专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

11. 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。

12. 发明授权

US08371177B2 Tendon tension sensor 有权
标题翻译：肌腱张力传感器
公开(公告)号：US08371177B2
公开(公告)日：2013-02-12
申请号：US12241309
申请日：2008-09-30
申请人： Chris A. Ihrke , Lyndon Bridgwater , Robert Platt
发明人： Chris A. Ihrke , Lyndon Bridgwater , Robert Platt
IPC分类号： G01B5/30
CPC分类号： G01L5/102 , B25J9/1045
摘要： A tendon tension sensor that has particular application for measuring tension on a tendon employed in a robotic arm. The tension sensor includes an elastic element having a curved channel through which the tendon is threaded. The elastic element also includes a center portion on which strain gauges are mounted that measure the strain on the elastic element. Tension on the tendon causes the center portion of the elastic element to flex or bend, which is measured by the strain gauges providing an indication of the tension in the tendon.
摘要翻译：一种肌腱张力传感器，其具有用于测量在机器臂中使用的腱上的张力的特定应用。张力传感器包括具有弯曲通道的弹性元件，腱穿过该弯曲通道。弹性元件还包括中心部分，在该中心部分上安装有测量弹性元件上的应变的应变计。腱上的张力导致弹性元件的中心部分弯曲或弯曲，这是由应变计测得的，提供了肌腱中张力的指示。

13. 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。

14. 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。

15. 发明申请

US20100306159A1 CONTACT STATE ESTIMATION FOR MULTI-FINGER ROBOT HANDS USING PARTICLE FILTERS 有权
标题翻译：使用颗粒过滤器的多指针机器人接触状态估计
公开(公告)号：US20100306159A1
公开(公告)日：2010-12-02
申请号：US12474068
申请日：2009-05-28
申请人： Robert Platt , Frank Noble Permenter , Craig M. Corcoran , Charles W. Wampler, II
发明人： Robert Platt , Frank Noble Permenter , Craig M. Corcoran , Charles W. Wampler, II
IPC分类号： G06N7/02 , G06F15/00
CPC分类号： B25J9/1612 , B25J9/1694 , G05B2219/33028 , G05B2219/39531 , G05B2219/40541 , G05B2219/40553 , G05B2219/40564 , G05B2219/40606
摘要： A method for identifying the location, orientation and shape of an object that a robot hand touches that includes using a particle filter. The method includes defining an appropriate motion model and a measurement model. The motion model characterizes the motion of the robot hand as it moves relative to the object. The measurement model estimates the likelihood of an observation of contact position, velocity and tactile sensor information given hand-object states. The measurement model is approximated analytically based on a geometric model or based on a corpus of training data. In either case, the measurement model distribution is encoded as a Gaussian or using radial basis functions.
摘要翻译：用于识别机器人手接触的对象的位置，方向和形状的方法包括使用粒子滤波器。该方法包括定义适当的运动模型和测量模型。运动模型表征机器人手相对于物体移动时的运动。测量模型估计给定手对象状态的接触位置，速度和触觉传感器信息的观察的可能性。测量模型基于几何模型或基于训练数据语料库进行分析近似。在任一情况下，测量模型分布被编码为高斯或使用径向基函数。

16. 发明授权

US08412376B2 Tension distribution in a tendon-driven robotic finger 有权
标题翻译：腱驱动机器人手指中的张力分布
公开(公告)号：US08412376B2
公开(公告)日：2013-04-02
申请号：US12720725
申请日：2010-03-10
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： G06F19/00 , B25J15/08
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。

17. 发明授权

US08364314B2 Method and apparatus for automatic control of a humanoid robot 有权
标题翻译：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。

18. 发明申请

US20100152898A1 JOINT-SPACE IMPEDANCE CONTROL FOR TENDON-DRIVEN MANIPULATORS 有权
标题翻译：联动驱动控制器的联合空间阻抗控制
公开(公告)号：US20100152898A1
公开(公告)日：2010-06-17
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： B25J13/00
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。

19. 发明授权

US08280837B2 Contact state estimation for multi-finger robot hands using particle filters 有权
标题翻译：使用粒子滤波器的多指手指机器人手的接触状态估计
公开(公告)号：US08280837B2
公开(公告)日：2012-10-02
申请号：US12474068
申请日：2009-05-28
申请人： Robert Platt , Frank Noble Permenter , Craig M. Corcoran , Charles W. Wampler, II
发明人： Robert Platt , Frank Noble Permenter , Craig M. Corcoran , Charles W. Wampler, II
IPC分类号： G06N7/02
CPC分类号： B25J9/1612 , B25J9/1694 , G05B2219/33028 , G05B2219/39531 , G05B2219/40541 , G05B2219/40553 , G05B2219/40564 , G05B2219/40606
摘要： A method for identifying the location, orientation and shape of an object that a robot hand touches that includes using a particle filter. The method includes defining an appropriate motion model and a measurement model. The motion model characterizes the motion of the robot hand as it moves relative to the object. The measurement model estimates the likelihood of an observation of contact position, velocity and tactile sensor information given hand-object states. The measurement model is approximated analytically based on a geometric model or based on a corpus of training data. In either case, the measurement model distribution is encoded as a Gaussian or using radial basis functions.
摘要翻译：用于识别机器人手接触的对象的位置，方向和形状的方法包括使用粒子滤波器。该方法包括定义适当的运动模型和测量模型。运动模型表征机器人手相对于物体移动时的运动。测量模型估计给定手对象状态的接触位置，速度和触觉传感器信息的观察的可能性。测量模型基于几何模型或基于训练数据语料库进行分析近似。在任一情况下，测量模型分布被编码为高斯或使用径向基函数。

20. 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。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式