Class / Patent application number | Description | Number of patent applications / Date published |
700261000 | Having control of robot torque | 70 |
20090055025 | SYSTEM AND METHOD ENABLING SENSORLESS ACTUATOR - An actuator having a two-parameters energy converter is coupled to a transducer and is driven by a controller. Prior to assembly and operation of the actuator, a calibration procedure is performed. The calibration procedure, together with the unique controller, enable accurate control of the output parameters of the actuator. In one example, the parameters are rate and force, and the calibration and controller enable accurate control of the rate and force at the output of the actuator by measuring only the rate at the output of the energy converter. Consequently, no sensors are needed at the output of the actuator, i.e., at the output of the transducer, where the load is applied. | 02-26-2009 |
20090287354 | ROBOT AND METHOD OF CONTROLLING COOPERATIVE WORK THEREOF - Disclosed are a robot, which performs cooperative work with a plurality of robot manipulators through impedance control, and a method of controlling cooperative work of the robot. The method includes calculating absolute coordinate positions of end effectors, respectively provided at a plurality of manipulators to perform the work; calculating a relative coordinate position from the absolute coordinate positions of the end effectors; calculating joint torques of the plurality of manipulators using the relative coordinate position; and controlling the cooperative work of the plurality of manipulators according to the joint torques. | 11-19-2009 |
20090306825 | MANIPULATION SYSTEM AND METHOD - A method, computer program product, and system for robotic manipulation is provided. The method may include receiving, at a computing device, an input indicating an existence of an object having at least one characteristic and identifying the at least one characteristic via the computing device. The method may further include determining a robotic manipulating algorithm for the object based upon, at least in part, the at least one characteristic, the robotic manipulating algorithm defining instructions for enabling a robot to manipulate the object. Numerous other embodiments are also within the scope of the present disclosure. | 12-10-2009 |
20100076601 | FROG-LEG-ARM ROBOT AND CONTROL METHOD THEREOF - The frog-leg-arm robot is provided with a torque motor connected to a wrist rotation shaft to supply torque to a rotation shaft to which the torque motor itself is connected and a control unit in which, when each of arms constituting the frog-leg-arm robot is able to shift from the present posture to any plurality of postures including a targeted posture by a driving device, the torque motor is electrically controlled so that the torque is supplied to the wrist rotation shaft in a direction in which each of the arms is able to shift to the targeted posture. | 03-25-2010 |
20100138043 | LEGGED MOBILE ROBOT AND METHOD OF CONTROLLING THE SAME - When a swinging leg (e.g., the leg link LR) lands on road surface, a control unit | 06-03-2010 |
20100152898 | JOINT-SPACE IMPEDANCE CONTROL FOR TENDON-DRIVEN MANIPULATORS - 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. | 06-17-2010 |
20100161130 | Control apparatus of multi-finger hand and grasping method using the same - A grasping method of a multi-finger hand including calculating positions of tips of plural actual fingers; calculating positions of tips of plural virtual fingers using the calculated positions of the tips of the plural actual fingers; judging that a central position among the calculated positions of the tips of the plural virtual fingers is a central position of a virtual object based on the calculated positions of the tips of the plural virtual fingers; and controlling joint torques of the respective actual fingers corresponding to the tips of the virtual fingers such that motions of the tips of the plural virtual fingers are carried out while uniformly maintaining the relative positional relationships of the tips of the plural virtual fingers based on the central position of the virtual object. | 06-24-2010 |
20100185330 | Robot walking control apparatus and method thereof - Disclosed are a robot walking control apparatus, which removes an ineffective motion, generated by a robot walking based on torque, by selecting a motion state of the robot based on torque and controlling torques of joints of the robot so that a ZMP of the robot is located in a safety area, when the walking of the robot is controlled, and a method thereof. | 07-22-2010 |
20100234999 | MULTI-JOINT ROBOT AND CONTROL PROGRAM THEREOF - The present invention provides a multi-joint robot that, when the loads acting on some of joints are overloaded, controls the joints so as to continue the work as far as possible while easing the overloaded state. The load estimate unit ( | 09-16-2010 |
20100250001 | SYSTEMS AND METHODS FOR TRACKING AND BALANCING ROBOTS FOR IMITATING MOTION CAPTURE DATA - Various embodiments of the invention provide a control framework for robots such that a robot can use all joints simultaneously to track motion capture data and maintain balance. Embodiments of the invention provide a framework enabling complex reference movements to be automatically tracked, for example reference movements derived from a motion capture data system. | 09-30-2010 |
20100280662 | TORQUE CONTROL OF UNDERACTUATED TENDON-DRIVEN ROBOTIC FINGERS - 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. | 11-04-2010 |
20100286828 | LIP MOVING DEVICE FOR USE IN ROBOTS - Various embodiments of a lip moving device for use in robots are provided. A lip moving device has first and second lip members. The first and second lip members are made from a flexible material. First and second driving parts apply torques to both ends of the first lip member, while third and fourth driving parts apply torques to both ends of the second lip member. The first and third driving parts are mounted in a first frame. The second and fourth driving parts are mounted in a second frame. The first and second frames are pivotally coupled to a supporting part. An adjusting part pivots the first and second frames relative to the supporting part to adjust a distance between the first and second frames. | 11-11-2010 |
20110010013 | SINGLE WHEEL ROBOT SYSTEM AND ITS CONTROL METHOD - This invention relates to a single wheel robot system and its control method. The robot is an intelligent self-control and thus self-balancing unicycle riding robot. The control method is the balance control method of the static imbalance unicycle robot. The single wheel robot includes mechanical body and control system; the body contains a single wheel in the substructure which can rotate around for balance; the control system comprises state sensors, motion controller, servo-driven controllers, and a power system. Among them, the motion controller receive signals from the state sensors, in accordance with control procedures for processing of the received signal, thereby issuing control instructions. The servo drive controller receives the control instructions and controls the motors of the robot to adjust posture to be balanced. | 01-13-2011 |
20110071680 | INTEGRATED HIGH-SPEED TORQUE CONTROL SYSTEM FOR A ROBOTIC JOINT - A control system for achieving high-speed torque for a joint of a robot includes a printed circuit board assembly (PCBA) having a collocated joint processor and high-speed communication bus. The PCBA may also include a power inverter module (PIM) and local sensor conditioning electronics (SCE) for processing sensor data from one or more motor position sensors. Torque control of a motor of the joint is provided via the PCBA as a high-speed torque loop. Each joint processor may be embedded within or collocated with the robotic joint being controlled. Collocation of the joint processor, PIM, and high-speed bus may increase noise immunity of the control system, and the localized processing of sensor data from the joint motor at the joint level may minimize bus cabling to and from each control node. The joint processor may include a field programmable gate array (FPGA). | 03-24-2011 |
20110172824 | WALKING ROBOT AND METHOD OF CONTROLLING THE SAME - Disclosed herein are an apparatus and method for controlling stable walking of a robot based on torque. In a method of enabling stable walking by controlling torque of a hip joint portion using a Finite State Machine (FSM) without solving a complicated dynamic equation, torque of a stance leg is finally calculated using pose control torque of an upper body, pose control torque of a swing leg, and initial pose control torque of a stance leg supporting the upper body. Accordingly, the robot may stably walk with torque balance. Since gravity compensation torque is applied, a torso of the robot is not inclined and the pose of the robot is stably maintained. | 07-14-2011 |
20110172825 | WALKING CONTROL APPARATUS OF ROBOT AND METHOD OF CONTROLLING THE SAME - A walking control apparatus of a robot includes joint portions provided in each of a plurality of legs of the robot, a state database to store state data of each of the legs and state data of the joint portions corresponding to the state of each of the legs, when the robot walks, a position instruction unit to store desired positions corresponding to the state data of the joint portions, an inclination sensing unit to sense an inclination of an upper body of the robot, a torque calculator to calculate torques using the inclination of the upper body and the desired positions, and a servo controller to output the torques to the joint portions to control the walking of the robot. Since the robot walks by Finite State Machine (FSM) control and torque servo control, the rotation angles of the joint portions do not need to be accurately controlled. Thus, the robot walks with low servo gain and energy consumption is decreased. Since the robot walks with low servo gain, each of the joints has low rigidity and thus shock generated by collision with surroundings is decreased. | 07-14-2011 |
20110178639 | HUMANOID ROBOT AND WALKING CONTROL METHOD THEREOF - A humanoid robot that achieves stable walking based on servo control of a joint torque and a walking control method thereof. The humanoid robot calculates a joint position trajectory compensation value and a joint torque compensation value using a measurement value of a sensor, compensates for a joint position trajectory and a joint torque using the calculated compensation value, and drives a motor mounted to each joint according to the compensated joint torque. | 07-21-2011 |
20110213498 | DESIRED MOTION EVALUATION APPARATUS OF LEGGED MOBILE ROBOT - A desired motion evaluation apparatus of a legged mobile robot uses virtual surfaces (S | 09-01-2011 |
20110282493 | Medical WorkStation And Operating Device For The Manual Movement Of A Robot Arm - The invention relates to a medical workstation and an operating device ( | 11-17-2011 |
20120059518 | WALKING ROBOT AND CONTROL METHOD THEREOF - A walking robot and a control method thereof. The robot includes at least one joint unit on each leg, a sensing unit to sense angle and angular velocity of the at least one joint unit, a memory unit to store data of the angle and angular velocity during stable walking, a target trajectory generation unit to generate a target trajectory, a control torque calculation unit to check stability of the at least one joint unit by comparing the sensed angle and angular velocity with the target trajectory, and, if an unstable joint unit is present, to calculate a control torque of the unstable joint unit to trace the target trajectory, and a servo control unit to transmit the calculated control torque to the unstable joint unit, thereby controlling torques of joint units using an FSM without solving the complicated dynamic equation, thus achieving stable walking. | 03-08-2012 |
20120065781 | REDUCER ABNORMALITY DETERMINATION METHOD, ABNORMALITY DETERMINATION DEVICE, AND ROBOT SYSTEM - The invention provides a method and a device capable of precisely and simply extracting data used for abnormality determination and life diagnosis of a drive system of an industrial robot while executing a normal action program. Regarding a torque signal Tf outputted from a motor driver for controlling a motor in accordance with a position command Xs generated based on an operation program of a robot to the motor, a highpass filter is applied after gravity compensating torque and interference torque due to other shafts of the robot are removed from the torque signal Tf, and an abnormality in a reducer is determined based on an extracted oscillating component of the reducer. | 03-15-2012 |
20120072026 | ROBOT SYSTEM CONTROLLING METHOD, ROBOT SYSTEM, AND CONTROL APPARATUS FOR QUADRUPEDAL ROBOT - An object of the present invention is to provide a robot system controlling method and robot system which perform link angle control and joint stiffness control through feedback control. | 03-22-2012 |
20120143376 | WALKING ROBOT AND METHOD FOR CONTROLLING POSTURE THEREOF - A walking robot having joints which move using a torque servo, a posture of the robot being stably controlled, and a method of controlling a posture of the robot. It is possible to maintain a stable angle of the upper body while keeping an erect posture and balance using the COG of the robot and the inclination and the direction of the upper body and the pelvis of the robot, even in an external variation including external force or an inclination angle of the ground. Even in a state in which terrain information is not known in advance, the robot may keep an erect posture in a direction of gravity. Even when a plane where the robot stands is gradually inclined, the postures of the upper body and the legs of the robot may be kept while actively changing the angle of the ankle joint. | 06-07-2012 |
20120158181 | WALKING ROBOT AND POSE CONTROL METHOD THEREOF - A walking robot, respective joints of which are operated through torque servo control to achieve stable pose control, and a pose control method thereof. A virtual acceleration of gravity is calculated using the COG of the robot and gravity compensation torques to apply force to links are calculated from the calculated acceleration of gravity so as to actively cope with external changes including external force or a tilt of the ground, thereby allowing the robot to stably maintain an erect pose and a desired upper body angle. Further, the robot maintains the erect pose with respect to the direction of gravity even under the condition that data regarding whether or not the ground is level or tilted are not given in advance, and maintains uniform poses of an upper body and legs while actively changing angles of ankle joints even if the ground is gradually tilted. | 06-21-2012 |
20120158182 | WALKING CONTROL APPARATUS AND METHOD OF ROBOT - A walking control apparatus and method of a robot. The walking control method include confirming a swing leg and a support leg by judging a walking state of the robot when a walking velocity of the robot and a walking command are received by the robot, generating reference pitch knot points of a hip joint unit of the swing leg based on the walking state and the walking velocity of the robot, generating a target pitch angle trajectory of the hip joint unit of the swing leg using the reference pitch knot points, calculating torques tracking the target pitch angle trajectory, and outputting the torques to the hip joint unit of the swing leg to control the walking velocity of the robot. The walking velocity of the robot is rapidly and easily changed by adjusting at least one of a step length and a step time. | 06-21-2012 |
20120158183 | WALKING ROBOT AND CONTROL METHOD THEREOF - A robot which naturally walks with high energy efficiency similar to a human through optimization of actuated dynamic walking, and a control method thereof. The control method includes defining a plurality of unit walking motions, in which stride, velocity, rotating angle and direction of the robot are designated, through combination of parameters to generate target joint paths, and constructing a database in which the plurality of unit walking motions is stored, setting an objective path up to an objective position, performing interpretation of the objective path as unit walking motions, generating walking patterns consisting of at least one unit walking motion to cause the robot to walk along the objective path based on the interpretation of the objective path, and allowing the robot to walk based on the walking patterns. | 06-21-2012 |
20120165987 | WALKING ROBOT AND CONTROL METHOD THEREOF - A walking robot and a control method thereof. The control method of the walking robot which walks using two legs includes applying first virtual gravity torque including a vector component in the anti-gravity direction to respective joints of a support leg from among the two legs during walking, and applying second virtual gravity torque including a vector component in the gravity direction to respective joints of a swing leg from among the two legs during walking. Thereby, the walking robot implements a natural walking motion having a low energy consumption rate. | 06-28-2012 |
20120232698 | PRODUCTION APPARATUS - A production apparatus according to an embodiment includes a robot and outer wall portions. The outer wall portions surround the robot from its lateral sides. Furthermore, at least a part of the outer wall portions is provided within the movable range of the robot. | 09-13-2012 |
20120316682 | BALANCE CONTROL APPARATUS OF ROBOT AND CONTROL METHOD THEREOF - A balance control apparatus of a robot and a control method thereof. The balance control method of the robot, which has a plurality of legs and an upper body, includes detecting pose angles of the upper body and angles of the plurality of joint units, acquiring a current capture point and a current hip height based on the pose angles and the angles of the plurality of joint units, calculating a capture point error by comparing the current capture point with a target capture point, calculating a hip height error by comparing the current hip height with a target hip height, calculating compensation forces based on the capture point error and the hip height error, calculating torques respectively applied to the plurality of joint units based on the compensation forces, and outputting the torques to the plurality of joint units to control balance of the robot. | 12-13-2012 |
20120316683 | BALANCE CONTROL APPARATUS OF ROBOT AND CONTROL METHOD THEREOF - A balance control apparatus of a robot and a control method thereof. The balance control method of the robot, which has a plurality of legs and an upper body, includes detecting pose angles of the upper body and angles of the plurality of joint units, acquiring a current capture point and a current hip height based on the pose angles and the angles of the plurality of joint units, calculating a capture point error by comparing the current capture point with a target capture point, calculating a hip height error by comparing the current hip height with a target hip height, calculating compensation forces based on the capture point error and the hip height error, calculating a target torque based on the calculated compensation forces, and outputting the calculated target torque to the plurality of joint units to control balance of the robot. | 12-13-2012 |
20120316684 | Momentum-Based Balance Controller For Humanoid Robots On Non-Level And Non-Stationary Ground - A momentum-based balance controller controls a humanoid robot to maintain balance. The balance controller derives desired rates of change of linear and angular momentum from desired motion of the robot. The balance controller then determines desired center of pressure (CoP) and desired ground reaction force (GRF) to achieve the desired rates of change of linear and angular momentum. The balance controller determines admissible CoP, GRF, and rates of change of linear and angular momentum that are optimally close to the desired value while still allowing the robot to maintain balance. The balance controller controls the robot to maintain balance based on a human motion model such that the robot's motions are human-like. Beneficially, the robot can maintain balance even when subjected to external perturbations, or when it encounters non-level and/or non-stationary ground. | 12-13-2012 |
20130041509 | ARTICULATED ARM ROBOT, CONTROL METHOD AND CONTROL PROGRAM - An articulated arm robot includes a support part capable of extending and contracting upward and downward, a first arm part with one end joined to the support part through a first joint to be rotatable about a yaw axis and having a second joint rotatable about a roll axis between both ends, a second arm part with one end joined to the other end of the first arm part through a third joint to be rotatable about the yaw axis or a pitch axis, an end effector part joined to the other end of the second arm part through a fourth joint to be rotatable about the yaw axis or the pitch axis, and drivers that respectively cause the first to fourth joints to rotate and the support part to extend and contract, and a controller that performs drive control of the drivers of the first to fourth joints by switching the arm between a SCARA mode where the first, second and third arm parts rotate only in a horizontal plane and a perpendicular mode where the second and third arm parts rotate only in a vertical plane. | 02-14-2013 |
20130060383 | INDUSTRIAL ROBOT HAVING AN APPARATUS FOR DRIVING AN ATTACHABLE/DETACHABLE FOUR-BAR LINK MECHANISM - The invention relates to an industrial robot having an apparatus for driving an attachable/detachable four-bar link mechanism, comprising: a base frame having a rotating joint for a robot body; a pivot frame which is coupled to the rotating joint and which has a rotating joint; a column frame which is coupled to the rotating joint of the pivot frame, and which has a straight-line joint; a motor arranged in the pivot frame to rotate the column frame; a decelerator attachably/detachably mounted on the rotating joint of the pivot frame or directly on the pivot frame to receive driving force from the motor; and a four-bar link installed between an output shaft of the decelerator and the column frame. | 03-07-2013 |
20130079930 | OPERATIONAL SPACE CONTROL OF RIGID-BODY DYNAMICAL SYSTEMS INCLUDING HUMANOID ROBOTS - An operational space control solution is provided for rigid-body dynamical systems such as humanoid or legged robots. The solution includes an operational space controller that decomposes rigid body dynamics into task space dynamics and null space dynamics. Then, for systems that are fully actuated and have constraints, the controller provides control signals defining task space torques and null space torques for each actuator (e.g., a motor for a rotary joint between two rigid links). In some embodiments, a minimum torque vector is determined such that the controller is a minimum-torque operational space controller. For systems that are underactuated, task and null space dynamics are again considered, and underactuation is addressed by using null space forces to indirectly apply torque at passive degrees of freedom such as at active joints to create task-irrelevant motion that moves passive joints to facilitate task performance by the robot or rigid-body dynamical system. | 03-28-2013 |
20130144439 | WALKING ROBOT AND CONTROL METHOD THEREOF - A walking robot to prevent slippage of a swing foot on the ground and a control method thereof includes generating a target angle trajectory for each joint unit of legs, calculating a torque, which tracks the target angle trajectory, for each joint unit, determining whether slippage of a swing foot connected to a swing leg of the two legs occurs, calculating a final torque to be provided to each joint unit of the swing leg based on a velocity sensed from the swing foot if occurrence of slippage of the swing foot is determined, and providing the calculated final torque to each joint unit. By sensing whether slippage of the swing foot occurs when the swing foot touches the ground and restricting a torque to be applied to each joint unit based on the sensed result, stable walking of the robot is realized. | 06-06-2013 |
20130158712 | WALKING ROBOT AND CONTROL METHOD THEREOF - A walking robot includes hip joints of plural legs, a pose detector to detect a pose, a walking state judger to judge a walking state from the pose, a target angle trajectory generator to judge support and swing legs based on the walking state, to judge whether or not the swing leg contacts a surface prior to a prestored time, to shorten the next support cycle executed by the swing leg upon judging that the swing leg contacts a surface prior to the prestored time, and to generate target angle trajectories of the hip joints based on the shortened support cycle, a torque calculator to calculate torques tracking the target angle trajectories, and a controller to output the torques to the hip joint to control walking of the walking robot. | 06-20-2013 |
20130173059 | METHOD AND SYSTEM FOR CONTROLLING DRIVING OF WEARABLE ROBOT - A system for controlling driving of a wearable robot may include a drive unit for operating a drive joint of the robot, a measurement unit for measuring an actual angle and an actual angular velocity of the drive joint in the robot, a sensing unit for determining a human torque applied by a wearing user to the drive joint, and a control unit for determining a target angular velocity of the robot by applying the determined human torque to an admittance model and for determining a required torque that may be input to the drive unit of the robot by applying an optimal control gain to a difference between the target angular velocity and the actual angular velocity of the robot. | 07-04-2013 |
20130173060 | METHOD OF OPERATING A WEARABLE ROBOT - Disclosed herein is a method of obtaining the intended manipulation torque of a user for a wearable robot. The method allows the wearable robot, the motion of each joint of which is operated by a motor and which is capable of measuring a variation in current in the motor of each joint and calculating a torque at each joint, to simply and rapidly extract the intended manipulation torque of the user using both an acceleration value (e.g., measured by an acceleration sensor installed on a gripper), and the current variation of the motor, in a state in which the wearable robot does not know the weight of a weight object to be lifted with the gripper. Accordingly, the wearable robot may be suitably controlled at a comparatively lower cost. | 07-04-2013 |
20130211595 | CONTROL METHOD OF ROBOT APPARATUS AND ROBOT APPARATUS - A control method of a robot apparatus, the robot apparatus including a link and a pair of actuators, obtaining each driving force command value of each of the actuators, and controlling each of the actuators, the control method including: a torque command value calculation step of using the target stiffness, the target trajectory, angular velocity of the target trajectory, and angular acceleration of the target trajectory to calculate a torque command value; a determination step of determining whether each of the driving force command values is a value 0 or greater; a change step of performing at least one of a change of increasing the target stiffness and a change of reducing the angular acceleration; and a driving force command value calculation step of using the target stiffness and the torque command value to calculate each of the driving force command values. | 08-15-2013 |
20130211596 | CONTROL METHOD OF ROBOT APPARATUS AND ROBOT APPARATUS - A control method of a robot apparatus, the robot apparatus including a link and a pair of actuators, obtaining each driving force command value of each of the actuators, and controlling each of the actuators, the control method including: a torque command value computation step; a change computation step of computing a difference between the joint stiffness command value and a value and performing a computation of subtracting a value from the joint stiffness command value; an iterative step of iterating the computations of the torque command value computation step and the change computation step until the difference converges to a value equal to or smaller than a predetermined value; and a driving force command value computation step to compute each of the driving force command values when the difference is converged to a value equal to or smaller than the predetermined value. | 08-15-2013 |
20130218345 | WALKING ROBOT AND CONTROL METHOD THEREOF - A walking robot capable of implementing a balancing action to ensure a stable walking on uneven ground based on an FSM-based walking control method, and a control method thereof, is capable of implementing stable walking by controlling torques of the hip joint, the knee joint and the ankle joint by use of FSM without calculating complicated Dynamics Equations. The walking robot ensures stable walking on uneven ground through a simple calculation by use of the angle formed by the ground and the both feet The walking robot is made to be applied to a robot provided with joints having six degrees of freedom through a simple calculation of compensation angles. | 08-22-2013 |
20130245829 | ROBOT CONTROL METHOD, ROBOT CONTROL DEVICE, AND ROBOT CONTROL SYSTEM - A CPU of a robot control device calculates load torque based on the inertia force, centrifugal force or Coriolis force, gravity force, friction torque, and actuator inertia torque applied to a joint axis of each link, each time an orientation parameter indicative of the link position and orientation allowed by a redundant degree of freedom is sequentially changed, under a constraint of end-effector position and orientation as target values. The CPU obtains the link position and orientation at which the ratio of the load torque to the rated torque of a rotary actuator provided for each joint is minimized, while the orientation parameter is being changed, and provides a feed-forward value that gives rise to each load torque obtained when the ratio of the load torque to the rated torque of the rotary actuator is minimized, to a control command generated to the rotary actuator of each joint axis for achieving the end-effector position and orientation as target values. | 09-19-2013 |
20130310981 | SYSTEM AND METHOD OF CONTROLLING ANKLES OF WALKING ROBOT - Disclosed herein is a system and method of controlling one or more ankles of a walking robot. In the above system and method, an input torque u to be applied to an ankle of a robot is obtained by compensating a target torque τ | 11-21-2013 |
20140012419 | ROBOT CONTROL APPARATUS AND ROBOT CONTROL METHOD - A robot control apparatus controls a robot arm driven by transmitting drive forces to joints from respective electric motors so that the robot arm follows a specified trajectory, based on an instruction value instructed against the electric motors. A movable range of the robot arm is divided into multiple spaces, and constraint conditions including a constraint value of a jerk for each joint, which is determined so that a load torque applied to a transmitting component of the drive force falls within an allowable range in the multiple spaces, is calculated in advance. The constraint conditions are stored in a storage unit. A calculating unit generates the instruction values for the electric motors based on the trajectory by solving an optimization problem that uses the constraint conditions stored in the storage unit as an inequality constraint. | 01-09-2014 |
20140031986 | Robot, device and a method for central pattern generator (CPG) based control of a movement of the robot - A robot, a method and a device for controlling a movement of a robot are provided. The method can include controlling multiple steps of the robot. Thus, the method can include multiple iterations of: (i) calculating or receiving a first slope attribute indicative of a slope of a first area of a terrain on which a first leg of the robot steps; (ii) feeding the first slope attribute to a central pattern generator (CPG); and (iii) generating, by the CPG and in response to the slope attribute, at least one control pulse for controlling a torque characteristic of a torque applied by at least one leg of the robot. | 01-30-2014 |
20140039681 | Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes - A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument. The surgical manipulator further includes at least one controller configured to determine a commanded pose to which the energy applicator is advanced, wherein the commanded pose is determined based on a summation of a plurality of force and torque signals. | 02-06-2014 |
20140074293 | CONTROL DEVICE OF POWER TRANSMISSION DEVICE AND METHOD OF SETTING PARAMETERS IN A POWER TRANSMISSION DEVICE - A control input for controlling a driving force of an actuator ( | 03-13-2014 |
20140081461 | CONSTRAINING ROBOTIC MANIPULATORS WITH REDUNDANT DEGREES OF FREEDOM - Redundant robotic manipulators may be constrained in their motions during operation in a gravity-compensated mode by applying, in addition to gravity-compensating torques, constraining torques to one or more of the joints. The constraining torques may urge the manipulator to a specified canonical posture, and may be modeled by virtual springs attached to the constrained joints. | 03-20-2014 |
20140100697 | OPERATING AN IN-LINE LEGGED ROBOT VEHICLE IN BALLISTIC FLIGHT - A single track legged vehicle having a body and at least three in-line legs aligned one behind the other is operated by controlling each in-line leg to develop a desired ballistic flight trajectory, by controlling foot force and torque during a first phase that produces thrust; controlling foot movement during a second phase that transitions from thrusting to flight, controlling in-line leg movement during a third phase characterized by flight; controlling foot positioning during a fourth phase characterized by a transition from flight to landing; and controlling foot force and torque during a fifth phase characterized by landing of the foot of the corresponding in-line leg. Each in-line leg is transitioned through the first phase, the second phase the third phase, the fourth phase and the fifth phase to propel and torque the body along three axes according to the desired ballistic flight trajectory. | 04-10-2014 |
20140121837 | ROBOT SYSTEM, CONTROL DEVICE OF ROBOT, AND ROBOT CONTROL DEVICE - A robot system includes a robot arm, one or more actuators that are provided in the robot arm to drive the robot arm, a sensor unit that detects an external force applied to at least one of the robot arm and the actuators, and a controller that controls an operation of each of the actuators and limits a torque instruction value for each of the actuators on the basis of a detection result of the sensor unit. | 05-01-2014 |
20140172169 | METHOD AND SYSTEM FOR EXTRACTING INTENDED TORQUE FOR WEARABLE ROBOT - A method for extracting intended torque for a wearable robot includes a motor torque calculating step, a link rotation calculating step and an intended torque calculating step. In the motor torque calculating step, motor torque is calculated from the angular velocity of rotation of the motor. In the link rotation calculating step, the angular velocity of rotation of the link is calculated. In the intended torque calculating step, the motor torque and the angular velocity of rotation of the link are substituted into a disturbance observer, and an estimated value of the intended torque applied by a wearer is calculated. | 06-19-2014 |
20140172170 | METHOD AND SYSTEM FOR EXTRACTING INTENDED TORQUE FOR WEARABLE ROBOT - Provided are a method and system for extracting intended torque for a wearable robot. The method makes use of an angle or angular velocity of rotation of a motor driving a joint and an angle or angular velocity of rotation of a link connected to the joint, and includes a friction outputting process of outputting an estimated value of friction torque from the angle of rotation of the motor, a motor torque calculating process of calculating motor torque from the angular velocity of rotation of the motor, a link rotation calculating process of calculating the angular velocity of rotation of the link, and an intended torque calculating process of substituting the motor torque and the angular velocity of rotation of the link into a disturbance observer, and calculating an estimated value of the intended torque applied by a wearer. | 06-19-2014 |
20140222207 | Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes - A method is provided for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path. The method includes determining actual torques for each active joint of an actuated arm mechanism and calculating expected torques for each active joint of the actuated arm mechanism, wherein the expected torques are calculated based on an angular position of each active joint and a commanded joint angle for each active joint. The method further determines estimated backdrive torques based on the expected torques and the actual torques, wherein the estimated backdrive torques indicate a disturbance along the cutting path. | 08-07-2014 |
20140303777 | ROBOT DEVICE, ROBOT CONTROL METHOD, PROGRAM, RECORDING MEDIUM, AND CONTROL DEVICE - A joint torque computing unit computes joint torque T | 10-09-2014 |
20140309781 | SYSTEMS AND METHODS FOR TRACKING AND BALANCING ROBOTS FOR IMITATING MOTION CAPTURE DATA - Various embodiments of the invention provide a control framework for robots such that a robot can use all joints simultaneously to track motion capture data and maintain balance. Embodiments of the invention provide a framework enabling complex reference movements to be automatically tracked, for example reference movements derived from a motion capture data system. | 10-16-2014 |
20140316575 | ROBOT DEVICE, ROBOT CONTROL METHOD, PROGRAM, AND RECORDING MEDIUM - A joint torque computing unit computes a joint torque T | 10-23-2014 |
20140336820 | ARM CONTROL APPARATUS, ARM CONTROL METHOD, ARM CONTROL PROGRAM, ROBOT, AND INTEGRATED ELECTRONIC CIRCUIT FOR ARM CONTROL - There is provided a display information acquiring unit for acquiring display information on a screen of a touch panel display, a touch pattern estimating unit for estimating a region on the screen likely to be touched by a person and a motion direction of the touch based on the display information, a load estimating unit for estimating a load or a torque to the display based on the estimated region and the motion direction, a stiffness parameter information generating unit for generating information for controlling the arm so that the position and the orientation of the display do not change along the touching direction at the time of touch panel input based on the estimated load or torque, and an arm control unit for controlling a stiffness parameter of the arm based on the generated information. | 11-13-2014 |
20140343729 | ARM CONTROL APPARATUS, ARM CONTROL METHOD, ARM CONTROL PROGRAM, ROBOT, AND INTEGRATED ELECTRONIC CIRCUIT FOR ARM CONTROL - In a touch panel display with an arm, a torque calculating unit calculates a torque to be loaded on a touch panel display based on a position acquired by a touch position information acquiring unit and a force acquired by a touch force information acquiring unit, and a stiffness parameter information generating unit generates information about a stiffness parameter for controlling an arm so that the position and the orientation of the touch panel display do not change based on the calculated torque. An arm control unit controls the arm based on the generated information about the stiffness parameter. | 11-20-2014 |
20150025684 | ROBOT CONTROLLING DEVICE, ROBOT APPARATUS, ROBOT CONTROL METHOD, PROGRAM FOR EXECUTING ROBOT CONTROL METHOD, AND RECORDING MEDIUM ON WHICH PROGRAM IS RECORDED - Disclosed is a technique that reduces the amount of calculation necessary for time optimal control. An interpolation function calculating part | 01-22-2015 |
20150032263 | Method And Device For Decelerating A Robot Axis Arrangement - A method for decelerating a robot axis arrangement having at least one output link includes steps of applying a braking force on the output link with a brake and, in so doing, controlling a driving force of a drive that acts on the output link, and/or controlling the braking force on the basis of a dynamic variable of the output link, wherein the dynamic variable is a function of the braking force. | 01-29-2015 |
20150051734 | HUMAN MOTION TRACKING CONTROL WITH STRICT CONTACT FORCE CONTSTRAINTS FOR FLOATING-BASE HUMANOID ROBOTS - A controller for floating-base humanoid robots that can track motion capture data while maintaining balance. Briefly, the controller includes a proportional-derivative (PD) controller that is adapted to compute the desired acceleration to track a given reference trajectory at every degree-of-freedom (DOF) of the robot including the six unactuated ones of the floating base. Second, the controller includes a component (joint torque optimization module) that computes the optimal joint torques and contact forces to realize the desired accelerations given by the first component (i.e., the PD controller). The joint torque optimization module performs this computation considering the full-body dynamics of the robot and the constraints on contact forces. The desired accelerations may not be feasible for the robot due to limits in normal contact forces and friction (e.g., the robot sometimes cannot exactly copy or perform the modeled human motion defined by motion capture data). | 02-19-2015 |
20150127163 | ROBOT SYSTEM CONTROLLING METHOD, ROBOT SYSTEM, AND CONTROL APPARATUS FOR QUADRUPEDAL ROBOT - An object of the present invention is to provide a robot system controlling method and robot system which perform link angle control and joint stiffness control through feedback control. | 05-07-2015 |
20150328774 | ROBOT SYSTEM CONTROLLING METHOD, PROGRAM, RECORDING MEDIUM, ROBOT SYSTEM, AND DIAGNOSIS APPARATUS - A method of controlling a robot system including an articulated robot and a control device is provided. The articulated robot includes links connected by joints, motors configured to drive the joints respectively, and detection devices configured to detect rotation amounts of the joints respectively. The control device controls the motors. The method includes the steps of, by the control device, recording movement information of the joints based on outputs of the detection devices; when detecting an abnormality in the operation of the articulated robot, determining presence or absence of a failure in the articulated robot based on the movement information recorded in at least a period from before detection of the abnormality until detection of the abnormality; and specifying a failure portion of the articulated robot if it is determined that there is a failure in the articulated robot in the step of determining. | 11-19-2015 |
20150336268 | RAPID ROBOTIC IMITATION LEARNING OF FORCE-TORQUE TASKS - A method of training a robot to autonomously execute a robotic task includes moving an end effector through multiple states of a predetermined robotic task to demonstrate the task to the robot in a set of n training demonstrations. The method includes measuring training data, including at least the linear force and the torque via a force-torque sensor while moving the end effector through the multiple states. Key features are extracted from the training data, which is segmented into a time sequence of control primitives. Transitions between adjacent segments of the time sequence are identified. During autonomous execution of the same task, a controller detects the transitions and automatically switches between control modes. A robotic system includes a robot, force-torque sensor, and a controller programmed to execute the method. | 11-26-2015 |
20150343633 | ROBOT WITH JOINTS OF VARIABLE RIGIDITY AND METHOD FOR CALCULATING SAID OPTIMIZED RIGIDITY - A jointed robot capable to move on a surface is provided. It is known to limit to a predefined fixed value the torque that the motors of the joints of the robot can develop. A rigidity coefficient corresponding to the limit torque is calculated by solving a dynamic equilibrium model of the robot. The contact points of the characteristic effectors are determined by a selection from a list of potential effectors, notably as a function of a criterion of distance from a virtual ground plane. The contact forces for said effectors are calculated by optimal resolution of the equilibrium equations. Finally the torques applied in the dynamic equilibrium model of the robot and the coefficients of corresponding rigidity are calculated. | 12-03-2015 |
20150352716 | FORCE CONTROL ROBOT AND METHOD FOR CONTROLLING SAME - An end effector includes a pair of machining tools. The pair of machining tools is separated by an interval in one direction perpendicular to a tool rotational axis and rotatable around the tool rotational axis. The pair of machining tools is position-controlled, and is force-controlled in a machining direction perpendicular to the one direction and an axial direction of the tool rotational axis, and is torque-controlled around the tool rotational axis. | 12-10-2015 |
20160016310 | NOTCH FILTER, EXTERNAL FORCE ESTIMATOR, MOTOR CONTROL APPARATUS, AND ROBOTIC SYSTEM - A notch filter includes: an attenuation filter configured to acquire a signal containing a vibrational component generated in association with movement of a motor to perform attenuation of the vibrational component; and an attenuation controller configured to control an attenuation amount in the attenuation, corresponding to a movement speed of the motor. | 01-21-2016 |
20160052128 | Method Of Programming An Industrial Robot And Industrial Robots - The invention concerns a method of programming an industrial robot, exhibiting the steps of selecting a program command, the assigned rigidity parameter of which is to be verified, changed and/or saved in the program mode; moving the manipulator arm into a test pose, in which the industrial robot is configured and/or arranged to manually touch and/or move the manipulator arm; and the automatic actuation of the manipulator arm by the control device such that the manipulator arm in the test pose exhibits the rigidity corresponding to the assigned rigidity parameter of the selected program command. The invention further concerns an industrial robot, exhibiting a control device designed and/or configured to execute such a method. | 02-25-2016 |
20160129598 | Method and System for Stopping of Axes of an Industrial Robot - The invention relates to a method or a system for the dependable stopping of axes of an industrial robot. The industrial robot comprises a control device ( | 05-12-2016 |
20160151907 | METHOD FOR CONTROLLING WEARABLE ROBOT | 06-02-2016 |