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1. 发明授权

US08489239B2 Robust operation of tendon-driven robot fingers using force and position-based control laws 有权
标题翻译：使用强力和基于位置的控制规律对肌腱驱动的机器人手指进行稳健的操作
公开(公告)号：US08489239B2
公开(公告)日：2013-07-16
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： G06F19/00 , G05B15/00 , G05B19/00
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。

2. 发明申请

US20120109379A1 ROBUST OPERATION OF TENDON-DRIVEN ROBOT FINGERS USING FORCE AND POSITION-BASED CONTROL LAWS 有权
标题翻译：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。

3. 发明申请

US20110067521A1 HUMANOID ROBOT 有权
标题翻译：人类机器人
公开(公告)号：US20110067521A1
公开(公告)日：2011-03-24
申请号：US12564084
申请日：2009-09-22
申请人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Philip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
发明人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Philip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
IPC分类号： B25J17/02 , B25J18/00 , B25J17/00
CPC分类号： B25J18/00 , B25J15/0009 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.
摘要翻译：人形机器人包括一个躯干，一双手臂，两只手，一个脖子和一个头。躯干沿主轴延伸并呈现一对肩。所述一对臂从所述一对肩部中的相应一个可移动地延伸。每个臂具有多个臂关节。颈部沿着主轴从躯干运动地延伸。颈部至少有一个颈关节。头部从颈部沿着主轴线可移动地延伸。头部至少有一个头关节。肩膀彼此倾斜，以每个肩膀之间所定义的耸肩角度相互倾斜，从而在肩膀之间定义工作空间。

4. 发明授权

US08511964B2 Humanoid robot 有权
标题翻译：人型机器人
公开(公告)号：US08511964B2
公开(公告)日：2013-08-20
申请号：US12564084
申请日：2009-09-22
申请人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Phillip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
发明人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Phillip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
IPC分类号： B25J11/00
CPC分类号： B25J18/00 , B25J15/0009 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.
摘要翻译：人形机器人包括一个躯干，一双手臂，两只手，一个脖子和一个头。躯干沿主轴延伸并呈现一对肩。所述一对臂从所述一对肩部中的相应一个可移动地延伸。每个臂具有多个臂关节。颈部沿着主轴从躯干运动地延伸。颈部至少有一个颈关节。头部从颈部沿着主轴线可移动地延伸。头部至少有一个头关节。肩膀彼此倾斜，以每个肩膀之间所定义的耸肩角度相互倾斜，从而在肩膀之间定义工作空间。

5. 发明申请

US20110071678A1 TENDON DRIVEN FINGER ACTUATION SYSTEM 有权
标题翻译： TENDON驾驶手指启动系统
公开(公告)号：US20110071678A1
公开(公告)日：2011-03-24
申请号：US12564086
申请日：2009-09-22
申请人： Chris A. Ihrke , David M. Reich , Lyndon Bridgwater , Douglas Martin Linn , Scott R. Askew` , Myron A. Diftler , Robert Platt , Brian Hargrave , Michael C. Valvo , Muhammad E. Abdallah , Frank Noble Permenter , Joshua S. Mehling
发明人： Chris A. Ihrke , David M. Reich , Lyndon Bridgwater , Douglas Martin Linn , Scott R. Askew` , Myron A. Diftler , Robert Platt , Brian Hargrave , Michael C. Valvo , Muhammad E. Abdallah , Frank Noble Permenter , Joshua S. Mehling
IPC分类号： G06F7/00 , B25J18/00
CPC分类号： B25J15/0009 , B25J9/104 , Y10T74/20305
摘要： A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger.
摘要翻译：人形机器人包括具有至少一根手指的机器手。用于机器人手指的致动系统包括由机器人支撑并与手指间隔开的致动器组件。腱从致动器组件延伸到至少一个手指并且终止于腱终止器中。致动器组件可操作以致动肌腱以移动肌腱终端器，从而移动手指。

6. 发明授权

US08467903B2 Tendon driven finger actuation system 有权
标题翻译：肌腱驱动手指致动系统
公开(公告)号：US08467903B2
公开(公告)日：2013-06-18
申请号：US12564086
申请日：2009-09-22
申请人： Chris A. Ihrke , David M. Reich , Lyndon Bridgwater , Douglas Martin Linn , Scott R. Askew , Myron A. Diftler , Robert Platt , Brian Hargrave , Michael C. Valvo , Muhammad E. Abdallah , Frank Noble Permenter , Joshua S. Mehling
发明人： Chris A. Ihrke , David M. Reich , Lyndon Bridgwater , Douglas Martin Linn , Scott R. Askew , Myron A. Diftler , Robert Platt , Brian Hargrave , Michael C. Valvo , Muhammad E. Abdallah , Frank Noble Permenter , Joshua S. Mehling
IPC分类号： B25J18/00 , B25J19/02 , B25J15/08 , G06F7/00 , B25J17/02
CPC分类号： B25J15/0009 , B25J9/104 , Y10T74/20305
摘要： A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger.
摘要翻译：人形机器人包括具有至少一根手指的机器手。用于机器人手指的致动系统包括由机器人支撑并与手指间隔开的致动器组件。腱从致动器组件延伸到至少一个手指并且终止于腱终止器中。致动器组件可操作以致动肌腱以移动肌腱终端器，从而移动手指。

7. 发明申请

US20110068595A1 ROBOTIC FINGER ASSEMBLY 有权
标题翻译：机动手指总成
公开(公告)号：US20110068595A1
公开(公告)日：2011-03-24
申请号：US12564078
申请日：2009-09-22
申请人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Brian Hargrave , Scott R. Askew , Michael C. Valvo
发明人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Brian Hargrave , Scott R. Askew , Michael C. Valvo
IPC分类号： B25J15/10 , B25J15/08
CPC分类号： B25J15/08 , B25J9/104 , B25J15/0009
摘要： A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.
摘要翻译：机器人手包括具有第一，第二和第三趾骨的手指。第一接头将第一趾部可旋转地连接到基部结构。第二关节可旋转地将第一趾部连接到第二趾部。第三关节将第三趾部可旋转地连接到第二趾部。第二关节和第三关节被运动连接，使得第三趾骨相对于第二趾骨的位置由第二趾骨相对于第一趾骨的位置确定。

8. 发明授权

US08562049B2 Robotic finger assembly 有权
标题翻译：机器人手指组装
公开(公告)号：US08562049B2
公开(公告)日：2013-10-22
申请号：US12564078
申请日：2009-09-22
申请人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Brian Hargrave , Scott R. Askew , Michael C. Valvo
发明人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Brian Hargrave , Scott R. Askew , Michael C. Valvo
IPC分类号： B25J15/10 , B25J17/00
CPC分类号： B25J15/08 , B25J9/104 , B25J15/0009
摘要： A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.
摘要翻译：机器人手包括具有第一，第二和第三趾骨的手指。第一接头将第一趾部可旋转地连接到基部结构。第二关节可旋转地将第一趾部连接到第二趾部。第三关节将第三趾部可旋转地连接到第二趾部。第二关节和第三关节被运动连接，使得第三趾骨相对于第二趾骨的位置由第二趾骨相对于第一趾骨的位置确定。

9. 发明申请

US20120059515A1 WORKSPACE SAFE OPERATION OF A FORCE- OR IMPEDANCE-CONTROLLED ROBOT 有权
标题翻译：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。

10. 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。

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