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US 10,335,946 B2Granted
Compositional impedance programming for robots
AssigneeMassachusetts Institute of Technology
InventorsNeville Hogan, Lucille Hosford
Life of this patent
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Abstract
Described herein are concepts, techniques, and structures for robot control using compositional impedance programming. In one embodiment, a robot control system comprises a plurality of impedance modules, each of the impedance modules defining one or more mechanical impedance parameters and an impedance controller.
Claims14
A robot control system comprising:
- a plurality of impedance modules, each of the impedance modules defining one or more mechanical impedance parameters;
- and
- an impedance controller implemented in a processor and configured to:
- generate a composite robot control law based on at least some of the plurality of impedance modules;
- receive an actual robot configuration and an actual robot configuration-space velocity;
- generate an actuator torque using the composite robot control law, the actual configuration of a robot and the actual configuration-space velocity of the robot;
- and
- control actuators of the robot according the actuator torque;
- wherein:
- a first one of the plurality of impedance modules defines an impedance control law for an end-effector of the robot;
- a second one of the plurality of impedance modules drives the robot to a selected base configuration;
- and
- a third one of the plurality of impedance modules defines an impedance control law for a joint of the robot.
10 more elements
A method for controlling a robot, the method comprising:
- selecting impedance parameters for each of a plurality of impedance modules, wherein each of the plurality of impedance modules specifies a robot behavior associated with a task, wherein each of the impedance modules and its selected impedance parameters define an impedance control law and wherein a first one of the impedance modules defines an impedance control law for an end-effector of the robot;
- a second one of the impedance modules drives the robot to a selected base configuration;
- and a third one of the impedance modules defines an impedance control law for a joint of the robot;
- transforming, via a processor, one or more of the impedance module control laws into configuration space;
- generating, via a processor, a composite control law using the impedance module controls laws in configuration-space;
- and
- controlling the robot, via a processor, using the composite control law.
4 more elements
Dependencies are inferred from the claim text.