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1. 发明申请

US20100280663A1 METHOD AND APPARATUS FOR AUTOMATIC CONTROL OF A HUMANOID ROBOT 有权
标题翻译：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。

2. 发明申请

US20100280659A1 TENSION DISTRIBUTION IN A TENDON-DRIVEN ROBOTIC FINGER 有权
标题翻译： TENDON-DRIVEN ROBOTIC FINGER中的张力分布
公开(公告)号：US20100280659A1
公开(公告)日：2010-11-04
申请号：US12720725
申请日：2010-03-10
申请人： Muhammad E. Abdallah , Robert J. Platt, JR. , Charles W. Wampler, II
发明人： Muhammad E. Abdallah , Robert J. Platt, JR. , Charles W. Wampler, II
IPC分类号： B25J15/08 , G05B15/00 , G06F19/00 , B25J9/00
CPC分类号： H01R13/17 , H01R13/052
摘要： A method is provided for distributing tension among tendons of a tendon-driven finger in a robotic system, wherein the finger characterized by n degrees of freedom and n+1 tendons. The method includes determining a maximum functional tension and a minimum functional tension of each tendon of the finger, and then using a controller to distribute tension among the tendons, such that each tendon is assigned a tension value less than the maximum functional tension and greater than or equal to the minimum functional tension. The method satisfies the minimum functional tension while minimizing the internal tension in the robotic system, and satisfies the maximum functional tension without introducing a coupled disturbance to the joint torques. A robotic system includes a robot having at least one tendon-driven finger characterized by n degrees of freedom and n+1 tendons, and a controller having an algorithm for controlling the tendons as set forth above.
摘要翻译：提供了一种用于在机器人系统中将肌腱驱动的手指的肌腱之间分布张力的方法，其中手指具有n个自由度和n + 1个肌腱。该方法包括确定手指的每个肌腱的最大功能张力和最小功能张力，然后使用控制器在肌腱之间分布张力，使得每个肌腱被赋予小于最大功能张力的张力值并且大于或等于最小功能张力。该方法在最小化机器人系统内部张力的同时满足最小功能张力，并满足最大功能张力，而不会对关节扭矩引入耦合干扰。机器人系统包括具有至少一个腱驱动的手指，其特征在于n个自由度和n + 1个腱的机器人，以及具有如上所述的用于控制腱的算法的控制器。

3. 发明申请

US20100280662A1 TORQUE CONTROL OF UNDERACTUATED TENDON-DRIVEN ROBOTIC FINGERS 有权
标题翻译：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。

4. 发明申请

US20100280661A1 HIERARCHICAL ROBOT CONTROL SYSTEM AND METHOD FOR CONTROLLING SELECT DEGREES OF FREEDOM OF AN OBJECT USING MULTIPLE MANIPULATORS 有权
标题翻译：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
申请人： Muhammad E. Abdallah , Robert J. Platt, JR. , Charles W. Wampler, II
发明人： Muhammad E. Abdallah , Robert J. Platt, JR. , Charles W. Wampler, II
IPC分类号： B25J9/00 , G06F19/00 , G05B15/00 , B25J9/16
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。

5. 发明授权

US08170718B2 Multiple priority operational space impedance control 有权
标题翻译：多重优先级操作空间阻抗控制
公开(公告)号：US08170718B2
公开(公告)日：2012-05-01
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
IPC分类号： G06F19/00
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。

6. 发明授权

US08483882B2 Hierarchical robot control system and method for controlling select degrees of freedom of an object using multiple manipulators 有权
标题翻译：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
申请人： Muhammad E. Abdallah , Robert Platt , Charles W. Wampler, II
发明人： Muhammad E. Abdallah , Robert Platt , Charles W. Wampler, II
IPC分类号： G05B19/00 , G05B15/00
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。

7. 发明申请

US20100161127A1 MULTIPLE PRIORITY OPERATIONAL SPACE IMPEDANCE CONTROL 有权
标题翻译：多重优先操作空间阻抗控制
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
IPC分类号： B25J13/08 , G05B19/00 , G06F19/00 , G05B15/00 , B25J19/02
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。

8. 发明申请

US20100121222A1 SENSING THE TENDON TENSION THROUGH THE CONDUIT REACTION FORCES 有权
标题翻译：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。

9. 发明授权

US08565918B2 Torque control of underactuated tendon-driven robotic fingers 有权
标题翻译：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。

10. 发明授权

US08060250B2 Joint-space impedance control for tendon-driven manipulators 有权
标题翻译：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。

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