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    ROBUST OPERATION OF TENDON-DRIVEN ROBOT FINGERS USING FORCE AND POSITION-BASED CONTROL LAWS
    1.
    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。

    TORQUE CONTROL OF UNDERACTUATED TENDON-DRIVEN ROBOTIC FINGERS
    3.
    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。

    Torque control of underactuated tendon-driven robotic fingers
    5.
    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。

    METHOD AND APPARATUS FOR AUTOMATIC CONTROL OF A HUMANOID ROBOT
    8.
    发明申请
    METHOD AND APPARATUS FOR AUTOMATIC CONTROL OF A HUMANOID ROBOT 有权
    人类机器人自动控制的方法和装置

    公开(公告)号：US20100280663A1

    公开(公告)日：2010-11-04

    申请号：US12624445

    申请日：2009-11-24

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

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

    IPC分类号： B25J13/00

    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。

    WORKSPACE SAFE OPERATION OF A FORCE- OR IMPEDANCE-CONTROLLED ROBOT
    9.
    发明申请
    WORKSPACE SAFE OPERATION OF A FORCE- OR IMPEDANCE-CONTROLLED ROBOT 有权
    工作场所安全操作的强制或阻碍控制的机器人

    公开(公告)号：US20120059515A1

    公开(公告)日：2012-03-08

    申请号：US12875254

    申请日：2010-09-03

    申请人： Muhammad E. Abdallah ,  Brian Hargrave ,  John D. Yamokoski ,  Philip A. Strawser

    发明人： Muhammad E. Abdallah ,  Brian Hargrave ,  John D. Yamokoski ,  Philip A. Strawser

    IPC分类号： B25J9/00 ,  G06F19/00 ,  B25J19/02 ,  G05B19/00

    CPC分类号： B25J9/1633 ,  G05B2219/39505

    摘要： A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.

    摘要翻译： 控制非结构化工作区内的力或阻抗控制的机器人的机器人操纵器的方法包括对由机械手施加到其周围环境的静力施加饱和极限，并且可以包括确定操纵器和操纵器之间的接触力 对象在非结构化工作空间中，并且当接触力超过阈值时执行动态反射，从而减轻饱和受限静态力未解决的惯性冲击。 该方法可以包括计算由关节致动器赋予机器人接头所需的反射扭矩。 机器人系统包括具有非结构化工作空间的机器人操纵器和电连接到操纵器的控制器，并且其使用基于力或基于阻抗的命令来控制操纵器。 这里也公开的控制器自动施加饱和极限并且可以执行上述动态反射。

    Workspace safe operation of a force- or impedance-controlled robot
    10.
    发明授权
    Workspace safe operation of a force- or impedance-controlled robot 有权
    强制或阻抗控制机器人的工作区安全操作

    公开(公告)号：US08483877B2

    公开(公告)日：2013-07-09

    申请号：US12875254

    申请日：2010-09-03

    申请人： Muhammad E. Abdallah ,  Brian Hargrave ,  John D. Yamokoski ,  Philip A. Strawser

    发明人： Muhammad E. Abdallah ,  Brian Hargrave ,  John D. Yamokoski ,  Philip A. Strawser

    IPC分类号： G05B19/18 ,  G05B15/00 ,  G05B19/00

    CPC分类号： B25J9/1633 ,  G05B2219/39505

    摘要： A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.

    摘要翻译： 控制非结构化工作区内的力或阻抗控制的机器人的机器人操纵器的方法包括对由机械手施加到其周围环境的静力施加饱和极限，并且可以包括确定操纵器和操纵器之间的接触力 对象在非结构化工作空间中，并且当接触力超过阈值时执行动态反射，从而减轻饱和受限静态力未解决的惯性冲击。 该方法可以包括计算由关节致动器赋予机器人接头所需的反射扭矩。 机器人系统包括具有非结构化工作空间的机器人操纵器和电连接到操纵器的控制器，并且其使用基于力或基于阻抗的命令来控制操纵器。 这里也公开的控制器自动施加饱和极限并且可以执行上述动态反射。