler ,  Robert Platt ,  Lyndon Bridgwater

    发明人： Muhammad E. Abdallah ,  Chris A. Ihrke ,  Matthew J. Reiland ,  Charles W. Wampler, II ,  Myron A. Diftler ,  Robert Platt ,  Lyndon Bridgwater

    IPC分类号： G06F19/00

    CPC分类号： H01R13/17 ,  H01R13/052

    摘要： A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.

    摘要翻译： 机器人系统包括具有等于至少n的总自由度（DOF）等于至少n的机器人，由n个腱和n个DOF驱动的欠驱动的腱驱动的手指，所述手指具有至少两个关节，其特征在于不对称的 一个实施例中的接头半径。 控制器与机器人通信，并且使用力控制来控制腱驱动的手指的致动。 通过对肌腱的力控制操作手指，而不是位置控制，消除了否则存在的无约束的松弛空间。 控制器可以利用非对称关节半径来独立地命令关节扭矩。 控制手指的方法包括将独立或参数化的关节扭矩指令给控制器以通过对肌腱上的力控制来致动手指。

    TORQUE CONTROL OF UNDERACTUATED TENDON-DRIVEN ROBOTIC FINGERS
    4.
    发明申请
    TORQUE CONTROL OF UNDERACTUATED TENDON-DRIVEN ROBOTIC FINGERS 有权
    受力驱动的机动手指的扭矩控制

    公开(公告)号：US20100280662A1

    公开(公告)日：2010-11-04

    申请号：US12720727

    申请日：2010-03-10

    申请人： Muhammad E. Abdallah ,  Chris A. Ihrke ,  Matthew J. Reiland ,  Charles W. Wampler, II ,  Myron A. Diftler ,  Robert J. Platt, JR. ,  Lyndon Bridgwater

    发明人： Muhammad E. Abdallah ,  Chris A. Ihrke ,  Matthew J. Reiland ,  Charles W. Wampler, II ,  Myron A. Diftler ,  Robert J. Platt, JR. ,  Lyndon Bridgwater

    IPC分类号： G05B15/00

    CPC分类号： H01R13/17 ,  H01R13/052

    摘要： A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.

    摘要翻译： 机器人系统包括具有等于至少n的总自由度（DOF）等于至少n的机器人，由n个腱和n个DOF驱动的欠驱动的腱驱动的手指，所述手指具有至少两个关节，其特征在于不对称的 一个实施例中的接头半径。 控制器与机器人通信，并且使用力控制来控制腱驱动的手指的致动。 通过对肌腱的力控制操作手指，而不是位置控制，消除了否则存在的无约束的松弛空间。 控制器可以利用非对称关节半径来独立地命令关节扭矩。 控制手指的方法包括将独立或参数化的关节扭矩指令给控制器以通过对肌腱上的力控制来致动手指。

    DEXTEROUS HUMANOID ROBOTIC WRIST
    5.
    发明申请
    DEXTEROUS HUMANOID ROBOTIC WRIST 有权
    地中海人造革手腕

    公开(公告)号：US20110071671A1

    公开(公告)日：2011-03-24

    申请号：US12564088

    申请日：2009-09-22

    申请人： Chris A. Ihrke ,  Lyndon Bridgwater ,  David M. Reich ,  Charles W. Wampler, II ,  Scott R. Askew ,  Myron A. Diftler ,  Vienny Nguyen

    发明人： Chris A. Ihrke ,  Lyndon Bridgwater ,  David M. Reich ,  Charles W. Wampler, II ,  Scott R. Askew ,  Myron A. Diftler ,  Vienny Nguyen

    IPC分类号： G06F19/00 ,  B25J17/02

    CPC分类号： B25J17/0258 ,  Y10T74/20335

    摘要： A humanoid robot includes a torso, a pair of arms, a neck, a head, a wrist joint assembly, and a control system. The arms and the neck movably extend from the torso. Each of the arms includes a lower arm and a hand that is rotatable relative to the lower arm. The wrist joint assembly is operatively defined between the lower arm and the hand. The wrist joint assembly includes a yaw axis and a pitch axis. The pitch axis is disposed in a spaced relationship to the yaw axis such that the axes are generally perpendicular. The pitch axis extends between the yaw axis and the lower arm. The hand is rotatable relative to the lower arm about each of the yaw axis and the pitch axis. The control system is configured for determining a yaw angle and a pitch angle of the wrist joint assembly.

    摘要翻译： 人形机器人包括躯干，一对手臂，颈部，头部，腕关节组件和控制系统。 手臂和脖子可以从躯干上移动。 每个臂包括下臂和相对于下臂可旋转的手。 腕关节组件可操作地限定在下臂和手之间。 腕关节组件包括偏转轴和俯仰轴。 俯仰轴线以与偏转轴线成间隔的关系设置，使得轴线大致垂直。 俯仰轴在偏转轴和下臂之间延伸。 手可围绕每个偏转轴和俯仰轴相对于下臂旋转。 控制系统被配置为确定腕关节组件的偏航角和俯仰角。

    Dexterous humanoid robotic wrist
    6.
    发明授权
    Dexterous humanoid robotic wrist 有权
    灵巧的人形机器手腕

    公开(公告)号：US08498741B2

    公开(公告)日：2013-07-30

    申请号：US12564088

    申请日：2009-09-22

    申请人： Chris A. Ihrke ,  Lyndon Bridgwater ,  David M. Reich ,  Charles W. Wampler, II ,  Scott R. Askew ,  Myron A. Diftler ,  Vienny Nguyen

    发明人： Chris A. Ihrke ,  Lyndon Bridgwater ,  David M. Reich ,  Charles W. Wampler, II ,  Scott R. Askew ,  Myron A. Diftler ,  Vienny Nguyen

    IPC分类号： B25J17/00 ,  B25J17/02 ,  G06F19/00 ,  B25J18/04

    CPC分类号： B25J17/0258 ,  Y10T74/20335

    摘要： A humanoid robot includes a torso, a pair of arms, a neck, a head, a wrist joint assembly, and a control system. The arms and the neck movably extend from the torso. Each of the arms includes a lower arm and a hand that is rotatable relative to the lower arm. The wrist joint assembly is operatively defined between the lower arm and the hand. The wrist joint assembly includes a yaw axis and a pitch axis. The pitch axis is disposed in a spaced relationship to the yaw axis such that the axes are generally perpendicular. The pitch axis extends between the yaw axis and the lower arm. The hand is rotatable relative to the lower arm about each of the yaw axis and the pitch axis. The control system is configured for determining a yaw angle and a pitch angle of the wrist joint assembly.

    摘要翻译： 人形机器人包括躯干，一对手臂，颈部，头部，腕关节组件和控制系统。 手臂和脖子可以从躯干上移动。 每个臂包括下臂和相对于下臂可旋转的手。 腕关节组件可操作地限定在下臂和手之间。 腕关节组件包括偏转轴和俯仰轴。 俯仰轴线以与偏转轴线成间隔的关系设置，使得轴线大致垂直。 俯仰轴在偏转轴和下臂之间延伸。 手可围绕每个偏转轴和俯仰轴相对于下臂旋转。 控制系统被配置为确定腕关节组件的偏航角和俯仰角。

    SENSING THE TENDON TENSION THROUGH THE CONDUIT REACTION FORCES
    7.
    发明申请
    SENSING THE TENDON TENSION THROUGH THE CONDUIT REACTION FORCES 有权
    通过电力反应动力来感知电动张力

    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。

    Sensing the tendon tension through the conduit reaction forces
    8.
    发明授权
    Sensing the tendon tension through the conduit reaction forces 有权
    通过导管反作用力感测肌腱张力

    公开(公告)号：US08056423B2

    公开(公告)日：2011-11-15

    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： G01N3/08

    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。

    Method and apparatus for automatic control of a humanoid robot
    9.
    发明授权
    Method and apparatus for automatic control of a humanoid robot 有权
    人形机器人的自动控制方法和装置

    公开(公告)号：US08364314B2

    公开(公告)日：2013-01-29

    申请号：US12624445

    申请日：2009-11-24

    申请人： Muhammad E Abdallah ,  Robert Platt ,  Charles W. Wampler, II ,  Matthew J Reiland ,  Adam M Sanders

    发明人： Muhammad E Abdallah ,  Robert Platt ,  Charles W. Wampler, II ,  Matthew J Reiland ,  Adam M Sanders

    IPC分类号： G06F19/00

    CPC分类号： H01R13/17 ,  H01R13/052

    摘要： A robotic system includes a humanoid robot having a plurality of joints adapted for force control with respect to an object acted upon by the robot, a graphical user interface (GUI) for receiving an input signal from a user, and a controller. The GUI provides the user with intuitive programming access to the controller. The controller controls the joints using an impedance-based control framework, which provides object level, end-effector level, and/or joint space-level control of the robot in response to the input signal. A method for controlling the robotic system includes receiving the input signal via the GUI, e.g., a desired force, and then processing the input signal using a host machine to control the joints via an impedance-based control framework. The framework provides object level, end-effector level, and/or joint space-level control of the robot, and allows for functional-based GUI to simplify implementation of a myriad of operating modes.

    摘要翻译： 机器人系统包括具有适于对由机器人作用的物体进行力控制的多个关节的人形机器人，用于从用户接收输入信号的图形用户界面（GUI）和控制器。 GUI为用户提供对控制器的直观编程访问。 控制器使用基于阻抗的控制框架控制关节，该框架响应于输入信号提供机器人的物体水平，末端执行器水平和/或联合空间级控制。 用于控制机器人系统的方法包括经由GUI接收输入信号，例如期望的力，然后使用主机处理输入信号，以经由基于阻抗的控制框架来控制关节。 该框架提供了机器人的对象级别，末端执行器级别和/或联合空间级别控制，并允许基于功能的GUI来简化无数操作模式的实现。

    Joint-space impedance control for tendon-driven manipulators
    10.
    发明授权
    Joint-space impedance control for tendon-driven manipulators 有权
    腱驱动机械手的联合空间阻抗控制

    公开(公告)号：US08060250B2

    公开(公告)日：2011-11-15

    申请号：US12335153

    申请日：2008-12-15

    申请人： Matthew J. Reiland ,  Robert Platt ,  Charles W. Wampler, II ,  Muhammad E. Abdallah ,  Brian Hargrave

    发明人： Matthew J. Reiland ,  Robert Platt ,  Charles W. Wampler, II ,  Muhammad E. Abdallah ,  Brian Hargrave

    IPC分类号： G06F19/00

    CPC分类号： B25J9/1633 ,  G05B2219/39457

    摘要： A system and method for controlling tendon-driven manipulators that provide a closed-loop control of joint torques or joint impedances without inducing dynamic coupling between joints. The method includes calculating tendon reference positions or motor commands by projecting a torque error into tendon position space using a single linear operation. The method calculates this torque error using sensed tendon tensions and a reference torque and internal tension. The method can be used to control joint impedance by calculating the reference torque based on a joint position error. The method limits minimum and maximum tendon tensions by projecting the torque error into the tendon tension space and then projecting ii back into joint space.

    摘要翻译： 用于控制腱驱动的操纵器的系统和方法，其提供关节扭矩或关节阻抗的闭环控制，而不引起关节之间的动态联接。 该方法包括通过使用单个线性运算将扭矩误差投影到腱位置空间来计算腱参考位置或电动机命令。 该方法使用感测到的腱张力和参考扭矩和内部张力来计算该扭矩误差。 该方法可用于通过基于关节位置误差计算参考扭矩来控制关节阻抗。 该方法通过将扭矩误差投影到腱张力空间中，然后将ii投射到关节空间中来限制最小和最大肌腱张力。