System for co-adaptation of robot control to human biomechanics
AssigneeHRL Laboratories, LLC
InventorsVincent De Sapio, Heiko Hoffmann
Life of this patent
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Abstract
Described is a system for co-adaptation of robot control to human biomechanics. During operation, the system receives joint angle and joint velocity of a human and co-robot and generates estimated internal states of the human. A task space motion plan is then generated for the co-robot based on a specified cooperative task and estimated internal states and joint angle and joint velocity of the human. Joint torque commands are then generated based on the task space motion plan and joint angle and joint velocity of the human and co-robot. Motion of the co-robot is then controlled, such as causing the co-robot to actuate one or more actuators to move based on the joint torque commands.
Claims21
A system for co-adaptation of robot control to human biomechanics, the system comprising:
- one or more processors and a memory, the memory being a non-transitory computer-readable medium having executable instructions encoded thereon, such that upon execution of the instructions, the one or more processors perform operations of:
- receiving joint angle and joint velocity of a human and co-robot;
- generating estimated internal states of the human;
- generating a task space motion plan for the co-robot based on a specified cooperative task and estimated internal states and joint angle and joint velocity of the human;
- generating joint torque commands based on the task space motion plan and joint angle and joint velocity of the human and co-robot;
- and
- causing the co-robot to actuate one or more actuators to move based on the joint torque commands.
A non-transitory computer-readable storage medium storing thereon a computer program product for co-adaptation of robot control to human biomechanics, the computer program product comprising executable instructions such that upon execution of the instructions by one or more processors, the one or more processors perform operations of:
- receiving joint angle and joint velocity of a human and co-robot;
- generating estimated internal states of the human;
- generating a task space motion plan for the co-robot based on a specified cooperative task and estimated internal states and joint angle and joint velocity of the human;
- generating joint torque commands based on the task space motion plan and joint angle and joint velocity of the human and co-robot;
- and
- causing the co-robot to actuate one or more actuators to move based on the joint torque commands.
A computer implemented method for co-adaptation of robot control to human biomechanics, the method comprising an act of:
- causing one or more processers to execute instructions encoded on a non-transitory computer-readable medium, such that upon execution, the one or more processors perform operations of:
- receiving joint angle and joint velocity of a human and co-robot;
- generating estimated internal states of the human;
- generating a task space motion plan for the co-robot based on a specified cooperative task and estimated internal states and joint angle and joint velocity of the human;
- generating joint torque commands based on the task space motion plan and joint angle and joint velocity of the human and co-robot;
- and
- causing the co-robot to actuate one or more actuators to move based on the joint torque commands.
Dependencies are inferred from the claim text.