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1. 发明授权

US08731714B2 Concurrent path planning with one or more humanoid robots 有权
标题翻译：一个或多个人形机器人的并行路径规划
公开(公告)号：US08731714B2
公开(公告)日：2014-05-20
申请号：US12887972
申请日：2010-09-22
申请人： Adam M. Sanders , Matthew J. Reiland
发明人： Adam M. Sanders , Matthew J. Reiland
IPC分类号： G06F19/00
CPC分类号： B25J9/1682 , B25J9/1661
摘要： A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.
摘要翻译：机器人系统包括控制器和一个或多个机器人，每个机器人具有多个机器人接头。每个机器人关节是独立可控的，从而执行具有至少一个任务执行叉的协作工作任务，导致多个独立子任务。控制器在执行协作工作任务期间协调机器人的运动。控制器将机器人接头组合到任务特定的机器人子系统中，并且在执行协作工作任务的各个子任务期间同步不同子系统的运动。使用机器人系统执行协同工作任务的方法包括：将机器人接头自动分组为任务专用子系统，以及在达到任务执行叉时将协同工作任务的子任务分配给子系统。该方法还包括在到达任务执行叉之后协调子任务的执行。

2. 发明授权

US08525460B2 Architecture for robust force and impedance control of series elastic actuators 有权
标题翻译：串联弹性执行器强大的力和阻抗控制的结构
公开(公告)号：US08525460B2
公开(公告)日：2013-09-03
申请号：US12698832
申请日：2010-02-02
申请人： Matthew J. Reiland , Brian Hargrave , Robert Platt , Muhammad E. Abdallah , Frank Noble Permenter
发明人： Matthew J. Reiland , Brian Hargrave , Robert Platt , Muhammad E. Abdallah , Frank Noble Permenter
IPC分类号： H02P7/00
CPC分类号： G05B15/00 , B25J9/1641 , G05B2219/39186
摘要： An SEA architecture for controlling the torque applied by an SEA that has particular application for controlling the position of a robot link. The SEA architecture includes a motor coupled to one end of an elastic spring and a load coupled to an opposite end of the elastic spring, where the motor drives the load through the spring. The orientation of the shaft of the motor and the load are measured by position sensors. Position signals from the position sensors are sent to an embedded processor that determines the orientation of the load relative to the motor shaft to determine the torque on the spring. The embedded processor receives reference torque signals from a remote controller, and the embedded processor operates a high-speed servo loop about the desired joint torque. The remote controller determines the desired joint torque based on higher order objectives by their impedance or positioning objectives.
摘要翻译：用于控制由SEA施加的扭矩的SEA架构，其具有用于控制机器人连杆的位置的特定应用。 SEA架构包括耦合到弹性弹簧的一端的电动机和耦合到弹性弹簧的相对端的负载，其中电动机通过弹簧驱动负载。电机轴和负载的方向由位置传感器测量。来自位置传感器的位置信号被发送到嵌入式处理器，其确定负载相对于电动机轴的取向以确定弹簧上的扭矩。嵌入式处理器从遥控器接收参考扭矩信号，并且嵌入式处理器围绕期望的关节扭矩操作高速伺服回路。遥控器通过其阻抗或定位目标基于更高阶的目标确定期望的关节扭矩。

3. 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。

4. 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。

5. 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。

6. 发明授权

US08618762B2 System and method for tensioning a robotically actuated tendon 有权
标题翻译：用于张紧机器人致动肌腱的系统和方法
公开(公告)号：US08618762B2
公开(公告)日：2013-12-31
申请号：US13014901
申请日：2011-01-27
申请人： Matthew J. Reiland , Myron A. Diftler
发明人： Matthew J. Reiland , Myron A. Diftler
IPC分类号： B25J15/02 , G05B19/04
CPC分类号： B25J9/1045 , B25J13/088 , B25J15/0009
摘要： A tendon tensioning system includes a tendon having a proximal end and a distal end, an actuator, and a motor controller. The actuator may include a drive screw and a motor, and may be coupled with the proximal end of the tendon and configured to apply a tension through the tendon in response to an electrical current. The motor controller may be electrically coupled with the actuator, and configured to provide an electrical current having a first amplitude to the actuator until a stall tension is achieved through the tendon; provide a pulse current to the actuator following the achievement of the stall tension, where the amplitude of the pulse current is greater than the first amplitude, and return the motor to a steady state holding current following the conclusion of the pulse current.
摘要翻译：腱张紧系统包括具有近端和远端的腱，致动器和马达控制器。致动器可以包括驱动螺钉和马达，并且可以与腱的近端联接并且被配置为响应于电流而通过腱施加张力。电动机控制器可以与致动器电耦合，并且被配置为向致动器提供具有第一幅度的电流，直到通过腱实现失速张力; 在实现失速张力之后向致动器提供脉冲电流，其中脉冲电流的幅度大于第一幅度，并且在脉冲电流结束之后将电动机返回到保持电流的稳态。

7. 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。

8. 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。

9. 发明授权

US09266440B2 Robotically operated vehicle charging station 有权
标题翻译：机器人操作车辆充电站
公开(公告)号：US09266440B2
公开(公告)日：2016-02-23
申请号：US13484345
申请日：2012-05-31
申请人： Dalong Gao , Neil David McKay , Matthew J Reiland , Simon Foucault , Marc-Antoine LaCasse , Thierry Laliberte , Boris Mayer-St-Onge , Alexandre Lecours , Clement Gosselin , David E. Milburn , Linda Y. Harkenrider
发明人： Dalong Gao , Neil David McKay , Matthew J Reiland , Simon Foucault , Marc-Antoine LaCasse , Thierry Laliberte , Boris Mayer-St-Onge , Alexandre Lecours , Clement Gosselin , David E. Milburn , Linda Y. Harkenrider
IPC分类号： H02J7/00 , B65B3/04 , B25J5/00 , B25J15/08 , G05B19/19 , B60L11/18 , B25J9/04 , B25J13/08 , H01R13/66 , H01R43/26 , H01R13/631 , H01R13/635
CPC分类号： B60L11/1818 , B25J9/042 , B25J13/085 , B60L11/1825 , B60L11/1827 , B60L2230/22 , H01R13/6315 , H01R13/635 , H01R13/6683 , H01R43/26 , H02J7/0027 , Y02T10/7005 , Y02T10/7055 , Y02T10/7088 , Y02T90/121 , Y02T90/125 , Y02T90/128 , Y02T90/14
摘要： A robotic charging station for charging a battery of an electric vehicle includes a base plate, a riser coupled with the base plate and extending substantially transverse to the base plate, and a robotic arm. The robotic arm extends from the riser and supports an end effector. The end effector includes a plurality of electrical contacts configured to couple with a receptacle disposed on the electric vehicle. The robotic arm is configured to move the end effector in three degrees of motion.
摘要翻译：用于对电动车辆的电池充电的机器人充电站包括基板，与基板耦合并且基本上横向于基板延伸的提升器和机器人臂。机器臂从提升管延伸并支撑末端执行器。末端执行器包括多个电触点，其被配置为与设置在电动车辆上的插座相连。机器人臂被配置成以三个运动方式移动末端执行器。

10. 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。

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